WAFR 2000

Wednesday, March 15

8:00pm Wine and Cheese Reception - Hayward Lounge at Hanover Inn

All workshop sessions are in Rockefeller Center for the Social Sciences
which is about a 5 minute walk across campus from the Hanover Inn

Thursday, March 16

07:30 Breakfast Buffet - Hinman Forum at Rockefeller Center

08:15 Opening Remarks

08:30 Invited Talk - Robust Geometric Computing in Motion - Dan Halperin

09:30 Coffee Break - Session Room Lobby

Session Chair: Lydia Kavraki

10:00 Controlled Module Density Helps Reconfiguration Planning - A. Nguyen, L. Guibas, M. Yim

10:25 Positioning Symmetric and Non-Symmetric Parts using Radial and Constant Force Fields - F. Lamiraux, L. Kavraki

10:50 Complete Distributed Coverage of Rectilinear Environments - Z. J. Butler, A. A. Rizzi, R. L. Hollis

11:15 Closed-Loop Distributed Manipulation Using Discrete Actuator Arrays - J. E. Luntz, W. Messner, H. Choset

11:40 Lunch (on your own)

01:40 Invited Talk - Meso-Scale Self-Assembly - George Whitesides

02:40 Coffee Break - Session Room Lobby

Session Chair: Michael Erdmann

03:10 Kinematic tolerance analysis with configuration spaces: method and case study - L. Joskowicz, E. Sacks

03:35 Deformable Free Space Tilings for Kinetic Collision Detection - P. Agarwal, J. Basch, L. Guibas, J. Hershberger, L. Zhang

04:00 Real-time Global Deformations - Y. Zhuang, J. Canny

04:25 Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger Gaiting - B. Goodwine, J. Burdick

04:50 Manipulation of Pose Distributions - Mark Moll, M. A. Erdmann

Friday, March 17

07:30 Continental Breakfast - Hinman Forum at Rockefeller Center

08:15 Invited Talk - Computer Assisted Surgery - Eric Grimson

09:15 Coffee Break - Session Room Lobby

Session Chair: Ken Goldberg

09:45 Pulling Motion Based Tactile Sensing - M. Kaneko, T. Tsuji

10:10 Compensatory Grasping with the Parallel Jaw Gripper - T. Zhang, G. Smith, K. Goldberg

10:35 Graphical Construction of Time Optimal Trajectories for Differential Drive Robots - D. J. Balkcom, M. T. Mason

11:00 Weighted Region Optimal Path Problem - J. Reif, Z. Sun

11:25 Lunch (on your own)

01:25 Invited Talk - Synthesis and Regulation of Cyclic Behaviors - Daniel Koditschek

Session Chair:Daniela Rus

02:25 Steering Algorithms for Dynamic Robotic Locomotion Systems - J. P. Ostrowski, K. A. McIsaac

02:50 A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems - L. Han, N. M. Amato

03:15 Tour of Dartmouth Robotics Labs - Sudikoff Laboratory

06:30 Conference Banquet: Wine Bar and Dinner at Collis Center

Saturday, March 18

07:30 Continental Breakfast - Hinman Forum at Rockefeller Center

08:15 Invited Talk - Probabilistic Roadmaps for Kinodynamic Motion Planning in Dynamic Environments - Jean-Claude Latombe

09:15 Coffee Break - Session Room Lobby

Session Chair:Ming Lin

09:45 On Random Sampling in Contact Configuration Space - X. Ji and J. Xiao

10:10 Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling - C. Pisula, K. Hoff, M. Lin, D. Manocha

10:35 Rapidly-Exploring Random Trees: Progress and Prospects - S. M. LaValle, J. J. Kuffner

11:00 Encoders for spherical motion using discrete sensors - E. Scheinerman, G. S. Chirikjian, D. Stein

11:25 Lunch (on your own)

01:25 Invited Talk - Visibility roadmaps for motion planning - Jean-Paul Laumond

02:25 Coffee Break - Session Room Lobby

Session Chair:Amy Briggs

02:55 AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots - S. Kagami, F. Kanehiro, Y. Tamiya, M. Inaba, H. Inoue

03:20 Coupled Oscillators for Legged Robots - M. D. Berkemeier

04:00 Reliable Mobile Robot Navigation From Unreliable Visual Cues - A. J. Briggs, D. Scharstein, S. D. Abbott

04:25 Toward Real-Time Motion Planning in Dynamic Environments - P. Leven, S. Hutchinson

04:50 Planning for coordinated vehicles with bounded curvature - A. Bicchi, L. Pallottino

06:30 Bus to Boat House for Wine Bar and Buffet