Overview
See the detailed program on paperplaza. The Conference Digest is also available online (4.6MB).| Tue, Oct 10 | Wed, Oct 11 | Thu, Oct 12 | Fri, Oct 13 | ||
| 08:00 | Registration | 08:00 | |||
| 08:30 | Opening | Registration | Registration | 08:30 | |
| 09:00 | Keynote Sven Behnke 9:00 - 10:00 |
Keynote Tetsuya Kimura 9:00 - 10:00 |
Keynote Satoshi Tadokoro 9:00 - 10:00 |
09:00 | |
| 09:30 | 09:30 | ||||
| 10:00 | Coffee Break | Coffee Break | Coffee Break | 10:00 | |
| 10:30 | We3T1: Robotics and Automation for Safety and Security I 10:30 - 12:10 |
Th8T1: Perception for
Navigation, Hazard
Detection, and Victim
Identification 10:30-12:10 |
Fr12T1: Mechanisms,
Mechatronics, and
Embedded Control 10:30-12:10 |
10:30 | |
| 11:00 | 11:00 | ||||
| 11:30 | 11:30 | ||||
| 12:10 | Lunch (Cafeterias) 12:10 - 13:10 |
Lunch (Cafeterias) 12:10 - 13:10 |
Awards Lunch at Faculty Restaurant 12:10 - 13:30 |
12:10 | |
| 12:30 | 12:30 | ||||
| 13:10 | We4T1: SLAM in
Complex And/or
Extreme Environments 13:10 - 14:30 |
Th9T1: Unmanned
Ground, Aerial, and
Marine Vehicles I 13:10 - 14:30 |
13:00 | ||
| 13:40 | Keynote
Shuo Yang 13:30 - 14:30 |
13:30 | |||
| 14:10 | 14:00 | ||||
| 14:30 | Demo + Comp. + Coffee Break 14:30 - 15:30 |
Demo + Comp. + Coffee Break 14:30 - 15:30 |
Fr14T1: Unmanned
Ground, Aerial, and
Marine Vehicles II 14:30 - 15:50 |
14:30 | |
| 15:00 | 15:00 | ||||
| 15:30 | We5T1: Human-Robot
Interaction and
Interfaces 15:30-16:50 |
Th10T1: Robotics and
Automation for Safety
and Security II 15:30 - 16:50 |
15:30 | ||
| 16:00 | Coffee Break | 16:00 | |||
| 16:30 | Coffee Break | Fr15T1: Autonomous
Search and Rescue 16:10 - 17:50 |
16:30 | ||
| 17:10 | Registration 17:00 - 18:00 |
Panel Discussion 17:00 - 17:45 |
Dinner Banquet Schuttle Bus Service |
17:10 | |
| 17:30 | 17:30 | ||||
| 18:00 | Registration & Welcome Reception Conference Hotel (Parkyard) 18:00 - 21:00 |
Dinner on your own | SSRR Farewell Party 18:30 - 19:30 (finger food/ self paid dinner) |
18:00 | |
| 18:30 | 18:30 | ||||
| 19:00 | 19:00 | ||||
| 19:30 | (self paid dinner) | 19:30 | |||
| 20:00 | 20:00 | ||||
| 20:30 | 20:30 | ||||
| 21:00 | 21:00 |
Plenary Talks
Perception and Planning for Autonomous Mobile Robots in Complex Environments
Speaker: Sven BehnkeInstitute for Computer Science, Universität Bonn, Germany
Date: Wednesday, October 11, 2017
Time: 9:00 – 10:00
Abstract: Mobile robots in complex environments, like rough terrain or inside buildings need to perceive their environment in 3D in order to act. We equipped autonomous ground vehicles and micro aerial vehicles with 3D laser scanners, cameras, and other sensors. The distance measurements are registered and aggregated in an efficient way in order to create 3D representations of the robot surroundings. By categorizing surfaces, detecting objects, and estimating their pose, these maps are enriched with semantics and segmented into meaningful parts. We developed efficient methods for semantic perception, e.g. using deep learning. Based on these percepts, navigation and manipulation plans are made. Our team demonstrated 3D navigation in challenging application domains: for ground robots in search & rescue and space exploration scenarios and for flying robots in indoor and outdoor inspection tasks. Our robots also performed challenging manipulation tasks, like the use of tools and the collection of objects with micro aerial vehicles.
