Paper Archive

08/20/07 -- Recent Localization work by Stephen Tully
Authors: Presenter: Stephen T. Details: I'll actually split the talk into three subtopics, although they are all related: 1) Global Localization, 2) Bearing-Only SLAM, and 3) Multi-Robot Cooperative Localization.

08/13/07 -- Dense Mapping for telemetric sensors: efficient algorithms and sparse representation
Authors: M. Yguel, C. T. M. Keat, C. Braillon, C. Laugier, O. Aycard Presenter: Andrew L. Details: I will also be discussing the trade-offs of different range-sensors with a Quad-Rotor Micro Air Vehicle (MAV). I will demo the MAV's capabilities and discuss various field tests conducted.

08/06/07 -- Registration of challenging image pairs: initialization, estimation and decision
Authors: G. Yang, C. V. Stewart, M. Sofka, and C. Tsai Presenter: Dey D. Details: This is an offline method of registration of really challenging images and has potential applications in being adapted to a real time method for registering images on the fly that can help us visually navigate UAVs.

07/30/07 -- The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty
Authors: R. Alterovitz, T. Simeon, K. Goldberg Presenter: Fred H. Details: .

06/25/07 -- Some CVPR Papers
Authors: Presenter: Chris G. Details: .

06/18/07 -- Practive Talks for FUSION (see below)
Authors: Presenter: Prasanna and Robin Details: "Maintaining Shared Belief in a Large Multiagent Team"

06/04/07 -- Efficient Two-phase 3D Motion Planning for Small Fixed-Wing UAVs
Authors: M. Hwangbo, J. Kuffner, and T.Kanade Presenter: S. Singh Details: .

05/21/07 -- Scan Alignment and 3-D Surface Modeling with a Helicopter Platform
Authors: S. Thrun, M. Diel, and D. Haehnel Presenter: Lyle Chamberlain Details: .

05/14/07 -- Semantic Robot Vision Challenge
Authors: S. Scherer and F. Heger Presenter: S. Scherer and F. Heger Details: Sebastian and Fred present their work on the Semantic Robot Vision Challenge.

04/23/07 -- Distributed Cooperative Active Sensing Using Consensus Filters
Authors: P. Yang, R. Freeman and K. Lynch Presenter: Joe D. Details: This talk will cover the topic of multi-agent distributed cooperative coordination. While the main focus of the paper is on target tracking, past work by the authors on formation control will also be presented.

04/09/07 -- Localization and Navigation Assisted by Networked Cooperating Sensors and Robots
Authors: P. Corke, R. Peterson and D. Rus Presenter: Felix D. Details: A talk on sensor network localization and robot navigation assistance.

03/26/07 -- Collaborative Robotics
Authors: P. Scerri Presenter: Paul S. Details: A talk on his work on collaborative robotics. Sebastian Scherer will also be giving his practice ICRA talk on collision avoidance for aerial vehicles.

03/19/07 -- Parallel Stochastic Hill-Climbing With Small Teams

Authors: B. Gerkey, S. Thrun, and G. Gordon Presenter: Geoff H. Details: A discussion on how this and other algorithms strike a balance between coupled coordination (an exponential problem) and decoupled coordination (a linear problem). Animations can be found here: http://ai.stanford.edu/~gerkey/research/pe/ There is also a (somewhat) related paper by the same authors that deals with finding complete solutions to the pursuit/evasion problem for searchers with limited field of view. However, it does not deal directly with the problem of coordinating multiple pursuers in the scenario. http://www.cs.cmu.edu/~ggordon/gerkey-thrun-gordon.ijrr06.pdf

03/12/07 -- Identity Management Kalman Filter

Authors: B. Schumitsch, S. Thrun, L. Guibas and K. Olukotun Presenter: Chris G. Details: Addresses tracking problems when data association uncertainty is high. The approach presented here uses a probabilistic information matrix that efficiently encodes identity information by linking world entities with internal tracks of the filter, enabling it to maintain a full posterior over the system amid data association uncertainties.

01/22/07 -- Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths
Authors: O. Brock and O. Khatib Presenter: Felix D. Details: Link to the longer version in IJRR can be found http://robotics.cs.umass.edu/~oli/publications/src/ijrr-02.pdf .

