[WA1a] Advanced Technology for Rescue Robotics (1)
Nobember 2, 9:00 AM-10:40 AM

V-shift control for snake robot moving the inside of a pipe with helical rolling motion
Tetsushi Kamegawa (Okayama University), Toshimichi Baba (Okayama University), Akio Gofuku (Okayama University)

Semicircular duplex manipulator to search narrow spaces for victims
Yuya Simodate (Hosei University), Kazuyuki Ito (Hosei University)

Redesign of rescue mobile robot Quince --Toward emergency response to the nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011--
Keiji Nagatani (Tohoku University), Seiga Kiribayashi (Tohoku University), Yoshito Okada (Tohoku University), Satoshi Tadokoro (Tohoku University), Takeshi Nishimura (Chiba Institute of Technology), Tomoaki Yoshida (Chiba Institute of Technology), Eiji Koyanagi (Chiba Institute of Technology), Yasushi Hada (Kogakuin University)

Use of Remotely Operated Marine Vehicles at Minamisanriku and Rikuzentakata Japan for Disaster Recovery
Robin Murphy (Texas A&M University), Karen Dreger (University of South Florida), Sean Newsome (SeaBotix), Jesse Rodocker (SeaBotix), Eric Steimle (AEOS), Kazuyuki Kon (Kyoto University), Fumitoshi Matsuno (Kyoto University), Tetsuya Kimura (Nagaoka University Tech.), Satoshi Tadokoro (Tohoku University)

[WA2a] Advanced Technology for Rescue Robotics (2)
Nobember 2, 10:50 AM - 12:05 PM

Lessons Learned from German Research for USAR
Quirin Hamp (University of Freiburg), Alexander Kleiner (University of Freiburg), Leonhard Reindl (IMTEK)

Navigation Interface for Multiple Autonomous Mobile Robots with Grouping Function
Noritaka Sato (Nagoya Institute of Technology), Kazuyuki Kon (Kyoto University), Fumitoshi Matsuno (Kyoto University)

Robotic Control Vehicle for Measuring Radiation in Fukushima Daiichi Nuclear Power Plant
Kazunori Ohno (Tohoku University), Shinji Kawatsuma (Japan Atomic Energy Agency), Eijiro Takeuchi (Tohoku University), Kazuyuki Higashi (Tohoku University), Satoshi Tadokoro (Tohoku University), Takashi Okada (JAEA)

[TA1a] Advanced Technology for Rescue Robotics (3)
Nobember 3, 9:00 AM - 10:40 AM

Evacuation Simulation with Communication for Anti-disaster Planning
Masaru Okaya (Meijo University), Tomoichi Takahashi (Meijo University)

On the Performance and Scalability of Multi-Robot Patrolling Algorithms
David Portugal (ISR - University of Coimbra), Rui P. Rocha (ISR - University of Coimbra)

Gamma-ray irradiation test of Electric components of rescue mobile robot QUINCE --Toward emergency response to nuclear accident in Fukushima Daiichi Nuclear Power Station in March 2011--
Keiji Nagatani (Tohoku University), Seiga Kiribayashi (Tohoku University), Yoshito Okada (Tohoku University), Kazuki Otake (Tohoku University), Kazuya Yoshida (Tohoku University), Satoshi Tadokoro (Tohoku University), Takeshi Nishimura (Chiba Institute of Technology), Tomoaki Yoshida (Chiba Institute of Technology), Eiji Koyanagi (Chiba Institute of Technology), Mineo Fukushima (Japan Atomic Energy Agency), Shinji Kawatsuma (Japan Atomic Energy Agency)

Using iFMI Spectral Registration for Video Stabilization and Motion Detection by an Unmanned Aerial Vehicle (UAV)
Soeren Schwertfeger (Jacobs University), Andreas Birk (Jacobs University), Heiko Bulow (Jacobs University Bremen)

[TA2a] Outrageous Visions for Computing in Rescue Robotics
Nobember 3, 10:50 AM - 12:05 PM

