| SSRR 2015 Program | ||||
| Sunday October 18, 2015 | ||||
| 10:00-10:45 | Registration | |||
| 10:45-11:00 | Welcome | |||
| 11:00-12:30 | Session 1 | Tracking, Estimation, and Localization (Session Chair: Nina Mahmoudian) | ||
| Monocular Visual-Inertial Fusion with Online Initialization and Camera-IMU Calibration | Zhenfei Yang and Shaojie Shen | |||
| Gaussian Processes with input-dependent noise variance for wireless signal strength-based localization | Renato Miyagusuku, Atsushi Yamashita and Hajime Asama | |||
| An Information Theoretic Source Seeking Strategy for Plume Tracking in 3D Turbulent Fields | Hadi Hajieghrary, Alex Fabregat TomLas and M. Ani Hsieh | |||
| Appearance-based Person Identification Algorithm to Search for Persons using a Flying Robot | Toru Yonezawa, Eijirou Takeuchi, Kazunori Ohno and Satoshi Tadokoro | |||
| Finding and Tracking Targets in the Wild: Algorithms and Field Deployments | Volkan Isler, Narges Noori, Patrick Plonski, Alessandro Renzaglia, Pratap Tokekar and Joshua Vander Hook | |||
| Using Fiducials in 3D Map Evaluation | Soren Schwertfeger and Andreas Birk | |||
| 12:30-14:00 | Lunch | |||
| 14:00-15:45 | Session 2 | Sensing and Perception (Session Chair: Kamilo Melo) | ||
| Classification of Outdoor 3D Lidar Data Based on Unsupervised Gaussian Mixture Models | Artur Maligo and Simon Lacroix | |||
| Environmental Sensing using Millimeter Wave Sensor for Extreme Conditions | Shakeel Muhammad, Kazunori Ohno, Daniele Nardi and Satoshi Tadokoro | |||
| Where to Place Cameras on a Snake Robot: Focus on Camera Trajectory and Motion Blur | Mehmet Mutlu, Kamilo Melo, Massimo Vespignani, Alexandre Bernardino and Auke Jan Ijspeert | |||
| Human-Voice Enhancement based on Online RPCA for a Hose-shaped Rescue Robot with a Microphone Array | Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii and Hiroshi G. Okuno | |||
| Improving the Interpretation of Thermal Images with the aid of Emissivity's Angular Dependency | Bjorn Zeise, Sebastian P. Kleinschmidt and Bernardo Wagner | |||
| Sensor Fault Diagnosis of GPS/INS Tightly Coupled Navigation System based on State Chi-square Test and Improved Simplified Fuzzy ARTMAP Neural Network | Chang Liu and Honglun Wang | |||
| People in the Weeds: Pedestrian Detection Goes Off-road | Trenton Tabor, Zachary Pezzementi, Carlos Vallespi and Carl Wellington | |||
| 15:45-16:00 | Coffee Break | |||
| 16:00-17:00 | Plenary | Human-Robot Teams for Disaster Response: A Report From The DARPA Robotics Challenge | Taskin Padir, Northeastern University | |
| Monday October 19, 2015 | ||||
| 9:00-10:30 | Session 3 | Mechanisms and Mobility (Session Chair: Robin Murphy) | ||
| Friction Binding Study and Remedy Design for Tethered Search and Rescue Robots | Andrew Specian and Mark Yim | |||
| Compliant snake robot locomotion on horizontal pipes | Massimo Vespignani, Kamilo Melo, Mehmet Mutlu and Auke Ijspeert | |||
| Research on Autonomous Stairs Climbing for the Shape-shifting Robot | Bin Li, Jian Chang and Lincang Zhu | |||
| Modularity for Maximum Mobility and Manipulation: Control of a Reconfigurable Legged Robot with Series-Elastic Actuators | Simon Kalouche, David Rollinson and Howie Choset | |||
| A Man-Packable Unmanned Surface Vehicle for Radiation Localization and Forensics | Grant Wilde, Robin Murphy, Dylan Shell and Craig Marianno | |||
| Shape-Constrained Whole-Body Adaptivity | Matthew Travers, Chaohui Gong and Howie Choset | |||
| 10:30-11:00 | Coffee Break | |||
| 11:00-12:00 | Plenary | Human-in-the-Loop Coordination with Robot Systems | Holly Yanco, University of Massachusetts Lowell | |
| 12:00-13:30 | Lunch | |||
| 13:30-15:00 | Session 4 | Disaster Response (Session Chair: Julie Adams) | ||
| Robotic Power Distribution System for Post-Disaster Operations | Barzin Moridian, Nina Mahmoudian, Wayne W. Weaver and Rush D. Robinett | |||
| Human-System Interaction for Bomb Squad Applications: Preliminary Experiments with Low Cost Cameras in Real World Deployment | Raymond Sheh and David Mees | |||
| A Supervisory Control Method for Multi-Robot Task Allocation in Urban Search and Rescue | Yugang Liu, Maurizio Ficocelli and Goldie Nejat | |||
