CONFERENCE PROGRAM
Monday, July 13, 2009
19:00   Opening Reception
R&D Common Area, 4th floor, MIT Stata Center
Tuesday, July 14, 2009
7:45   Breakfast and Registration
8:30   Plenary talk by Marc Raibert: What is Next for BigDog, the Rough-Terrain Robot?
9:30   Session "Mechanism Design":
Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications
Marc Freese, Surya P. N. Singh, William Singhose, Edwardo F. Fukushima, Shigeo Hirose
Towards Autonomous Wheelchair Systems in Urban Environments
Chao Gao, Michael Sands, John Spletzer
Tethered Detachable Hook for the Spiderman Locomotion (Design of the Hook and its Launching Winch)
Nobukazu Asano, Hideichi Nakamoto, Tetsuo Hagiwara, Shigeo Hirose
10:30   Break
10:50   Session "Perception and Control":
Experimental Study of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios
Sterling J Anderson, Steven C. Peters, Tom E. Pilutti, and Karl Iagnemma
Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths
Thomas M. Howard, Colin J. Green, and Alonzo Kelly
Posterior Probability Estimation Techniques Embedded in a Bayes Filter for Vibration-based Terrain Classification
Philippe Komma and Andreas Zell
Towards Visual Arctic Terrain Assessment
Stephen Williams and Ayanna M. Howard
12:10   Lunch
13:20   Plenary talk by Shigeo Hirose: Our Latest Topics on Field and Service Robotics
14:20   Session "Tracking and Servoing":
Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data
Luis E. Navarro-Serment, Christoph Mertz, and Martial Hebert
Passive, long-range detection of Aircraft: Towards a field deployable Sense and Avoid System
Debadeepta Dey, Christopher Geyer, Sanjiv Singh, Matt Digioia
Multiclass Multimodal Detection and Tracking in Urban Environments
Luciano Spinello, Rudolph Triebel, and Roland Siegwart
Vision-Based Vehicle Trajectory Following with Constant Time Delay
Hien K. Goi, Timothy D. Barfoot, Bruce A. Francis, and Jared L. Giesbrecht
15:40   Break
16:00   Session "Mining Robotics":
Swing trajectory control for large excavators
A. W. Denman, P. R. McAree, M. P. Kearney, A. W. Reid, and K. J. Austin
The Development of a Telerobotic Rock Breaker
Elliot Duff, Con Caris, Adrian Bonchis, Ken Taylor, Chris Gunn and Matt Adcock
Camera and LIDAR Fusion for Mapping of Actively Illuminated Subterranean Voids
Uland Wong, Ben Garney, Warren Whittaker and Red Whittaker
17:00   Break/travel
18:00   Boston Harbor Cruise and Dinner on-board the Lexington
World Trade Center (transportation provided)
Wednesday, July 15, 2009
7:45   Breakfast and Registration
8:30   Plenary talk by Christian Laugier: Human, Dynamic and Open Environments: A New Challenge for Robotics
9:30   Session "Human Robot Interaction":
Bandit-Based Online Candidate Selection for Adjustable Autonomy
Boris Sofman, J. Andrew Bagnell, and Anthony Stentz
Using Virtual Articulations to Operate High-DoF Inspection and Manipulation Motions
Marsette Vona, David Mittman, Jeffrey S. Norris, and Daniela Rus
Field Experiment on Multiple Mobile Robots conducted in an Underground Mall
Tomoaki Yoshida, Keiji Nagatani, Eiji Koyanagi, Yasushi Hada, Kazunori Ohno, Shoichi Maeyama, Hidehisa Akiyama, and Satoshi Tadokoro
10:30   Break
10:50   Session "Marine Robot Design":
A Communication Framework for Cost-effective Operation of AUVs in Coastal Regions
Arvind Pereira, Hordur Heidarsson, Carl Oberg, David A. Caron, Burton Jones and Gaurav S. Sukhatme
Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs
Filippo Arrichiello, Jnaneshwar Das, Hordur Heidarsson, Arvind Pereira, Stefano Chiaverini, Gaurav S. Sukhatme
A simple reactive obstacle avoidance algorithm and its application in Singapore Harbour
Tirthankar Bandyopadhyay, Lynn Sarcione, Franz Hover
11:50   Lunch
13:00   Session "Underwater Localization and Mapping":
Trajectory Design for Autonomous Underwater Vehicles based on Ocean Feature Tracking Model Predictions for
Ryan N. Smith, Yi Chao, Burton H. Jones, David A. Caron, Peggy P. Li and Gaurav S. Sukhatme
