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ICRA 2002: Washington, DC, USA
- Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA 2002, May 11-15, 2002, Washington, DC, USA. IEEE 2002, ISBN 0-7803-7273-5
Volume 1
Localization I
- Thierry Venet, Thierry Capitaine, Mohammed Hamzaoui, F. Fazzino:
One Active Beacon for an Indoor Absolute Localization of a Mobile Vehicle. 1-6 - Nikos Vlassis, Bas Terwijn, Ben J. A. Kröse:
Auxiliary Particle Filter Robot Localization from High-Dimensional Sensor Observations. 7-12 - Arnaud Clerentin, Laurent Delahoche, Eric Brassart, Cyril Cauchois:
Mobile Robot Localization Based on Multi Target Tracking. 13-18 - Danfeng Li, Stephen E. Levinson:
A Linear Phase Unwrapping Method for Binaural Sound Source Localization on a Robot. 19-23
Humanoid Robots I
- Fumio Kanehiro, Kiyoshi Fujiwara, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, Hirohisa Hirukawa, Yoshihiko Nakamura, Katsu Yamane:
Open Architecture Humanoid Robotics Platform. 24-30 - Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa:
A Realtime Pattern Generator for Biped Walking. 31-37 - Kenji Kaneko, Shuuji Kajita, Fumio Kanehiro, Kazuhito Yokoi, Kiyoshi Fujiwara, Hirohisa Hirukawa, Toshikazu Kawasaki, Masaru Hirata, Takakatsu Isozumi:
Design of Advanced Leg Module for Humanoid Robotics Project of METI. 38-45 - Toshio Fukuda, Jun Taguri, Fumihito Arai, Masakazu Nakashima, Daisuke Tachibana, Yasuhisa Hasegawa:
Facial Expression of Robot Face for Human-Robot Mutual Communication. 46-51
Flying Robots
- Srinath Avadhanula, Robert J. Wood, Domenico Campolo
, Ronald S. Fearing
:
Dynamically Tuned Design of the MFI Thorax. 52-59 - Wei Chung Wu, Robert J. Wood, Ronald S. Fearing:
Halteres for the Micromechanical Flying Insect. 60-65 - H. Jin Kim, David Hyunchul Shim, Shankar Sastry:
Flying Robots: Modeling, Control and Decision Making. 66-71 - Erdinç Altug
, James P. Ostrowski, Robert E. Mahony
:
Control of a Quadrotor Helicopter using Visual Feedback. 72-77
Petri Nets I
- Haoxun Chen, Lionel Amodeo, Feng Chu:
Batch Deterministic and Stochastic Petri Nets: A Tool for Modeling and Performance Evaluation of Supply Chain. 78-83 - Claire Valentin
, C. Rimlinger:
Control Verification of a Chemical Automated Process by Mixed Petri Nets. 84-89 - Davide Giglio, Riccardo Minciardi:
Optimal Routing and Scheduling by Maximum Gap Policies in Manufacturing Systems. 90-95 - José Luis González Sánchez, M. Mediavilla Pascual, Juan Carlos Fraile Marinero, Fernando Gayubo Rojo, Javier Pérez Turiel
, F. J. García González:
Analysis of Utilization and Throughput in a Multirobot System. 96-101
Modular Robots I
- Jennifer E. Walter, Elizabeth M. Tsai, Nancy M. Amato:
Choosing Good Paths for Fast Distributed Reconfiguration of Hexagonal Metamorphic Robots. 102-109 - Zack J. Butler, Robert Fitch
, Daniela Rus, Yuhang Wang:
Distributed Goal Recognition Algorithms for Modular Robots. 110-116 - Sergei Vassilvitskii, Mark Yim, John W. Suh:
A Complete, Local and Parallel Reconfiguration Algorithm for Cube Style Modular Robots. 117-122 - Adrian Dumitrescu, Ichiro Suzuki, Masafumi Yamashita:
High Speed Formations of Reconfigurable Modular Robotic Systems. 123-128
Calibration (Kinematic)
- Kourosh Parsa, Jorge Angeles, Arun K. Misra:
Attitude Calibration of an Accelerometer Array. 129-134 - M. A. Pérez Rueda, A. Lara Feria, Juan Carlos Fraile Marinero, J. Delgado Urrecho, José Luis González Sánchez:
Manipulator Kinematic Error Model in a Calibration Process through Quaternion-Vector Pairs. 135-140 - Gianni Campion, Paolo Fiorini, Sandra Martelli:
Robot Calibration using a Mobile Camera. 141-146 - David Daney:
