ISRR 2009 Conference Proceedings

The organizing committee proudly presents the ISRR 2009 online proceedings and expresses its gratitude to all authors.

Please understand that fulltext document access to the online proceedings is restricted to registered participants only. However, all papers presented at the Symposium will soon be published in print, as a Springer STAR series book.

Monday August 31, 2009

08:30 Navigation
Reciprocal n-body Collision Avoidance
Jur van den Berg, Stephen Guy, Ming Lin, Dinesh Manocha (UNC Chapel Hill)
Unifying Geometric, Probabilistic and Potential Field Approaches to Multi-Robot Coverage Control
Mac Schwager, Jean-Jacques Slotine, Daniela Rus (MIT)
Design and Development of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles and Hazard Avoidance Scenarios
Sterling Anderson, Steven Peters, Tom Pilutti, Karl Iagnemma (MIT)
Learning Landmark Selection Policies for Mapping Unknown Environments
Hauke Strasdat, Cyrill Stachniss, Wolfram Burgard (University of Freiburg)
10:30 Rough Navigation
Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground
Galen Haynes, Fred Cohen, Daniel Koditschek (University of Pennsylvania)
Stable Dynamic Walking over Rough Terrain
Ian Manchester, Uwe Mettin, Fumiya Iida, Russ Tedrake (Umea University)
Learning to Fly Like a Bird
Russ Tedrake (MIT)
Floating Visual Grasp of Unknown Objects Using an Elastic Reconstruction Surface
Lippiello Vincenzo, Fabio Ruggiero, Bruno Siciliano (UNINA)
Design and analysis of hybrid systems with applications to robotic aerial vehicles
Jeremy Gillula, Haomiao Huang, Michael Vitus, Claire Tomlin (UC Berkeley)
13:30 Human Robot Interface
Social Learning Mechanisms for Robots
Andrea Thomaz, Maya Cakmak (Georgia Tech)
Real-Time Photorealistic Virtualized Reality Interface For Remote Mobile Robot Control
Alonzo Kelly, Erin Capstick, Daniel Huber, Herman Herman, Pete Rander, Randy Warner (CMU)
Robot Audition: Missing Feature Theory Approach and Active Audition
Hiroshi Okuno, Kazuhiro Nakadai, Hyun-Don Kim (Kyoto University)
Learning Visual Representations for Interactive Systems
Justus Piater, Sebastien Jodogne, Renaud Detry, Dirk Kraft, Norbert Krueger, Oliver Kroemer, Jan Peters (University of Liege)
15:30 Robotic Manipulation
Towards the Robotic Co-Worker
Sami Haddadin, Michael Suppa, Stefan Fuchs, Alin Albu-Schaeffer, Gerd Hirzinger (DLR)
Haptography: Capturing and Recreating the Rich Feel of Real Surfaces
Katherine Kuchenbecker, Joseph Romano, William McMahan (University of Pennsylvania)
A Factorization Approach to Manipulation in Unstructured Environments
Dov Katz, Oliver Brock (University of Massachusetts)
Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance
Alin Albu-Schaeffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimboeck, Sebastian Wolf, Gerd Hirzinger (DLR)

Tuesday September 1, 2009

08:30 Humanoid
Enhanced Mother Environment with Humanoid Specialization in IRT Robot Systems
Masayuki Inaba (University of Tokyo)
Cybernetic Human HRP-4C: A humanoid robot with human-like proportions
Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kanako Miura, Kiyoshi Fujiwara, Ee Sian Neo, Isao Hara (AIST)
Developing cognitive skills on a child humanoid robot: the iCub
Giulio Sandini (Italian Institute of Technology)
From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots
Tamim Asfour, Ruediger Dillmann, Martin Do, Alexander Bierbaum, Kai Welke, Pedram Azad, Nikolaus Vahrenkamp, Steven Wieland, David Gonzalez (University of Karlsruhe)
10:30 Learning
Learning Mobile Robot Motion Control from Demonstrated Primitives and Human Feedback
Brenna Argall, Brett Browning, Manuela Veloso (CMU)
Perceptual Interpretation for Autonomous Navigation through Dynamic Imitation Learning
Silver David, J. Andrew Bagnell, Anthony Stentz (CMU)
An inverse optimal control approach to human motion modeling
Katja Mombaur, Jean-Paul Laumond, Anh Truong (LAAS)
Towards Motor Skill Learning for Robotics
Jan Peters, Jens Kober, Katharina Muelling, Duy Nguyen-Tuong, Oliver Kroemer (Max Planck Institute)