01/16/07 -- Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
Authors: D. Conner and H. Choset and A. Rizzi Presenter: Sebastian S. Details: Link to the book chapter can be found http://planning.cs.uiuc.edu/ch8.pdf .

01/09/07 -- Real-Time Particle Filters
Authors: C. Kwok, D. Fox and M. Meila Presenter: Takeshi T. Details: The Longer version of the paper can be found http://www.cs.washington.edu/homes/fox/postscripts/rtpf-proc-ieee-04.ps.gz .

12/12/06 -- Distributed Consensus Algorithms for Robot Coordination and Sensor Fusion

Authors: Presenter: Ben G. Details: Two papers presented are: 1) "A Scheme for Robust Distributed Sensor Fusion Based on Average Consensus" by L. Xiao, S. Boyd and S. Lall '''[[http://fieldrobotics.org/navgroup/papers/sensor_fusion_ipsn05-1.pdf pdf]]''' 2) "Information Consensus in Distributed Multiple Vehicle Coordinated Control" by R. W. Beard, and V. Stepanyan '''[[http://fieldrobotics.org/navgroup/papers/WeM01.4.pdf pdf]]'''

12/05/06 -- Real Time Multitarget Tracking
Authors: Z. Khan, T. Balch, and F. Dellaert Presenter: Joe D. Details: A.K.A: ''MCMC Data Association and Sparse Factorization Updating for Real Time Multitarget Tracking with Merged and Multiple Measurements'' Presents some interesting ideas on MCMC-based tracking and methods for improving efficiency by utilizing sparseness.

11/28/06 -- Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
Authors: N. Fairfield, G. Kantor, D. Wettergreen Presenter: George K. Details: Follow-up of the DEPTHX/particle filtering: More details on the PF algorithm and the tricks that allow us to do 3D mapping in real time. Also give a general update the status of the project.

11/14/06 -- Two papers on designing user interfaces for mobile Search and Rescue robots
Authors: Presenter: Raymond S. Details: Two papers presented are: 1) "Effective User Interface Design for Rescue Robotics" by M.W. Kadous., R.K. Sheh and C. Sammut '''[[http://raybot.cse.unsw.edu.au/hri2006_20060107.pdf pdf]]''' 2) "Controlling Heterogeneous Semi-autonomous Rescue Robot Teams" by M.W. Kadous., R.K. Sheh and C. Sammut '''[[http://raybot.cse.unsw.edu.au/smc2006.pdf pdf]]'''

10/31/06 -- Two papers on Pedestrian Detection and Tracking
Authors: Presenter: Karl Z. Details: Two papers presented are: 1) "Pedestrian Detection from a Moving Vehicle" by D.M. Gavrila. '''[[http://fieldrobotics.org/navgroup/papers/eccv00.pdf pdf]]''' 2) "Detecting Moving Objects using a Single Camera on a Mobile Robot in an Outdoor Environment" by B. Jung and G.S. Sukhatme. '''[[http://fieldrobotics.org/navgroup/papers/372.pdf pdf]]'''

10/23/06 -- Randomized Kinodynamic Motion Planning with Moving Obstacles
Authors: D. Hsu, R. Kindel, J.C. Latombe and S. Rock Presenter: Fred H. Details: Motion Planning with kinodynamic constraints. A randomized motion planner for robots that avoids moving obstacles and achieves a goal under kinematic and dynamic constraints.

10/17/06 -- Distributed Localization in wireless sensor networks: a quantitative comparison
Authors: K. Langendoen and N. Reijers Presenter: Sanjiv S. Details: Distributed localization in sensor networks - part 1. MDS and other such optimization approaches provide localization solutions given rigidity and high network connectivity.