Optimal Measurement Configurations for Gough Platform Calibration. 147-152
Robot Programming
- Xiangtian Dai, Gregory D. Hager, John Peterson:
Specifying Behavior in C++. 153-160 - Soshi Iba, Christiaan J. J. Paredis, Pradeep K. Khosla:
Interactive Multi-Modal Robot Programming. 161-168 - David Kortenkamp, Reid G. Simmons, Tod Milam, Joaquín Lopez Fernández:
A Suite of Tools for Debugging Distributed Autonomous Systems. 169-174 - Jakob Fredslund, Maja J. Mataric:
Huey, Dewey, Louie, and GUI - Commanding Robot Formations. 175-180
Deadlocks in Resource Allocation
- Maria Pia Fanti, Biagio Turchiano:
Deadlock Analysis in Automated Manufacturing Systems with Conjunctive Resource Service. 181-186 - Jonghun Park, Spyros A. Reveliotis:
Liveness Enforcing Supervision for Resource Allocation Systems with Forbidden States and Uncontrollable Events. 187-192 - Naiqi Wu, MengChu Zhou:
Deadlock Avoidance in Semiconductor Track Systems. 193-198 - Widodo Sulistyono, Mark A. Lawley:
Robust Supervisory Control for Manufacturing Systems with Unreliable Resources. 199-204
Uncalibrated Vision
- Bojian Liang, Nick E. Pears:
Visual Navigation using Planar Homographies. 205-210 - Warren E. Dixon
, Erkan Zergeroglu
, Yongchun Fang, Darren M. Dawson:
Object Tracking by a Robot Manipulator: A Robust Cooperative Visual Servoing Approach. 211-216 - Ezio Malis:
Vision-Based Control Invariant to Camera Intrinsic Parameters: Stability Analysis and Path Tracking. 217-222 - Jana Kosecká, Wei Zhang:
Efficient Computation of Vanishing Points. 223-228
Virtual Reality
- Masayuki Kawai, Tsuneo Yoshikawa:
Haptic Display of Movable Virtual Object with Interface Device Capable of Continuous-Time Impedance Display by Analog Circuit. 229-234 - Albert Casals, Josep Fernández, Josep Amat:
Augmented Reality to Assist Teleoperation Working with Reduced Visual Conditions. 235-240 - Peter Amstutz, Andrew H. Fagg:
Real Time Visualization of Robot State with Mobile Virtual Reality. 241-247 - Sadao Kawamura, T. Yamamoto, D. Ishida, Tetsuya Ogata, Y. Nakayama, Osamu Tabata, Susumu Sugiyama:
Development of Passive Elements with Variable Mechanical Impedance for Wearable Robots. 248-253
Motion Planning I
- Libo Yang, Steven M. LaValle:
An Improved Random Neighborhood Graph Approach. 254-259 - Stefano Caselli, Monica Reggiani, Roberto Sbravati:
Parallel Path Planning with Multiple Evasion Strategies. 260-266 - Peng Cheng, Steven M. LaValle:
Resolution Complete Rapidly-Exploring Random Trees. 267-272 - Richard Mason, Joel W. Burdick:
Trajectory Planning using Reachable-State Density Functions. 273-280
Cooperating Robots I
- Guilherme A. S. Pereira, Bruno Santos Pimentel, Luiz Chaimowicz, Mario Fernando Montenegro Campos:
Coordination of Multiple Mobile Robots in an Object Carrying Task using Implicit Communication. 281-286 - Aaron Khoo, Ian Douglas Horswill:
An Efficient Coordination Architecture for Autonomous Robot Teams. 287-292 - Luiz Chaimowicz
, Mario Fernando Montenegro Campos, Vijay Kumar:
Dynamic Role Assignment for Cooperative Robots. 293-298 - John Sweeney, T. J. Brunette, Yunlei Yang, Roderic A. Grupen:
Coordinated Teams of Reactive Mobile Platforms. 299-304
Mobile Robot Sensing
- M. Anthony Lewis:
Detecting Surface Features During Locomotion using Optic Flow. 305-310 - Christian Martin, Sebastian Thrun:
Real-Time Acquisition of Compact Volumetric 3D Maps with Mobile Robots. 311-316 - Lauro V. Ojeda, Johann Borenstein:
FLEXnav: Fuzzy Logic Expert Rule-Based Position Estimation for Mobile Robots on Rugged Terrain. 317-322 - Jürgen Klahold, Jens Rautenberg, Ulrich Rückert:
Continuous Sonar Sensing for Mobile Mini-Robots. 323-328
Binary Actuation
- I-Ming Chen