Structured Computational Polymers for Safety, Security, and Rescue Robotics
Robert Nawrocki (University of Denver), Richard Voyles (University of Denver), Sean Shaheen (University of Denver)

The 100:100 Challenge for Computing in Rescue Robotics
Robin Murphy (Texas A&M University)

The Next 700 Control Architectures for Rescue Robotics
Serge Stinckwich (IRD), Noury Bouraqadi (Ecole des Mines de Douai)

[FA1a] Locomotion (1)
Nobember 4, 09:00 AM - 10:40 AM

Kinematic Analysis of Periodic Continuous Gaits for a Bio-Mimetic Walking Robot
Umar Asif (National University of Sciences & Technology), Javaid Iqbal (National University of Sciences & Technology)

Prototype ``RT04'' That Uses Flexible Mono-Tread Mobile Track
Tetsuya Kinugasa (Okayama Science University), Takafumi Haji (Okayama University of Science), Koji Yoshida (Okayama University of Science), Hisanori Amano (National Research Instutite of Fire and Disaster), Ryota Hayashi (Kagoshima University), Masatsugu Iribe (Osaka Electro-Communication University), Kenichi Tokuda (Wakayama University), Koichi Osuka (Osaka University)

Autonomous Stair Climbing for Mobile Tracked Robot
Qun Zhang (National University of Singapore), Shuzhi Ge (National University of Singapore), Pey Yuen Tao (SIMTech, Agency for Sience, Technology & Research)

The Concept of a Jumping Rescue Robot with Variable Transmission Mechanism
Dunwen Wei (Northwestern Polytechnical Uni), Wenjie Ge (Northwestern Polytechnical University), Yiyang Liu (Xi’an Research Institute of China Coal Technology and Engineering Group Corp)

[FA1b] Mapping and Navigation (1)
Nobember 4, 09:00 AM - 10:40 AM

A Navigation Method of Service Robots at Shelters
Tomoichi Takahashi (Meijo University), Masaru Shimizu (Chukyo University), Masaru Okaya (Meijo University)

Geometric-Featured Voxel Maps for 3D Mapping in Urban Environments
Yungeun Choe (KAIST), Inwook Shim (KAIST), Myung Jin Chung (KAIST)

Heat Mapping for Improved Victim Detection
Ruwen Hahn (University of Koblenz-Landau), Dagmar Lang (University of Koblenz-Landau), Marcel Haselich (University of Koblenz-Landau), Dietrich Paulus (University of Koblenz-Landau)

Integration of Sensory Data Taken by Multiple Rescue Robots using GIS
Hidehisa Akiyama (Fukuoka University), Hiroki Shimora (AIST), Eijiro Takeuchi (Tohoku University), Itsuki Noda (AIST), Tomohisa Yamashita (AIST)

[FA2a] Locomotion (2)
Nobember 4, 10:50 AM - 12:30 PM

Prediction of Obstacle Climbing Capability for Tracked Vehicles
Amir Rajabi (Azad University (IAUCTB)), Amir Soltanzadeh (IAUCTB), Arash Alizadeh (Azad University-CTB), Golnaz Eftekhari (IUST)

Autonomous Legged Hill and Stairwell Ascent
Aaron Johnson (University of Pennsylvania), Matthew Hale (University of Pennsylvania), G. Haynes (University of Pennsylvania), Daniel Koditschek (University of Pennsylvania)

Towards Omnidirectional Locomotion Strategy for Legged Walking Robot
Filipp Seljanko (TUT, Tallinn)

Features of UMRS2009 Special Components
Shigeru Kobayashi (Kobe City College of Technology), Yoshikazu Ohtsubo (Kinki University), Hidetake Iwasaki (Bando Chemical Co.Ltd.), Yasuhiro Kobayashi (BL Autotec Co.Ltd.), Toshi Takamori (International Rescue System Institute)