Speaker Bio:
Sven Behnke received his MS degree in Computer Science (Dipl.-Inform.) in 1997 from Martin-Luther-Universität Halle-Wittenberg. In 2002, he obtained a PhD in Computer Science (Dr. rer. nat.) from Freie Universität Berlin. He spent the year 2003 as postdoctoral researcher at the International Computer Science Institute, Berkeley, CA. From 2004 to 2008, Professor Behnke headed the Humanoid Robots Group at Albert-Ludwigs-Universität Freiburg. Since April 2008, he is professor for Autonomous Intelligent Systems at the University of Bonn and director of the Institute of Computer Science VI.
His research interests include cognitive robotics, computer vision, and machine learning.
Standardization and Robot Innovation
Speaker: Tetsuya KimuraDepartment of System Safety, Nagaoka University of Technology, Japan
Date: Thursday, October 12, 2017
Time: 9:00 – 10:00
Abstract:In ISO/IEC Guide 2, standardization is defined as "activity of establishing, with regard to actual or potential problems, provisions for common and repeated use, aimed at the achievement of the optimum degree of order in a given context," or summary of "lessons learned."
From this viewpoint, the standardization can be an effective tool to accelerate the utilization of innovative technology. In this talk, the effectiveness of the standardization for robot innovation is introduced by considering DHS-NIST-ASTM standard performance test method for the response robots and ISO 13482(safety standard for personal care robots).
Speaker Bio:
Tetsuya Kimura received Dr.of Eng. from Tokyo Institute of Technology related to nonlinear robust control of a pneumatic system in 1995. He was a research associate of Kobe University and Osaka Prefecture University and since 2001, he has been an associate professor of Nagaoka University of Technology.
His research interest is the utilization of the response robots considering both technology and social system development. He is also working for several Japanese government projects, e.g., World Robot Summit and FUKUSIMA Robot Test Field, and standard development, e.g., personal care robot(ISO 13482) and consumer products(walking pole and riding gear).
ImPACT Tough Robotics Challenge Program for Disaster Response and Prevention
Speaker: Satoshi TadokoroGraduate School of Information Sciences, Tohoku University, Japan
Date: Friday, October 13, 2017
Time: 9:00 – 10:00
Abstract:ImPACT Tough Robotics Challenge Program (ImPACT-TRC) focuses on research into robust disaster robot technologies for accessibility, sensing & recognition, recovery, and environmental compatibility. Five types of robots, i.e. UAVs, construction robots, serpentine robots, legged robots and cyber rescue canine, are being developed with advanced visual, auditorial & haptic sensing, robust actuators, mechanisms & control, human interface, and robust wireless communication. A field evaluation meetings is held periodically for the milestones of R&D. It shows the applicable technologies to the users and industry to promote disruptive innovation in disaster response, recovery and preparedness as well as new field robot business. This plenary talk will present a part of its research results and products of this two years as well as application to real disaster.
Speaker Bio:
Satoshi Tadokoro graduated from the University of Tokyo in 1984. He was an associate professor in Kobe University in 1993-2005, and is a professor of Tohoku University since 2005, a vice dean in 2014, and a research professor since 2014. He is a president of International Rescue System Institute since 2002 and IEEE RAS President in 2016-2017. He served as a project manager of MEXT DDT Project on rescue robotics in 2002-2007 having contribution of more than 100 professors nationwide, and PI of NEDO projects related to disaster robotics. His team developed various rescue robots, two of which called Quince and Active Scope Camera are well-known because they were used in disasters such as in nuclear reactor buildings of the Fukushima-Daiichi Nuclear Power Plant Accident. He is a project manager of Japan Cabinet Office ImPACT Project in 2014-18. IEEE Fellow, RSJ Fellow, JSME Fellow, and SICE Fellow.
