WAFR 2012

The Tenth International Workshop on the
Algorithmic Foundations of Robotics
13-15 June 2012, Cambridge, Massachusetts, USA




Technical Program

Stata Center, Room 32-155

Wednesday, June 13

9:30 - 10:30 Invited Talk: Bruce Donald
Session chair: Tomas Lozano-Perez

10:30 - 11:00 break

11:00 - 12:30 Oral Session 1
Session chair: Dan Halperin

  • Li Han, Lee Rudolph, Michael Chou, Emily Eagle, Dylan Glotzer, Jake Kramer, Jonathan Moran, Christopher Pietras, Ammar Tareen and Matthew Valko. "Configurations and Path Planning of Convex Planar Polygonal Loops"
  • Victor Milenkovic and Elisha Sacks. Robust complete path planning in the plane
  • Timothy Bretl and Zoe McCarthy. Equilibrium Configurations of a Kirchhoff Elastic Rod Under Quasi-Static Manipulation
  • 12:30 - 2:00 lunch

    2:00 - 3:00 invited talk: Antonio Torralbla
    Session chair: Nicholas Roy

    3:00 - 4:30 Oral Session 2
    Session chair: Tim Bretl

    • Matthew Turpin, Nathan Michael and Vijay Kumar. Trajectory Planning and Assignment in Multirobot Systems
    • Jingjin Yu and Steve Lavalle. Multi-agent Path Planning and Network Flow
    • Kiril Solovey and Dan Halperin. $k$-Color Multi-Robot Motion Planning

    4:30 - 5:00 break

    5:00 - 6:05 Interactive Session Presentations
    Session chair: Nicholas Roy

    • Sujeong Kim, Stephen Guy, Wenxi Liu and Ming Lin. Predicting Pedestrian Trajectories using Velocity-Space Reasoning
    • Maxim Arnold, Yuliy Baryshnikov and Steven Lavalle. Convex Hull Asymptotic Shape Evolution
    • Anirudha Majumdar and Russ Tedrake. Robust Online Motion Planning with Regions of Finite Time Invariance
    • Quentin Lindsey and Vijay Kumar. Distributed Construction of Truss Structures
    • Robert Platt. Convex receding horizon control in non-Gaussian belief space
    • Andrew Long, Kevin Wolfe and Gregory Chirikjian. Planar Uncertainty Propagation and a Probabilistic Algorithm for Interception
    • Jory Denny and Nancy Amato. Toggle PRM: A Coordinated Mapping of C-free and C-obstacle in Arbitrary Dimension
    • Oren Salzman, Michael Hemmer and Dan Halperin. On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages
    • Tirthankar Bandyopadhyay, Kok Sung Won, Emilio Frazzoli, David Hsu, Wee Sun Lee and Daniela Rus. Intention-Aware Motion Planning
    • Alejandro Cornejo, Andrew Lynch, Elizabeth Fudge, Siegfried Bilstein, Majid Khabbazian and James McLurkin. Scale-Free Coordinates for Multi-Robot Systems with Bearing-only Sensors
    • Andrew Dobson, Athanasios Krontiris and Kostas Bekris. Sparse Roadmap Spanners
    • Joshua Bialkowski, Sertac Karaman, Michael Otte and Emilio Frazzoli. Efficient Collision Checking in Sampling-based Motion Planning
    • Jia Pan, Sachin Chitta and Dinesh Manocha. Faster Sample-based Motion Planning using Instance-based Learning

    6:15 Interactive Session
    Stata Center, 4th Floor, R&D common area

    Thursday 6/14

    9:00 - 10:00 Invited Talk: Andreas Krause
    Session chair: Emilio Frazzoli

    10:00 - 10:30 break

    10:30 - 12:30 Oral Session 3
    Session chair: Devin Balkcom

    • Martin Levihn, Jonathan Scholz and Mike Stilman. Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles
    • Nicolas Perrin. From Discrete to Continuous Motion Planning
    • Ioannis Karamouzas, Roland Geraerts and A. Frank van der Stappen. Space-time Group Motion Planning
    • Michael Posa and Russ Tedrake. Direct Trajectory Optimization of Rigid Body Dynamical Systems Through Contact

    12:30 - 2:00 lunch

    2:00 - 3:00 invited talk: Geoff Gordon
    Session chair: Emilio Frazzoli

    3:00 - 4:00 Oral Session 4
    Session chair: Russ Tedrake

    • Timothy Hunter, Pieter Abbeel and Alexandre Bayen. The path inference filter: model-based low-latency map matching of probe vehicle data
    • Yann Disser, Matus Mihalak and Peter Widmayer. Mapping polygons with agents that measure angles

    4:00 - 4:30 break

    4:30 - 6:00 Oral Session 5
    Session chair: Ken Goldberg

    • Weifu Wang and Devin Balkcom. Sampling extremal trajectories for planar rigid bodies
    • Yu Zheng and Katsu Yamane. Ray-Shooting Algorithms for Robotics
    • Shishir Nadubettu Yadukumar, Murali Pasupuleti and Aaron Ames. From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots

    6:30 Banquet at the MIT Museum

    Friday, June 15

    9:00 - 10:00 Invited Talk: David Hsu
    Session chair: Tomas Lozano-Perez

    10:00 - 10:30 break

    10:30 - 12:30 Oral Session 6
    Nick Patrikalakis

    • Lawrence H. Erickson, Jingjin Yu, Yaonan Huang and Steven M. Lavalle. Counting Moving Bodies Using Sparse Sensor Beams
    • Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar. Multi-Robot Coverage and Exploration in Non-Euclidean Metric Spaces
    • Narges Noori and Volkan Isler. Lion and Man with Visibility in Monotone Polygons
    • Soroush Alamdari, Elaheh Fata and Stephen L. Smith. Min-Max Latency Walks: Approximation Algorithms for Monitoring Vertex-Weighted Graphs

    12:30 - 2:00 lunch

    2:00 - 3:30 Oral Session 7
    Session chair: Stephen Smith

    • Joel A. Hesch, Dimitrios G. Kottas, Sean L. Bowman and Stergios I. Roumeliotis. Towards Consistent Vision-aided Inertial Navigation
    • Alex Teichman and Sebastian Thrun. Learning to Segment and Track in RGBD
    • Hanna Kurniawati and Nicholas Patrikalakis. Point-Based Policy Modifier: Coping with Changes in POMDP Models

    3:30 - 4:00 break

    4:00 - 5:00 Oral Session 8
    Session chair: Daniela Rus

    • Rigoberto Lopez-Padilla, Rafael Murrieta and Steven Lavalle. Optimal Gap Navigation for a Disc Robot
    • Kris Hauser. The Minimum Constraint Removal Problem with Three Robotics Applications