Program
The pdf files below contain the preliminary version of the accepted papers. The final version will be available in the printed proceedings.
Monday
Registration, 8:30
Invited Talk, 9:00--10:00
- Robot Kinematics in the Medical Field
Moshe Shoham
Break, 10:00--10:30
Session 1. Mobile Robots with Physical Constraints, 10:30--12:30
- Homotopic Path Planning on Manifolds for Cabled Mobile Robots
Takeo Igarashi and Mike Stilman - An Equivalence Relation for Local Path Sets
Ross Knepper, Siddhartha Srinivasa and Matthew Mason - Using Lie Group Symmetries for Fast Corrective Motion Planning
Konstantin Seiler, Surya Singh and Hugh Durrant-Whyte - Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics
Devin K. Grady, Kostas E. Bekris and Lydia E. Kavraki
Lunch (provided), 12:30--13:45
Session 2. Multiple Robots and Reconfigurable Robots, 13:45--15:45
- Incremental Sampling-based Algorithms for Open-loop Solutions of Pursuit-Evasion Games
Sertac Karaman and Emilio Frazzoli - Multiagent Pursuit Evasion, or Playing Kabaddi
Kyle Klein and Subhash Suri - Reconfiguring Chain-type Modular Robots Based on the Carpenter’s Rule Theorem
Jungwon Seo, Steven Gray, Vijay Kumar and Mark Yim - Robomotion: Scalable, Physically Stable Locomotion for Self-Reconfigurable Robots
Sam Slee and John Reif
Break, 15:45--16:15
Invited Talk, 16:15--17:15
- Self-Organizing Robots
Daniela Rus
Poster & Video Session, 17:30--20:00
Reception
Tuesday
Invited Talk, 9:00--10:00
- Throw-away Plans
Leslie Kaelbling
Break, 10:00--10:30
Session 3. Uncertainty in Planning and Mapping, 10:30--12:30
- Adaptive Time Stepping in Real-Time Motion Planning
Kris Hauser - The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
Michael Kaess, Viorela Ila, Richard Roberts and Frank Dellaert - Monte Carlo Value Iteration for Continuous-State POMDPs
Haoyu Bai, David Hsu, Wee Sun Lee and Anh Vien Ngo - Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces
Kris Hauser
Lunch (provided), 12:30--13:45
Session 4. Collision Queries & Contact Modeling, 13:45--15:45
- GPU-based Parallel Collision Detection for Real-Time Motion Planning
Jia Pan and Dinesh Manocha - CCQ: Efficient Local Planning using Connection Collision Query
Min Tang, Young J. Kim and Dinesh Manocha. - Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation using the Principle of Maximum Dissipation
Evan Drumwright and Dylan Shell - Energy-based Modeling of Tangential Compliance in 3-Dimensional Impact
Yan-Bin Jia
Break, 15:45--16:15
Invited Talk, 16:15--17:15
- Biomechanics from Robot Kinematics and Dynamics
Yoshi Nakamura
Banquet & Bus Tour, 18:30--21:00
Wednesday
Invited Talk, 9:00--10:00
- Managing Uncertainties in Robotics with Interval Analysis
Jean-Pierre Merlet
Break, 10:00--10:30
Session 5. Principles, Tools, and Analyses for Planning, 10:30--12:30
- Sampling-Diagram Automata: A Tool for Analyzing Path Quality in Tree Planners
Oren Nechushtan, Barak Raveh and Dan Halperin - Sufficient Conditions for the Existence of Resolution Complete Planning Algorithms
Dmitry Yershov and Steven LaValle - Grasp Invariance
Alberto Rodriguez and Matthew Mason - Path Planning on Manifolds using Randomized Higher-Dimensional Continuation
Josep M Porta and Léonard Jaillet
Lunch (provided), 12:30--13:45
Session 6. Novel Applications, 13:45--15:45
- Algorithms and Analytic Solutions using Sparse Residual Dipolar Couplings for High-Resolution Automated Protein Backbone Structure Determination by NMR
Anna Yershova, Chittaranjan Tripathy, Pei Zhou and Bruce Donald - LQG-Based Planning, Sensing, and Control of Steerable Needles
Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel and Ken Goldberg. - Cyber Detectives: Determining When Robots or People Misbehave
Jingjin Yu and Steven M. LaValle - Gravity-Based Robotic Cloth Folding
Jur van den Berg, Stephen Miller, Ken Goldberg and Pieter Abbeel
Break, 15:45--16:15
Invited Talk, 16:15--17:15
- Non-Invasive Brain-Controlled Neuroprostheses
Jose del Millan