| Human Roles for Robot Augmented First Response | Curtis Humphrey and Julie A Adams | |||
| The Benefits of Robot Deception in Search and Rescue: Computational Approach for Deceptive Action Selection via Case-based Reasoning | Jaeeun Shim and Ronald Arkin | |||
| CAT 360 - Canine Augmented Technology 360-Degree Video System | Ben Waismark, Alexander Ferworn and Mike Scanlan | |||
| 15:00-15:30 | Session 5 | Late Breaking Reports Teaser Talks (Session Chair: M. Ani Hsieh) | ||
| Introduction (2 min) | Teaser talks are 4 min each. | |||
| Preliminary Analysis of Reconstructions from Aerial Images of Disaster Props | Traci A. Sarmiento, Brittany A. Duncan, and Robin R. Murphy | |||
| Proposal of Inspection and Rescue Tasks for Tunnel Disasters - Task Development of Japan Virtual Robotics Challenge - | M. Okugawa, K. Oogane, M. Shimizu, Y. Ohtsubo, T. Kimura, T. Takahashi and S. Tadokoro | |||
| Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP Site | Guangying Jiang, Richard Voyles, Kenneth Sebesta, and Helen Greiner | |||
| Towards a Long-Term Water Monitoring with
Continuous and Real-Time Autonomous System Towards an Autonomous Water Monitoring System with an Unmanned Aerial and Surface Vehicle Team |
Jun Han Bae, Eric T. Matson, and Byung-Cheol Min | |||
| CORE: A Dataset of Critical Objects for Response to Emergency | Ahmed A. Ambarak, John Steele, and Hao Zhang | |||
| Winner of the Best euRathlon SSRR Autonomy Award given by TC on SSRR and the Best euRatholon MRS Multi-Robot Coordinaton Award given by TC on MRS (6 min) | Team ICARUS by Daniel Serrano Lopez | |||
| 15:30-17:00 | Coffee Break + LBR Poster Presentations and Demos | |||
| 18:00-21:30 | Conference Awards and Banquet (Buses depart at 6:00pm from PMU) | |||
| Tuesday October 20, 2015 | ||||
| 9:00-10:30 | Session 6 | Motion and Path Planning (Session Chair: Frank (Shaojie) Shen) | ||
| Autonomous landing of rotary-wing aerial vehicles by image-based visual servoing in GPS-denied environments | Rafik Mebarki, Vincenzo Lippiello and Bruno Siciliano | |||
| Hybrid Motions by a Quadruped Tracked Mobile Robot | Toyomi Fujita, Taiga Sasaki and Yuichi Tsuchiya | |||
| Coordinated Path Planning for Fixed-wing UAS Conducting Persistent Surveillance Missions | James Keller, Dinesh Thakur, Maxim Likhachev, Jean Gallier and Vijay Kumar | |||
| Autonomous MAV Navigation in Complex GNSS-denied 3D Environments | Matthias Nieuwenhuisen, David Droeschel, Marius Beul and Sven Behnke | |||
| Interacting multiple model-based human motion prediction for motion planning of companion robots | Donghan Lee, Chang Liu and J.Karl Hedrick | |||
| Navigation Around an Unknown Obstacle for Autonomous Surface Vehicles Using a Forward-Facing Sonar | Patrick Plonski, Joshua Vander Hook, Cheng Peng, Narges Noori and Volkan Isler | |||
| 10:30-11:00 | Coffee Break | |||
| 11:00-12:00 | Plenary | Safer Surgeries Through Smaller, Softer, Image-Guided Robots | Robert Webster III, Vanderbilt University | |
| 12:00-13:30 | Lunch | |||
| 13:30-15:15 | Session 7 | Mechanism Design and Modeling (Session Chair: Jim Keller) | ||
| A 2-D Tread Mechanism for Hybridization in USAR Robotics | Josh Lane and Richard Voyles | |||
| Modeling and Design of Tether Powered Multicopter | Seiga Kiribayashi, Jun Ashizawa and Keiji Nagatani | |||
| Modeling of Dive Maneuvers in Flapping Wing Unmanned Aerial Vehicles | Luke Roberts, Hugh Bruck and Satyandra Gupta | |||
| The MIT Super Mini Cheetah: A small, low-cost quadrupedal robot for dynamic locomotion | Will Bosworth, Sangbae Kim and Hogan Neville | |||
| HADES: An Underground Mine Disaster Scouting Robot | Lance Molyneaux, Dale Carnegie and Chris Chitty | |||
| LORCA: A High Performance USV with Applications to Surveillance and Monitoring | Joachim Grenestedt, Jack Keller, Scott Larson, John Spletzer and Tyler Trephan | |||
| Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion | Karl Weinmeister, Peter Eckert, Hartmut Witte and Auke Ijspeert | |||
| 15:15-15:30 | Coffee Break | |||
| 15:30-17:00 | Lab Tours and Exercises | |||
| 17:00-19:00 | Closing Reception | |||