Robotics: Science and Systems VII

Table of Contents

Unmanned Aircraft Collision Avoidance using Continuous-State POMDPs
Haoyu Bai, David Hsu, Mykel Kochenderfer, Wee Sun Lee

Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D
Subhrajit Bhattacharya, Maxim Likhachev, Vijay Kumar

Controlling Wild Bodies Using Linear Temporal Logic
Leonardo Bobadilla, Oscar Sanchez, Justin Czarnowski, Katrina Gossman, Steven LaValle

Exploiting Variable Stiffness in Explosive Movement Tasks
David Braun, Matthew Howard, Sethu Vijayakumar

Automatic Calibration of Multiple Coplanar Sensors
Jonathan Brookshire, Seth Teller

A Linear Approximation for Graph-based Simultaneous Localization and Mapping
Luca Carlone, Rosario Aragues, Jose Castellanos, Basilio Bona

The Motion Grammar: Linguistic Perception, Planning, and Control
Neil Dantam, Mike Stilman

Learning to Control a Low-Cost Manipulator using Data-Efficient Reinforcement Learning
Marc Deisenroth, Carl Rasmussen, Dieter Fox

A Framework for Push-Grasping in Clutter
Mehmet Dogar, Siddhartha Srinivasa

Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts
Tom Erez, Yuval Tassa, Emanuel Todorov

An Art Gallery Approach to Ensuring that Landmarks are Distinguishable
Lawrence Erickson, Steven LaValle

Global Optimization of Robotic Grasps
Carlos Rosales Gallegos, Josep Porta, Lluis Ros

Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance
Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich Bülthoff

An Interaction Design Framework for Social Robots
Dylan Glas, Satoru Satake, Takayuki Kanda, Norihiro Hagita

Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution
Jared Glover, Radu Rusu, Gary Bradski

Model-Based Proprioceptive State Estimation for Spring-Mass Running
Ozlem Gur, Uluc Saranli

Kinematic Cartography for Locomotion at Low Reynolds Numbers
Ross Hatton, Howie Choset

Friendly Patrolling: A Model of Natural Encounters
Kotaro Hayashi, Masahiro Shiomi, Takayuki Kanda, Norihiro Hagita

Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon
Van Ho, Shinichi Hirai

Probabilistic Analysis of Correctness of High-Level Robot Behavior with Sensor Error
Benjamin Johnson, Hadas Kress-Gazit

Real-time prioritized kinematic control under inequality constraints for redundant manipulators
Oussama Kanoun

Cross-Entropy Randomized Motion Planning
Marin Kobilarov

Global Motion Planning under Uncertain Motion, Sensing, and Environment Map
Hanna Kurniawati, Tirthankar Bandyopadhyay, Nicholas Patrikalakis

Designing Petri Net Supervisors from LTL Specifications
Bruno Lacerda, Pedro Lima

Construction of Cubic Structures with Quadrotor Teams
Quentin Lindsey, Daniel Mellinger, Vijay Kumar

Multi-Level Partitioning and Distribution of the Assignment Problem for Large-Scale Multi-Robot Task Allocation
Lantao Liu, Dylan Shell

Comparing Heads-up, Hands-free Operation of Ground Robots to Teleoperation
Matthew Marge, Aaron Powers, Jonathan Brookshire, Trevor Jay, Odest Jenkins, Christopher Geyer

Distributed Robot Ensemble Control for Deployment to Multiple Sites
T. William Mather, M. Ani Hsieh

A Serial Approach to Handling High-Dimensional Measurements in the Sigma-Point Kalman Filter
Colin McManus, Timothy Barfoot

Visual Segmentation of Simple Objects for Robots
Ajay Mishra, Yiannis Aloimonos

Operational Space Control of Constrained and Underactuated Systems
Michael Mistry, Ludovic Righetti

Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments
Jia Pan, Liangjun Zhang, Dinesh Manocha

Motion Planning Under Uncertainty In Highly Deformable Environments
Sachin Patil, Jur van den Berg, Ron Alterovitz

Load Balancing for Mobility-on-Demand Systems
Marco Pavone, Stephen Smith, Emilio Frazzoli, Daniela Rus

TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction
Kirstin Petersen, Radhika Nagpal, Justin Werfel

Fast Trajectory Correction for Nonholonomic Mobile Robots using Affine Transformations
Quang-Cuong Pham

From Caging to Grasping
Alberto Rodriguez, Matt Mason, Steve Ferry

An Analytic Motion Planning Solution for the Snakeboard
Elie Shammas, Mauricio de Oliveira

Spatial Formation Model for Initiating Conversation
Chao Shi, Michihiro Shimada, Takayuki Kanda, Hiroshi Ishiguro, Norihiro Hagita

Coupled Dynamical System Based Hand-Arm Grasp Planning under Real-Time Perturbations
Ashwini Shukla,Aude Billard

Finite-Time Regional Verification of Stochastic Nonlinear Systems
Jacob Steinhardt, Russ Tedrake

Tracking-Based Semi-Supervised Learning
Alex Teichman, Sebastian Thrun

Sliding Manipulation of Rigid Bodies on a Controlled 6-DoF Plate
Tom Vose, Paul Umbanhowar, Kevin Lynch

Lying Pose Recognition for Elderly Fall Detection
Simin Wang, Salim Zabir, Bastian Leibe

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input
Erkang You, Kris Hauser