The Present and Future of Search & Rescue Drones
Speaker: Shuo YangDJI Innovation, Shenzhen, China
Date: Friday, October 13, 2017
Time: 13:30 – 14:30
Speaker Bio:
Shuo Yang is the Director of Intelligent Navigation Technologies at DJI. He obtained his B.Eng and M.Phil degrees from Hong Kong University of Science and Technology (HKUST). He is involved in developing flight control and navigation technologies for several DJI flagship products, such as the Inspire 1, Phantom 4 and Matrice 100 drones and the A3 flight controller. He has coauthored 4 academic papers and obtained near 10 US patents. Shuo is also leading an educational robotics competition project called RoboMaster at DJI.
Detailed Program
| Session | Authors | Title | Session Title |
| We3T1 | Baberg, Fredrik; Ogren, Petter | Formation Obstacle Avoidance using RRT and Constraint Based Programming | Robotics and Automation for safety and security |
| We3T1 | Sakaue, Tomoki; Yoshino, Shin; Nishizawa, Koju; Takeda, Kohei | Survey in Fukushima Daiichi NPS by Combination of Human and Remotely-Controlled Robot | Robotics and Automation for safety and security |
| We3T1 | Benndorf, Maik; Garsch, Maximilian; Mueller, Christian Atanas; Fromm, Tobias; Haenselmann, Thomas; Gebbeken, Norbert; Łuczyński, Tomasz; Birk, Andreas | Robotic Bridge Statics Assessment within Strategic Flood Evacuation Planning Using Low-Cost Sensors | Robotics and Automation for safety and security |
| We3T1 | Noori, Farzan Majeed; Portugal, David; Rocha, Rui P.; Couceiro, Micael | On 3D Simulators for Multi-Robot Systems in ROS: MORSE or Gazebo? | Robotics and Automation for safety and security |
| We3T1 | Miura, Hiroyasu; Watanabe, Ayaka; Okugawa, Masayuki; Kurisu, Masamitsu; Kurahashi, Susumu | Field Experiment Report for Exploration of Abandoned Lignite Mines with Teleinvestigation Robot System | Robotics and Automation for safety and security |
| We4T1 | Gawel, Abel Roman; Dubé, Renaud; Surmann, Hartmut; Nieto, Juan; Siegwart, Roland; Cadena Lerma, Cesar | 3D Registration of Aerial and Ground Robots for Disaster Response: An Evaluation of Features, Descriptors, and Transformation Estimation | SLAM in complex and/or extreme environments |
| We4T1 | Mielle, Malcolm; Magnusson, Martin; Andreasson, Henrik; Lilienthal, Achim J. | SLAM Auto-Complete: Completing a Robot Map Using an Emergency Map | SLAM in complex and/or extreme environments |
| We4T1 | Chen, Xieyuanli; Zhang, Hui; Lu, Huimin; Xiao, Junhao; Qiu, Qihang; Li, Yi | Robust SLAM System Based on Monocular Vision and LiDAR for Robotic Urban Search and Rescue | SLAM in complex and/or extreme environments |
| We4T1 | Shamsudin, Abu Ubaidah; Mizuno, Naoki; Fujita, Jun; Ohno, Kazunori; Hamada, Ryunosuke; Tadokoro, Satoshi; Amano, Hisanori | Evaluation of LIDAR and GPS Based SLAM on Fire Disaster in Petrochemical Complexes | SLAM in complex and/or extreme environments |
| We5T1 | Cichon, Torben; Rossmann, Juergen | Robotic Teleoperation: Mediated and Supported by Virtual Testbeds | Human-robot interaction and interfaces |
| We5T1 | Sato, Ryuya; Kamezaki, Mitsuhiro; NIUCHI, Satoshi; Sugano, Shigeki; Iwata, Hiroyasu | A Pre-Offering View System for Teleoperators of Heavy Machines to Acquire Cognitive Maps | Human-robot interaction and interfaces |
| We5T1 | Beachly, Evan; Detweiler, Carrick; Elbaum, Sebastian; Twidwell, Dirac; Duncan, Brittany | UAS-Rx Interface for Mission Planning, Fire Tracking, Fire Ignition, and Real-Time Updating | Human-robot interaction and interfaces |