[FA2b] Mapping and Navigation (2)
Nobember 4, 10:50 AM - 12:30 PM

A Flexible and Scalable SLAM System with Full 3D Motion Estimation
Johannes Meyer (Techn. Universitat Darmstadt), Stefan Kohlbrecher (Techn. Universitat Darmstadt), Oskar von Stryk (Techn. Universitat Darmstadt), Uwe Klingauf (Techn. Universitat Darmstadt)

Low-Cost 3D Scene Reconstruction for Response Robots in Real-time
Jimmy Tran (Ryerson University), Alex Ufkes (Ryerson University), Alexander Ferworn (Ryerson University)

Initial Experiments on 3D Modeling of Complex Disaster Environments Using Unmanned Aerial Vehicles
Jimmy Tran (Ryerson University), Alexander Ferworn (Ryerson University), Alex Ufkes (Ryerson University), Andrew D'Souza (Ryerson University)

An Information-Driven Navigation Strategy for Autonomous Navigation in Unknown Environments
Redouane Boumghar (LAAS - Magellium), Simon Lacroix (LAAS-CNRS), Olivier Lefebvre (Magellium)

[FP1a] Space Representation
Nobember 4, 01:30 PM - 03:10 PM

Stereoscopic Presentation of 3D Scan Data Obtained by Mobile Robot
Tomofumi Fujiwara (Okayama University), Tetsushi Kamegawa (Okayama University), Akio Gofuku (Okayama University)

Simulating Range Cameras for Complex Terrain Robot Mobility
Raymond Sheh (UNSW), Claude Sammut (School of CSE, UNSW)

Teleoperation system using past image records for legged robot
Hisashi Mizumoto (Kyoto University), Hannes Daepp (Georgia Institute of Technology), Wayne Book (Georgia Institute of Technology), Fumitoshi Matsuno (Kyoto University)

Real time Manhattan-like Structure segmentation from Kinect with constrained 1D CC-RANSAC
Sven Olufs (TU Vienna), Markus Vincze (TU Vienna)

[FP1b] Evaluation and Standards
Nobember 4, 01:30 PM - 03:10 PM

Model-Based Supervision of a Platoon of Intelligent Autonomous Vehicles
Wissam Khalil (Polytech'Lille), Rochdi Merzouki (Ecole Polytechnique Universitaire de Lille), Belkacem Ould-bouamama (Ecole Polytechnique Universitaire de Lille), Hafid Haffaf (Ecole Polytechnique Universitaire de Lille)

Using a Fiducial Map Metric for Assessing Map Quality in the context of RoboCup Rescue
Soeren Schwertfeger (Jacobs University), Adam Jacoff (National Institute of Standards and Technology), Johannes Pellenz (Bundeswehr Technical Center for Engineer and General Field Equipment), Andreas Birk (Jacobs University)

Range sensors evaluation under smoky conditions for robotics applications.
Viatcheslav Tretyakov (Fraunhofer IAIS), Thorsten Linder (Fraunhofer IAIS)

An Evaluation Test Field Design for a USAR Robot related to a Collapsed Japanese House
Tetsuya Kimura (Nagaoka University Tech.), Kentaro Shimaoka (Niigata Institute of Technology), Katsuji Ogane (Niigata Institute of Technology)

[FP2a] Special Devices and Technologies
Nobember 4, 03:40 PM - 05:20 PM

Design, Modeling and Open-loop Control of a BCF Mode Bio-mimetic Robotic Fish
Abhra Chowdhury (NUS), Bhuneshwar Prasad (NUS), Vinothkumar Kumar (NUS), Sanjib Panda (NUS), Rajesh Kumar (MNIT)

Measurement Model of Barometer in Ground Effect of Unmanned Helicopter and Its Application to Estimate Terrain Clearance
Hiroaki Nakanishi (Kyoto University), Sayaka Kanata (Osaka Prefecture University), Tetsuo Sawaragi (Kyoto University)

A Compound Robotic Hand with Two Under-actuated Fingers and a Continuous Finger
Pouya Sabetian (Khaje Nasir Toosi University of Technology ), Amir Feizollahi (Khaje Nasir Toosi University of Technology), Farzad Cheraghpoor Samavati (Islamic Azad University, Pardis Branch), S. Ali A. Moosavian (Khaje Nasir Toosi University of Technology)