, Song Huat Yeo:
Locomotion and Navigation of a Planar Walker Based on Binary Actuation. 329-334 - Moustapha Hafez, Matthew D. Lichter, Steven Dubowsky:
Optimized Binary Modular Reconfigurable Robotic Devices. 335-340 - Matthew D. Lichter, Vivek A. Sujan, Steven Dubowsky:
Computational Issues in the Planning and Kinematics of Binary Robots. 341-346 - Elizabeth V. Mangan, Daniel A. Kingsley, Roger D. Quinn, Hillel J. Chiel:
Development of a Peristaltic Endoscope. 347-352
Localization II
- Giorgio Grisetti, Luca Iocchi, Daniele Nardi:
Global Hough Localization for Mobile Robots in Polygonal Environments. 353-358 - Jürgen Wolf, Wolfram Burgard, Hans Burkhardt:
Robust Vision-Based Localization for Mobile Robots using an Image Retrieval System Based on Invariant Features. 359-365 - Haris Baltzakis, Panos E. Trahanias:
Hybrid Mobile Robot Localization using Switching State-Space Models. 366-373 - Raj Madhavan, Kingsley Fregene
, Lynne E. Parker
:
Distributed Heterogeneous Outdoor Multi-Robot Localization. 374-381
Mobile Manipulation I
- Jindong Tan
, Ning Xi:
Integrated Task Planning and Control for Mobile Manipulators. 382-387 - Oliver Brock, Oussama Khatib, Sriram Viji:
Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation. 388-393 - Zhi Dong Wang, Vijay Kumar:
Object Closure and Manipulation by Multiple Cooperating Mobile Robots. 394-399 - Rodrigo S. Jamisola, Marcelo H. Ang
, Denny Oetomo, Oussama Khatib, Tao Ming Lim, Ser Yong Lim:
The Operational Space Formulation Implementation to Aircraft Canopy Polishing using a Mobile Manipulator. 400-405
Underwater Localization
- Stefan B. Williams, Gamini Dissanayake, Hugh F. Durrant-Whyte:
An Efficient Approach to the Simultaneous Localisation and Mapping Problem. 406-411 - Hayato Kondo, Tamaki Ura:
Detailed Object Observation by Autonomous Underwater Vehicle with Localization Involving Uncertainty of Magnetic Bearings. 412-419 - Stefan Rolfes, Maria-João Rendas:
Mobile Robot Localization Based on Random Closed Set Model Maps. 420-425 - Richard J. Rikoski, John J. Leonard, Paul M. Newman:
Stochastic Mapping Frameworks. 426-433
Industrial Automation
- Valentinos K. Kongezos, Charles R. Allen:
Wireless Communication Between A.G.V.'s (Autonomous Guided Vehicle) and the Industrial Network C.A.N. (Controller Area Network). 434-437 - Arvind Balijepalli, Thenkurussi Kesavadas:
An Exploratory Haptic Based Robotic Path Planning and Training Tool. 438-443 - Andreas Pichler, Markus Vincze, Henrik J. Andersen, Ole Madsen, Kurt Häusler:
A Method for Automatic Spray Painting of Unknown Parts. 444-449 - Heping Chen, Weihua Sheng
, Ning Xi, Mumin Song, Yifan Chen:
Automated Robot Trajectory Planning for Spray Painting of Free-Form Surfaces in Automotive Manufacturing. 450-455
Fault Tolerance
- Martin L. Leuschen, Joseph R. Cavallaro, Ian D. Walker:
Robotic Fault Detection using Nonlinear Analytical Redundancy. 456-463 - Brian P. Gerkey, Maja J. Mataric:
Pusher-Watcher: An Approach to Fault-Tolerant Tightly-Coupled Robot Coordination. 464-469 - Renato Tinós, Marco H. Terra, Marcel Bergerman:
Fault Tolerance in Cooperative Manipulators. 470-475 - Curt A. Bererton, Pradeep K. Khosla:
An Analysis of Cooperative Repair Capabilities in a Team of Robots. 476-482
Parallel Robots I
- Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Yasushi Mae, Choong Sik Park:
Simplified Kinematic Calibration for a Class of Parallel Mechanism. 483-488 - Takanori Masuda, Motoyoshi Fujiwara, Norihiko Kato, Tatsuo Arai:
Mechanism Configuration Evaluation of a Linear-Actuated Parallel Mechanism using Manipulability. 489-495 - Dimiter Zlatanov, Ilian A. Bonev, Clément Gosselin
:
