The Seventh International Workshop on
the Algorithmic Foundations of Robotics New York City, July 16-18, 2006 |
National Science Foundation Microsoft Research NYU, RPI, Texas A&M |
All presentations will be in the Screening Room at the Tribeca Grand (the conference hotel). Each paper is allotted 25 minutes in the program — 20 minutes for presentation and 5 minutes for questions.
Sunday July 16 | |||||||||||||||||||||||||||||||||||||||||||||||||
08:15-08:50 | Continental Breakfast | ||||||||||||||||||||||||||||||||||||||||||||||||
08:50-09:00 | Opening Remarks | ||||||||||||||||||||||||||||||||||||||||||||||||
09:00-10:40 | Session 1: Probabilistic Roadmap Methods (PRMs)
Session Chair: Frank van der Stappen | ||||||||||||||||||||||||||||||||||||||||||||||||
Quantitative Analysis of Nearest-Neighbors Search in
High-Dimensional Sampling-Based Motion Planning
(pdf)
Erion Plaku and Lydia E. Kavraki | |||||||||||||||||||||||||||||||||||||||||||||||||
Path Deformation Roadmaps
(pdf)
Leonard Jaillet and Thierry Simeon | |||||||||||||||||||||||||||||||||||||||||||||||||
Workspace-based Connectivity Oracle: An Adaptive Sampling Strategy for PRM Planning
(pdf)
Hanna Kurniawati and David Hsu | |||||||||||||||||||||||||||||||||||||||||||||||||
Incremental Map Generation (IMG)
(pdf)
Dawen Xie, Marco A. Morales A., Roger Pearce, Shawna Thomas, Jyh-Ming Lien and Nancy M. Amato | |||||||||||||||||||||||||||||||||||||||||||||||||
10:40-11:00 | Coffee Break | ||||||||||||||||||||||||||||||||||||||||||||||||
11:00-12:00 | Invited Speaker: Jean-Claude Latombe,
On the Probabilistic Foundations of Probabilistic Roadmap Planners
(abstract,
pdf)
Session Chair: Dan Halperin | ||||||||||||||||||||||||||||||||||||||||||||||||
12:00-13:30 | Lunch (at hotel) | ||||||||||||||||||||||||||||||||||||||||||||||||
13:30-15:10 | Session 2: Planning for Movable and Moving Obstacles
Session Chair: Srinivas Akella | ||||||||||||||||||||||||||||||||||||||||||||||||
Caging Polygons with Two and Three Fingers
(pdf)
Mostafa Vahedi and A. Frank van der Stappen | |||||||||||||||||||||||||||||||||||||||||||||||||
An Effective Framework for Path Planning amidst Movable Obstacles
(pdf)
Dennis Nieuwenhuisen, A. Frank van der Stappen, and Mark H. Overmars | |||||||||||||||||||||||||||||||||||||||||||||||||
Planning the Shortest Safe Path amidst Unpredictably Moving Obstacles
(pdf)
Jur van den Berg and Mark Overmars | |||||||||||||||||||||||||||||||||||||||||||||||||
Planning Among Movable Obstacles with Artificial Constraints
(pdf)
Mike Stilman and James J. Kuffner | |||||||||||||||||||||||||||||||||||||||||||||||||
15:10-15:30 | Coffee Break | ||||||||||||||||||||||||||||||||||||||||||||||||
15:30-16:45 | Session 3: Navigation, SLAM, and Error Models for Filtering/Control
Session Chair: Howie Choset | ||||||||||||||||||||||||||||||||||||||||||||||||
Inferring and Enforcing Relative Constraints in SLAM
(pdf)
Kristopher R. Beevers and Wesley H. Huang | |||||||||||||||||||||||||||||||||||||||||||||||||
Second-Order Theory of Error Propagation on Motion Groups
(pdf)
Yunfeng Wang and Gregory S. Chirikjian | |||||||||||||||||||||||||||||||||||||||||||||||||
Extensive Representations and Algorithms for Nonlinear Filtering and Estimation
(pdf)
Ethan Stump, Ben Grocholsky, and Vijay Kumar | |||||||||||||||||||||||||||||||||||||||||||||||||
16:45-17:00 | Break | ||||||||||||||||||||||||||||||||||||||||||||||||
17:00-18:00 | Invited Speaker: Sebastian Thrun,
Winning the DARPA Grand Challenge
(abstract)
Session Chair: Ken Goldberg | ||||||||||||||||||||||||||||||||||||||||||||||||
Monday July 17 | |||||||||||||||||||||||||||||||||||||||||||||||||
08:15-09:00 | Continental Breakfast | ||||||||||||||||||||||||||||||||||||||||||||||||
09:00-10:40 | Session 4: Geometric Computations and Applications
Session Chair: Bruce Donald | ||||||||||||||||||||||||||||||||||||||||||||||||
An Experimental Study of Weighted k-Link Shortest Path Algorithms
(pdf)
Ovidiu Daescu, Joseph S. B. Mitchell, Simeon Ntafos, James D. Palmer, and Chee K. Yap | |||||||||||||||||||||||||||||||||||||||||||||||||
Low-Discrepancy Curves and Efficient Coverage of Space
(pdf)
Subramanian Ramamoorthy, Ram Rajagopal, Qing Ruan, and Lothar Wenzel | |||||||||||||||||||||||||||||||||||||||||||||||||
The Snowblower Problem
(pdf)
Esther M. Arkin, Michael A. Bender, Joseph S. B. Mitchell, and Valentin Polishchuk | |||||||||||||||||||||||||||||||||||||||||||||||||
Stratified Deformation Space and Path Planning for a Planar Closed Chain with Revolute Joints