AUV Benthic Habitat Mapping in South Eastern Tasmania
Stefan B. Williams, Oscar Pizarro, Michael Jakuba, Neville Barrett
Sensor Network Based AUV Localisation
David Prasser and Matthew Dunbabin
Experiments in Visual Localisation around Underwater Structures
Stephen Nuske, Jonathan Roberts, David Prasser and Gordon Wyeth
14:20   Break
14:40   Session "Multi-Robot Cooperation":
Leap-Frog Path Design for Multi-Robot Cooperative Localization
Stephen Tully, George Kantor, and Howie Choset
A Location-Based Algorithm for Multi-hopping State Estimations within a Distributed Robot Team
Brian J. Julian, Mac Schwager, Michael Angermann, and Daniela Rus
Cooperative AUV Navigation using a Single Surface Craft
Maurice F. Fallon, Georgios Papadopoulos and John J. Leonard
Multi-Robot Fire Searching in Unknown Environment
Ali Marjovi, Joao Goncalo Nunes, Lino Marques and Anbal de Almeida
16:00   Break
16:20   Session "Service Robotics":
New Measurement Concept for Forest Harvester Head
Mikko Miettinen, Jakke Kulovesi, Jouko Kalmari and Arto Visala
Expliner: Toward a Practical Robot for Inspection of High-Voltage Lines
Paulo Debenest, Michele Guarnieri, Kenskue Takita, Edwardo F.Fukushima, Shigeo Hirose, Kubokawa, Narumi Iwama, Fuminori Shiga, Kiyoshi Tamura, Akihiro Kimura
17:00   Break/travel
18:00   Banquet, Top of the Hub
Prudential Center (transportation provided)
Thursday, July 16, 2009
7:45   Breakfast and Registration
8:30   Plenary talk by Peter Wurman
9:30   Session "Planetary Robotics":
Model Predictive Control for Mobile Robots with Actively Reconfigurable Chassis
P. Michael Furlong, Thomas M. Howard, and David Wettergreen
Turning Efficiency Prediction for Skid Steer Robots Using Single Wheel Testing.
Daniel Flippo, Richard Heller and David P. Miller
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype
David Wettergreen, Dominic Jonak, David Kohanbash, Scott Moreland, Spencer Spiker, and James Teza
10:30   Break
10:50   Session "Localization":
Radar Scan Matching SLAM using the Fourier-Mellin Transform
P. Checchin, F. Gerossier, C. Blanc, R. Chapuis and L. Trassoudaine
An Automated Asset Locating System (AALS) with Applications to Inventory Management
Thomas H. Miller, David A. Stolfo, and John R. Spletzer
Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models
Nathaniel Fairfield and David Wettergreen
Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors
Michael Dille, Ben Grocholsky, and Sanjiv Singh
Place Recognition using Regional Point Descriptors for 3D Mapping
Michael Bosse and Robert Zlot
12:30   Lunch
13:40   Session "Mapping":
Scan-point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Environment
Keiji NAGATANI, Takayuki Matsuzawa, and Kazuya Yoshida
Fast Image and Sparse Laser Fusion for Dense Scene Reconstruction
Alastair Harrison, Paul Newman
Relative Motion Threshold for Rejection in ICP Registration
Francois Pomerleau, Francis Colas, Francois Ferland and Francois Michaud
Rover-Based Surface and Subsurface Modeling for Planetary Exploration
Paul Furgale, Tim Barfoot, and Nadeem Ghafoor
15:00   Break
15:20   Session "Learning and Cognition":
Learning to identify users and predict their destination in a robotic guidance application
Xavier Perrin, Francis Colas, Cedric Pradalier and Roland Siegwart
Applied Imitation Learning for Autonomous Navigation in Complex Natural Terrain
David Silver, J. Andrew Bagnell, Anthony Stentz
Distributed Sensing and Situation Aware Mobile Robots
Fulvio Mastrogiovanni, Antonio Sgorbissa, and Renato Zaccaria
Long Term Learning and Online Robot Behavior Adaptation for Individuals with Physical and Cognitive Impairments
Adriana Tapus, Cristian Tapus and Maja Mataric
16:40   Break
17:00   Closing Reception, Muddy Charles Pub
MIT Walker Memorial Building (Building 50)

Plenary talks and Sessions will take place in Room 32-123, MIT Stata Center

Breakfast, Lunch, Breaks and Registration (except July 13) will take place in Student Street, 1st floor, MIT Stata Center