| We5T1 | Shimizu, Masaru; Takahashi, Tomoichi | Proposal of Simulation Platform for Robot Operations with Sound | Human-robot interaction and interfaces |
| Th8T1 | Wellhausen, Lorenz; Dubé, Renaud; Gawel, Abel Roman; Siegwart, Roland; Cadena Lerma, Cesar | Reliable Real-Time Change Detection and Mapping for 3D LiDARs | Perception for navigation, hazard detection, and victim identification |
| Th8T1 | Zeise, Björn; Wagner, Bernardo | Tempered Point Clouds and OctoMaps: A Step towards True 3D Temperature Measurement in Unknown Environments | Perception for navigation, hazard detection, and victim identification |
| Th8T1 | Fritsche, Paul; Zeise, Björn; Hemme, Patrick; Wagner, Bernardo | Fusion of Radar, LiDAR and Thermal Information for Hazard Detection in Low Visibility Environments | Perception for navigation, hazard detection, and victim identification |
| Th8T1 | Yu, ShangLin; Westfechtel, Thomas; Hamada, Ryunosuke; Ohno, Kazunori; Tadokoro, Satoshi | Vehicle Detection and Localization on Birds Eye View Elevation Image Using Convolutional Neural Network | Perception for navigation, hazard detection, and victim identification |
| Th8T1 | Al-Kaff, Abdulla; Moreno, Francisco Miguel; de la Escalera, Arturo; Armingol, Jose | Intelligent Vehicle for Search, Rescue and Transportation Purposes | Perception for navigation, hazard detection, and victim identification |
| Th9T1 | Dufek, Jan; Xiao, Xuesu; Murphy, Robin | Visual Pose Stabilization of Tethered Small Unmanned Aerial System to Assist Drowning Victim Recovery | Unmanned ground, aerial, and marine vehicles |
| Th9T1 | Bähnemann, Rik; Schindler, Dominik; Kamel, Mina; Siegwart, Roland; Nieto, Juan | A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects | Unmanned ground, aerial, and marine vehicles |
| Th9T1 | Kimura, Tetsuya; Okugawa, Masayuki; Oogane, Katsuji; Ohtsubo, Yoshikazu; Shimizu, Masaru; Takahashi, Tomoichi; Tadokoro, Satoshi | Competition Task Development for Response Robot Innovation in World Robot Summit | Unmanned ground, aerial, and marine vehicles |
| Th9T1 | Jacoff, Adam; Candell, Richard; Downs, Anthony; Huang, Hui-Min; Kimble, Kenneth; Saidi, Kamel; Sheh, Raymond Ka-Man; Virts, Ann-Marie | Events for the Application of Measurement Science to Evaluate Ground, Aerial, and Aquatic Robots | Unmanned ground, aerial, and marine vehicles |
| Th10T1 | Gregory, Jason M.; Brookshaw, Iain; Fink, Jonathan; Gupta, Satyandra K. | An Investigation of Goal Assignment for a Heterogeneous Robotic Team to Enable Resilient Disaster-Site Exploration | Robotics and Automation for safety and security |
| Th10T1 | Gottumukkala, Leela Krishna C.; Cao, Mengdie; Murphy, Robin | Autonomous Observation of Multiple USVs from UAV While Prioritizing Camera Tilt and Yaw Over UAV Motion | Robotics and Automation for safety and security |
| Th10T1 | Xiao, Xuesu; Dufek, Jan; Murphy, Robin | Visual Servoing for Teleoperation Using a Tethered UAV | Robotics and Automation for safety and security |
| Th10T1 | Li, Bai; Zhang, Youmin; Jia, Ning; Zhou, Changjun; Ge, Yuming; Hong, Liu; Meng, Wei; Ji, Ce | Paving Green Passage for Emergency Vehicle in Heavy Traffic: Real-Time Motion Planning under the Connected and Automated Vehicles Environment | Robotics and Automation for safety and security |