Wednesday September 2, 2009

08:30 Mapping
Autonomy through SLAM for an Underwater Robot
John Folkesson, John Leonard (MIT)
Toward Life Long Mapping
Paul Newman, Gabe Sibley, Mark Cummins, Mike Smith, Alastair Harrison, Christopher Mei, Ian Reid (University of Oxford)
Error Driven Densification of Multi-scale Gaussian Maps
Manuel Yguel, Dizan Vasquez, Olivier Aycard, Roland Siegwart, Christian Laugier (INRIA)
Towards Lifelong Navigation and Mapping in an Office Environment
Gordon Wyeth, Michael Milford (University of Queensland)
10:30 Vision
Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements
Felix Schill, Robert Mahony, Peter Corke (ANU)
Reconstruction and Verification of 3D Object Models for Grasping
Zoltan Marton, Lucian Goron, Radu Rusu, Michael Beetz (TUM)
Robust 3-D Visual SLAM in a Large-scale Environment
Jungho Kim, Kuk-Jin Yoon, In So Kweon (KAIST)
Large-Scale Visual Mapping and Localization
Marc Pollefeys (ETHZ)
13:30 Tracking and Sensor Network
Efficient Strategies for Collecting Data from Wireless Sensor Network Nodes using Mobile Robots
Onur Tekdas, Nikhil Karnad, Volkan Isler (University of Minnesota)
Place-Dependent People Tracking
Matthias Luber, Gian Diego Tipaldi, Kai Arras (University of Freiburg)
Combining Laser-Scanning Data and Images for Target Tracking and Scene Modeling
Hongbin Zha, Huijing Zhao, Jinshi Cui, Xuan Song, Xianghua Ying (Peking University)
Sensing and Control on the Sphere
Peter Corke, Robert Mahony (CSIRO)
15:30 Complex Motion
Environment modeling for cooperative air/ ground robotic systems
Teresa Vidal, Cyrille Berger, Joan Sola, Simon Lacroix (LAAS-CNRS)
Motion Planning under Uncertainty for Robotic Tasks with Long Time Horizons
Hanna Kurniawati, Yanzhu Du, Wee Sun Lee, David Hsu, Shao Wei Png, Sylvie C. W. Ong (MIT)
Generality and Simple Hands
Matthew Mason, Siddhartha Srinivasa, Andres Vazquez (CMU)
Scansorial Landing and Perching
Mark Cutkosky, Alan Asbeck, Alexis Lussier Desbiens (Stanford University)

Thursday September 3, 2009

08:30 Multi-Robot Systems
Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning
Seungkook Yun, Mac Schwager, Daniela Rus (MIT)
Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Co
Nora Ayanian, Vijay Kumar, Daniel Koditschek (University of Pennsylvania)
Planning and Control for Cooperative Manipulation and Transportation with Aerial Robots
Jonathan Fink, Nathan Michael, Soonkyum Kim, Vijay Kumar (University of Pennsylvania)
Towards a Ten Thousand Mobile Robot Warehouse
Raffaello D'Andrea (ETHZ)
10:30 Micro/Nano Robots
Design and Fabrication of the Harvard Ambulatory Micro-Robot
Andrew Baisch, Robert Wood (Harvard University)
On-chip Robotics for Biomedical Innovation
Fumihito Arai (Tohoku University)
Assembly and Disassembly of Magnetic Mobile Micro-Robots towards 2-D Reconfigurable Micro-Systems
Chytra Pawashe, Steven Floyd, Metin Sitti (CMU)