(pdf)
L. Han, L. Rudolph, J. Blumenthal and I. Valodzin | |||||||||||||||||||||||||||||||||||||||||||||||||
10:40-11:00 | Coffee Break | ||||||||||||||||||||||||||||||||||||||||||||||||
11:00-12:00 | Invited Speaker: Tomas Lozano-Perez,
Learning and Inference Problems in Structural Biology and Robotics
(abstract)
Session Chair: Matt Mason | ||||||||||||||||||||||||||||||||||||||||||||||||
12:00-14:00 | Lunch (on your own) | ||||||||||||||||||||||||||||||||||||||||||||||||
14:00-15:40 | Session 5: Motion Planning
Session Chair: Leo Guibas | ||||||||||||||||||||||||||||||||||||||||||||||||
Competitive Disconnection Detection in On-Line Mobile Robot Navigation
(pdf)
Yoav Gabriely and Elon Rimon | |||||||||||||||||||||||||||||||||||||||||||||||||
A Simple Path Non-Existence Algorithm using C-obstacle Query
(pdf)
Liangjun Zhang, Young J. Kim, and Dinesh Manocha | |||||||||||||||||||||||||||||||||||||||||||||||||
RESAMPL: A Region-Sensitive Adaptive Motion Planner
(pdf)
Samuel Rodriguez, Shawna Thomas, Roger Pearce, and Nancy M. Amato | |||||||||||||||||||||||||||||||||||||||||||||||||
Motion Planning for a Six-Legged Lunar Robot
(pdf)
Kris Hauser, Timothy Bretl, Jean-Claude Latombe, and Brian Wilcox | |||||||||||||||||||||||||||||||||||||||||||||||||
15:40-16:00 | Coffee Break | ||||||||||||||||||||||||||||||||||||||||||||||||
16:00-16:50 | Session 6: Applications in Medicine and Biology
Session Chair: Greg Chirikjian | ||||||||||||||||||||||||||||||||||||||||||||||||
Constant-Curvature Motion Planning Under Uncertainty with Applications
in Image-Guided Medical Needle Steering
(pdf)
Ron Alterovitz, Michael Branicky, and Ken Goldberg | |||||||||||||||||||||||||||||||||||||||||||||||||
Structure Determination of Symmetric Protein Complexes by a
Complete Search of Symmetry Configuration
Space Using NMR Distance Restraints
(pdf)
Shobha Potluri, Anthony K. Yan, James J. Chou, Bruce R. Donald and Chris Bailey-Kellogg | |||||||||||||||||||||||||||||||||||||||||||||||||
16:50-17:00 | Break | ||||||||||||||||||||||||||||||||||||||||||||||||
17:00-18:00 | Invited Speaker: James Gimzewski,
Robotics and Nanotechnology on the Atomic and Molecular Scale
(abstract)
Session Chair: Bud Mishra 19:00-22:30 |
Conference Banquet
- Dinner Cruise of the New York Harbor sponsored by Microsoft Research
|
| Tuesday July 18 08:15-09:00 |
Continental Breakfast
| 09:00-10:40 |
Session 7: Techniques that Use Differential Equations
| Session Chair: Steve LaValle
|
The Minimum-Time Trajectories for an Omni-Directional Vehicle
(pdf)
| Devin J. Balkcom, Paritosh A. Kavathekar, and Matthew T. Mason
|
Mechanical Manipulation Using Reduced Models of Uncertainty
(pdf)
| Todd D. Murphey
| Motion Planning for Dynamic Variable Inertia
Mechanical Systems with Non-holonomic Constraints
(pdf)
| Elie A. Shammas, Howie Choset and Alfred A. Rizzi
|
Sampling-based Falsification and Verification of Controllers for Continuous Dynamic Systems
(pdf)
| Peng Cheng and Vijay Kumar 10:40-11:00 |
Coffee Break
| 11:00-12:00 |
Invited Speaker: Jacob Schwartz,
Motions in Cells: Some Reflections on Biology and Robotics
(abstract)
| Session Chair: Lydia Kavraki 12:00-13:30 |
Lunch (at hotel)
| 13:30-15:10 |
Session 8: Sensor Networks and Reconfiguration
| Session Chair: Wesley Huang
| Surrounding Nodes in Coordinate-Free Networks
(pdf)
| R. Ghrist, D. Lipsky, S. Poduri, and G. Sukhatme
|
Passive Mobile Robot Localization within a Fixed Beacon Field
(pdf)
|
Carrick Detweiler, John Leonard, Daniela Rus, and Seth Teller
|
Efficient Motion Planning Strategies for Large-scale Sensor Networks
(pdf)
|
Jason C. Derenick, Christopher R. Mansley, and John R. Spletzer
|
Asymptotically Optimal Kinodynamic Motion Planning for Self-Reconfigurable Robots
(pdf)
|
John H. Reif and Sam Slee 15:10-15:30 |
Coffee Break
| 15:30-16:45 |
Session 9: Planning for Games, VR, and Humanoid Motion
| Session Chair: Thierry (Nic) Simeon
|
Visibility-Based Pursuit-Evasion with Bounded Speed
(pdf)
| Benjamin Tovar and Steve LaValle
|
Planning Near-Optimal Corridors amidst Obstacles
(pdf)
| Ron Wein, Jur van den Berg, and Dan Halperin
|
Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots
(pdf)
| Kris Hauser, Timothy Bretl, Kensuke Harada and Jean-Claude Latombe 16:45-17:00 |
Break
| 17:00-18:00 |
Invited Speaker: Jessica K. Hodgins,
Interfaces for Controlling Human Characters
(abstract)
| Session Chair: Jeff Trinkle 18:00-18:10 |
Concluding Remarks
| |
WAFR 2006 Home Page |
NYU
RPI Texas A&M |