Development of Rescue Support Stretcher System with Stair-climbing
Yuki Iwano (Akashi National College of Tec), Koichi Osuka (Osaka University), Hisanori Amano (National Research Instutite of Fire and Disaster)

[FP2b] Managements
Nobember 4, 03:40 PM - 05:20 PM

Introduction to Spatially Distributed Intelligent Assistant Agents for Coordination of Human-Agent Teams’ Actions
Reza Nourjou (Kyoto University), Michinori Hatayama (DPRI, Kyoto University), Hirokazu Tatano (DPRI, Kyoto University)

System Control Architecture for a Remotely Operated Platform for S&R, IED-EOD and NBC applications
Torquato Cecchini (REKNO Robotics S.R.L.), Paolo Villella (REKNO Robotics S.R.L.), Fabrizio Rocchi (REKNO Robotics S.R.L.)

Bhavior Navigation System for Use in Harsh Environments
Eimei Oyama (AIST), Naoji Shiroma (Ibaraki University)

[FP3a] Communication
Nobember 4, 05:30 PM - 06:45 PM

A Fast, Robust and Low Bit-Rate Representation for SIFT and SURF Features
Martin Stommel (University Bremen)

Ensuring Ad Hoc Connectivity in Distributed Search with Robotic Darwinian Particle Swarms
Micael S. Couceiro (ISR - University of Coimbra), Rui P. Rocha (ISR - University of Coimbra), Nuno M. Ferreira (Coimbra Institute of Engineering)

Decentralized Risk Sharing in Teams of Unmanned Vehicles
Aditya Undurti (Massachusetts Institute of Tec), Jonathan How (Massachusetts Institute of Technology)

[FP3b] Mapping and Navigation (3)
Nobember 4, 05:30 PM - 06:45 PM

Multi-robot search and rescue team
Cai Luo (University of genoa), Andre Possani Espinosa (University of Genoa), Danu Pranantha (University of Genoa), Alessandro De Gloria (University of Genoa)

Robust Discovering and Tracking in Challenging Environments
Bonnie Zhu (UC Berkeley), Shankar Sastry (UC Berkeley)

User-friendly security robots
Gabriele Randelli (Sapienza University of Rome), Luca Iocchi (Sapienza University of Rome), Daniele Nardi (Sapienza University of Rome)

[SA1a] Autonomous Search and Exploration (1)
Nobember 5, 09:00 AM - 10:40 AM

A Survey of Animal Foraging for Directed, Persistent Search by Rescue Robotics
Jesus Suarez (Texas A&M University), Robin Murphy (Texas A&M University)

Using the PROMETHEE Multi-Criteria Decision Making Method to Define New Exploration Strategies for Rescue Robots
Serge Stinckwich (IRD), Patrick Taillandier (IRIT)

A Novel Multi-Robot Exploration Approach based on Particle Swarm Optimization Algorithms
Micael S. Couceiro (ISR - University of Coimbra), Rui P. Rocha (ISR - University of Coimbra), Nuno M. Ferreira (Coimbra Insititute of Engineering)

Loop closure detection using small-sized signatures from 3D LIDAR data
Naveed Muhammad (LAAS-CNRS), Simon Lacroix (LAAS-CNRS)

[SA2a] Autonomous Search and Exploration (2)
Nobember 5, 10:50 AM - 12:05 PM

Distributed Communicative Exploration under Underwater Communication Constraints
Ravi Rathnam (Jacobs University), Andreas Birk (Jacobs University)

Fast 6-DOF Path Planning for Autonomous Underwater Vehicles (AUV) based on 3D Plane Mapping
Jann Poppinga (Jacobs University), Andreas Birk (Jacobs University), Kaustubh Pathak (Jacobs University), Narunas Vaskevicius (Jacobs University)

A Frontier-Void-Based Approach for Autonomous Exploration in 3D
Christian Dornhege (University of Freiburg), Alexander Kleiner (University of Freiburg)