Robotics: Science and Systems XII

Table of Contents

Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs
Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots
Incremental Task and Motion Planning: A Constraint-Based Approach
Neil T. Dantam, Zachary K. Kingston, Swarat Chaudhuri, Lydia E. Kavraki
New perspective on sampling-based motion planning via random geometric graphs
Kiril Solovey, Oren Salzman, Dan Halperin
Robot Motion Planning on a Chip
Sean Murray, Will Floyd-Jones, Ying Qi, Daniel Sorin, George Konidaris
An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots
Debora Clever, Katja Mombaur
Simplifying Gait Design via Shape Basis Optimization
Chaohui Gong, Daniel I. Goldman, Howie Choset
'Body-in-the-Loop' Optimization of Assistive Robotic Devices: A Validation Study
Jeffrey R Koller, Deanna H Gates, Daniel P Ferris, C David Remy
Mechanical Antagonism in Legged Robots
Andy Abate, Jonathan W. Hurst, Ross L. Hatton
Synergistic Design of a Bio-Inspired Micro Aerial Vehicle with Articulated Wings
Jonathan Hoff, Alireza Ramezani, Soon-Jo Chung, Seth Hutchinson
Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies
Ye Zhao, Benito Fernandez, Luis Sentis
Design and Implementation of a Novel Robot Fish with Active and Compliant Propulsion Mechanism
Yong Zhong, Ruxu Du
Geometric Swimming on a Granular Surface
Jin Dai, Hossein Faraji, Chaohui Gong, Ross L. Hatton, Daniel I. Goldman, Howie Choset
Estimating SE(3) elements using a dual quaternion based linear Kalman filter
Rangaprasad Arun Srivatsan, Gillian T. Rosen, D. Feroze Naina Mohamed, Howie Choset
Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems
Qianli Ma, Zachariah Goh, Gregory S. Chirikjian
Set-labelled filters and sensor transformations
Fatemeh Zahra Saberifar, Shervin Ghasemlou, Jason M. O'Kane, Dylan A. Shell
Recursive Decentralized Collaborative Localization for Sparsely Communicating Robots
Lukas Luft, Tobias Schubert, Stergios I. Roumeliotis, Wolfram Burgard
Safe Control under Uncertainty with Probabilistic Signal Temporal Logic
Dorsa Sadigh, Ashish Kapoor
Closed Loop Control of a Tethered Magnetic Capsule Endoscope
Addisu Z. Taddese, Piotr R. Slawinski, Keith L. Obstein, Pietro Valdastri
Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty
Seyed Sina Mirrazavi Salehian, Nadia Figueroa, Aude Billard
Shape-Based Compliance in Locomotion
Matt Travers, Julian Whitman, Perrin Schiebel, Dan Goldman, Howie Choset
Seeing Glassware: from Edge Detection to Pose Estimation and Shape Recovery
Cody J. Phillips, Matthieu Lecce, Kostas Daniilidis
A Cartesian 6-DoF Gaze Controller for Humanoid Robots
Alessandro Roncone, Ugo Pattacini, Giorgio Metta, Lorenzo Natale
Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances
Venkatraman Narayanan, Maxim Likhachev
A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues
David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun, Silvio Savarese
An End-To-End System for Accomplishing Tasks with Modular Robots
Gangyuan Jing, Tarik Tosun, Mark Yim, Hadas Kress-Gazit
Robotic Assistance in Coordination of Patient Care
Matthew Gombolay, Xi Jessie Yang, Brad Hayes, Nicole Seo, Zixi Liu, Samir Wadhwania, Tania Yu, Neel Shah, Toni Golen, Julie Shah
Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups
Taosha Fan, Todd Murphey
Mathematical Tools for Analysis, Simulation and Design of Robotic Angular Encoders
Peter G. Cramer
Planning for Autonomous Cars that Leverage Effects on Human Actions
Dorsa Sadigh, Shankar Sastry, Sanjit A. Seshia, Anca D. Dragan
A Novel Relationship Between Dynamics and Complexity in Multi-agent Collision Avoidance
Jeffrey Kane Johnson
Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows
Bilal Hammoud, Elie Shammas
Routing Autonomous Vehicles in Congested Transportation Networks: Structural Properties and Coordination Algorithms
Rick Zhang, Federico Rossi, Marco Pavone
Combined Optimization and Reinforcement Learning for Manipulation Skills
Peter Englert, Marc Toussaint
Understanding Hand-Object Manipulation with Grasp Types and Object Attributes
Minjie Cai, Kris M. Kitani, Yoichi Sato
Integrated force and distance sensing using elastomer-embedded commodity proximity sensors
Radhen Patel, Nikolaus Correll
Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems
Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators
Rohan Paul, Jacob Arkin, Nicholas Roy, Thomas M. Howard
Asking for Help with the Right Question by Predicting Human Visual Performance
Hong Cai, Yasamin Mostofi
Representing and Learning Complex Object Interactions
Yilun Zhou, George Konidaris
Situated Language Understanding with Human-like and Visualization-Based Transparency
Leah Perlmutter, Eric Kernfeld, Maya Cakmak
Multi-modal Auto-Encoders as Joint Estimators for Robotics Scene Understanding
Cesar Cadena, Anthony Dick, Ian D. Reid
Vehicle Detection from 3D Lidar Using Fully Convolutional Network
Bo Li, Tianlei Zhang, Tian Xia
Robust Multimodal Sequence-Based Loop Closure Detection via Structured Sparsity
Hao Zhang, Fei Han, Hua Wang
Street-View Change Detection with Deconvolutional Networks
Pablo F. Alcantarilla, Simon Stent, German Ros, Roberto Arroyo, Riccardo Gherardi
Task Variant Allocation in Distributed Robotics
José Cano, David R. White, Alejandro Bordallo, Ciaran McCreesh, Patrick Prosser, Jeremy Singer, Vijay Nagarajan
Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces
Zita Marinho, Byron Boots, Anca Dragan, Arunkumar Byravan, Geoffrey J. Gordon, Siddhartha Srinivasa
Time and Energy Optimal Path Planning in General Flows
Dhanushka Kularatne, Subhrajit Bhattacharya, M. Ani Hsieh