10/10/06 -- Two papers on SLAM

Authors: Presenter: Seth K. Details: Two papers presented are: 1) "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem" by M. Montemerlo, S. Thrun, D. Koller and B. Wegbreit. '''[[http://fieldrobotics.org/navgroup/papers/FastSLAM.pdf pdf]]''' 2) "The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures" by S. Thrun and M. Montemerlo.'''[[http://fieldrobotics.org/navgroup/papers/GraphSLAM.pdf pdf]]'''

10/03/06 -- Two papers on Coverage Control and Mobile Robot Networks

Authors: Presenter: Felix D. Details: Two papers presented are: 1) "Coverage Control for Mobile Sensing Networks" by J. Cortes, S. Martinez, T. Karatas and F. Bullo. '''[[http://fieldrobotics.org/navgroup/papers/coverage_control.pdf pdf]]''' 2) "Towards the deployment of a mobile robot network with end-to-end performance guarantees" by Hsieh, Cowley, Kumar, and Taylor. '''[[http://fieldrobotics.org/navgroup/papers/mobile_robot_network.pdf pdf]]'''

09/26/06 -- Autonomous Ground Vehicle Path Tracking
Authors: Jeff Wit, Carl D. Crane III, and David Armstrong Presenter: Sebastian S. Details: Screw motivated vehicle path tracking.

09/19/06 -- Improving Robot Navigation Through Self-Supervised Online Learning
Authors: Boris Sofman, Ellie Lin, Drew Bagnell, Nicolas Vandapel, and Tony Stentz Presenter: Brad H. Details: Using overhead imagery to augment ladar based traversability analysis through online learning.

09/12/06 -- RSS Demo(s) Presentation
Authors: EMBER Team ++ Presenter: Geoff H. Details: Several Demos from RSS 2006 will be presented along with a description on the EMBER project demos.

09/05/06 -- Adaptive Stance Control
Authors: Lyle Chamberlain Presenter: Lyle C. Details: How to adaptively change the rover's stance (wheel/leg) to improve stability.

08/29/06 -- Adapting the Sample size in Particle Filters Through KLD-Sampling
Authors: Dieter Fox Presenter: Takeshi T. Details: How to adaptively change the particle count in a Particle filter.

08/22/06 -- Select Paper Summaries from RSS 2006
Authors: '''' Presenter: Ben G. and Joe D. (Not Jerry :P) Details: Two papers will be presented breifly: 1) J.M.M. Montiel, J. Civera, and A.J. Davison, "Unified Inverse Depth Parametrization for Monocular SLAM". 2) B. Ferris, D. Hahnel, and D. Fox, "Gaussian Processes for Signal Strength-Based Location Estimation".

08/15/06 -- Raymond's work at UNSW
Authors: M. Waleed Kadous, Claude Sammut, Raymond Sheh Presenter: Raymond S. Details: Behavioural cloning for robots in unstructured environments.

08/08/06 -- Big Dog People Tracking Presentation
Authors: Chris G., Ben G., Wenfan S., Sanjiv S. Presenter: Chris G. Details: Summary of current work on Big Dog with People Tracking.

08/01/06 -- Learning to Detect UFOs
Authors: Stavros Petridis Presenter: Stavros P. Details: Summary of his work while at CMU.

07/25/06 -- Extensive Representations and Algorithms for Nonlinear Filtering and Estimation
Authors: Ethan Stump, Ben Grocholsky and Vijay Kumar Presenter: Ben G. Details: Paper from WAFR 2006.

07/19/06 -- Stereo Based Obstacle Detection for an Unmanned Air Vehicle
Authors: Jeffrey Byrne, Martin Cosgrove and Raman Mehra Presenter: Henele A. Details: Another paper from ICRA 2006.

06/28/06 -- Image Processing Algorithms for UAV “Sense and Avoid”
Authors: Ryan Carnie, Rodney Walker, Peter Corke Presenter: Stavros P. Details: UAV Image Processing.

06/21/06 -- Design summary of the Standford and CMU Teams
Authors: Standford and CMU Teams Presenter: Bradley H. Details: The Grand Challenge 2005 Software Details.

06/14/06 -- Oriented Visibility Graphs: Low-Complexity Planning in Real-Time Environments
Authors: David Wooden & Magnus Egerstedt Presenter: Sebastian S. Details: Key Ideas: - Introduction to visibility and reduced visibility graphs - Oriented visibility graphs - Introduce 3D visibility - 3D visibility algorithm

06/07/06 -- Adapting Proposal Distributions for Accurate, Efficient Mobile Robot Localization
Authors: Patrick Beeson, Aniket Murarka, Benjamin Kuipers Presenter: Joe D Details: State estimation, adaptive motion modeling for particle filters.