| Fr12T1 | Kiribayashi, Seiga; Nagatani, Keiji; Yakushigawa, Kaede | Position Estimation of Tethered Micro Unmanned Aerial Vehicle by Observing the Slack Tether | Mechanisms, Mechatronics, and Embedded Control |
| Fr12T1 | Martinez, Jorge L.; Morales, Jesús; Mandow, Anthony; Pedraza, Salvador; García-Cerezo, Alfonso | Inertia-Based ICR Kinematic Model for Tracked Skid-Steer Robots | Mechanisms, Mechatronics, and Embedded Control |
| Fr12T1 | Hashimoto, Kenji; Kimura, Shunsuke; Sakai, Nobuaki; Hamamoto, Shinya; Koizumi, Ayanori; Sun, Xiao; Matsuzawa, Takashi; Teramachi, Tomotaka; Yoshida, Yuki; Imai, Asaki; Kumagai, Kengo; Matsubara, Takanobu; YAMAGUCHI, Koki; MA, Gan; Takanishi, Atsuo | WAREC-1 - A Four-Limbed Robot Having High Locomotion Ability with Versatility in Locomotion Styles | Mechanisms, Mechatronics, and Embedded Control |
| Fr12T1 | Park, Taesang; Jeong, Choong-Pyo; Lee, jaeseong; Lee, Seonghun; Lee, Ikho; KIM, HYEON JUNG; An, Jinung; Yun, Dongwon | Design of Special End Effectors for First Aid Robot | Mechanisms, Mechatronics, and Embedded Control |
| Fr12T1 | Chen, Kui; Kamezaki, Mitsuhiro; Katano, Takahiro; Kaneko, Taisei; Azuma, Kohga; Uehara, Yusuke; Ishida, Tatsuzo; Seki, Masatoshi; Ken, Ichiryu; Sugano, Shigeki | A Preliminary Study on a Groping Framework without External Sensors to Recognize Near-Environmental Situation for Risk-Tolerance Disaster Response Robots Tolerance Disaster Response Robots | Mechanisms, Mechatronics, and Embedded Control |
| Fr14T1 | Su, Junqin; Ye, Yunming; Li, Xutao; Li, Yan | Monocular Visual-Inertial State Estimation on 3D Large-Scale Scenes for UAVs Navigation | Unmanned ground, aerial, and marine vehicles |
| Fr14T1 | Gottumukkala, Leela Krishna C.; Murphy, Robin | A Review on Cybersecurity Vulnerabilities for Unmanned Aerial Vehicles | Unmanned ground, aerial, and marine vehicles |
| Fr14T1 | Falanga, Davide; Zanchettin, Alessio; Simovic, Alessandro; Delmerico, Jeffrey; Scaramuzza, Davide | Vision-Based Autonomous Quadrotor Landing on a Moving Platform | Unmanned ground, aerial, and marine vehicles |
| Fr14T1 | Paredes, Juan Augusto; Saito, Carlos; Ramírez, Julio; Abarca, Monica; Flores, Andres | Case Study and Analysis of Small Unmanned Aerial Vehicle Operations for Post-Disaster Assessment | Unmanned ground, aerial, and marine vehicles |
| Fr15T1 | Kapoutsis, Athanasios; Malliou, Christina; Chatzichristofis, Savvas; Kosmatopoulos, Elias | Continuously Informed Heuristic A* - Optimal Path Retrieval Inside an Unknown Environment | Autonomous search and rescue |
| Fr15T1 | Matsuzawa, Takashi; Hashimoto, Kenji; Sun, Xiao; Teramachi, Tomotaka; Kimura, Shunsuke; Sakai, Nobuaki; Yoshida, Yuki; Imai, Asaki; Kumagai, Kengo; Matsubara, Takanobu; YAMAGUCHI, Koki; Tan, Wei Xin; Takanishi, Atsuo | Crawling Gait Generation Method for Four-Limbed Robot Based on Normalized Energy Stability Margin | Autonomous search and rescue |
| Fr15T1 | Shen, Changsheng; ZHANG, Yuanzhao; LI, ZIMO; Gao, Fei; Shen, Shaojie | Collaborative Air-Ground Target Searching in Complex Environments | Autonomous search and rescue |
| Fr15T1 | D'Arcy, Michael; Fazli, Pooyan; Simon, Dan | Safe Navigation in Dynamic, Unknown, Continuous, and Cluttered Environments | Autonomous search and rescue |
| Fr15T1 | Reardon, Christopher M.; Han, Fei; Zhang, Hao; Fink, Jonathan | Optimizing Autonomous Surveillance Route Solutions from Minimal Human-Robot Interaction | Autonomous search and rescue |