Constraint Singularities of Parallel Mechanisms. 496-502 - Philip A. Voglewede, Imme Ebert-Uphoff
:
Two Viewpoints on the Unconstrained Motion of Parallel Manipulators at or Near Singular Configurations. 503-510
Graphics and Simulation I
- Fabrice Gravez, Bachar Mohamed, Fathi Ben Ouezdou:
Dynamic Simulation of a Humanoid Robot with Four DOFs Torso. 511-516 - Stephane Redon
, Abderrahmane Kheddar, Sabine Coquillart:
Gauss' Least Constraints Principle and Rigid Body Simulations. 517-522 - Farhad Aghili, Jean-Claude Piedboeuf:
Contact Dynamics Emulation for Hardware-in-Loop Simulation of Robots Interacting with Environment. 523-529 - Katsu Yamane, Yoshihiko Nakamura:
Efficient Parallel Dynamics Computation of Human Figures. 530-537
Force-Guided Assembly
- Shuguang Huang, Joseph M. Schimmels:
Sufficient Conditions used in Admittance Selection for Planar Force-Guided Assembly. 538-543 - Shih-Feng Chen, Imin Kao:
Geometrical Approach to the Conservative Congruence Transformation (CCT) for Robotic Stiffness Control. 544-549 - Yanmei Li, Shih-Feng Chen, Imin Kao:
Stiffness Control and Transformation for Robotic Systems with Coordinate and Non-Coordinate Bases. 550-555 - Rodney G. Roberts:
On the Normal Form of a Spatial Stiffness Matrix. 556-561
Uncalibrated Visual Servo Control
- Jiang Qian, Jianbo Su:
Online Estimation of Image Jacobian Matrix by Kalman-Bucy Filter for Uncalibrated Stereo Vision Feedback. 562-567 - Jenelle Armstrong Piepmeier, Ben A. Gumpert, Harvey Lipkin:
Uncalibrated Eye-in-Hand Visual Servoing. 568-573 - François-Xavier Espiau, Ezio Malis, Patrick Rives:
Robust Features Tracking for Robotic Applications: Towards 2½ D Visual Servoing with Natural Images. 574-579 - Yantao Shen, Guoliang Xiang, Yun-Hui Liu, Kejie Li:
Uncalibrated Visual Servoing of Planar Robots. 580-585
Novel Applications of Haptics
- Ryan C. Hayward, John M. Hollerbach:
Implementing Virtual Stairs on Treadmills using Torso Force Feedback. 586-591 - Thomas Debus, Tae-Jeong Jang, Pierre E. Dupont, Robert D. Howe:
Multi-Channel Vibrotactile Display for Teleoperated Assembly. 592-597 - Ming C. Lin, William V. Baxter III, Mark Foskey, Miguel A. Otaduy, Vincent Scheib:
Haptic Interaction for Creative Processes with Simulated Media. 598-604 - Christopher Richard, Mark R. Cutkosky:
Friction Modeling, Display in Haptic Applications Involving user Performance. 605-611
Motion Planning II
- Chaomin Luo, Simon X. Yang, Deborah A. Stacey, Jan C. Jofriet:
A Solution to Vicinity Problem of Obstacles in Complete Coverage Path Planning. 612-617 - Borislav H. Simov, Steven M. LaValle, Giora Slutzki:
A Complete Pursuit-Evasion Algorithm for Two Pursuers using Beam Detection. 618-623 - Srinivas Akella
, Seth Hutchinson
:
Coordinating the Motions of Multiple Robots with Specified Trajectories. 624-631 - Anna Atramentov, Steven M. LaValle:
Efficient Nearest Neighbor Searching for Motion Planning. 632-637
Impedance Control
- Mark E. Dohring, Wyatt S. Newman:
Admittance Enhancement in Force Feedback of Dynamic Systems. 638-643 - Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara:
Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Calligraphic Task. 644-650 - Norihiro Koizumi, Shin'ichi Warisawa, Mamoru Mitsuishi, Hiroyuki Hashizume:
Impedance Controller for a Remote Ultrasound Diagnostic System. 651-656 - Alin Albu-Schäffer
, Gerd Hirzinger:
Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots. 657-663
Mobile Robot Control I
- Eduardo do Valle Simões, Dante Augusto Couto Barone:
Predation: An Approach to Improving the Evolution of Real Robots with a Distributed Evolutionary Controller. 664-669 - Jing Liu, Houshang Darabi:
Ramadge-Wonham Supervisory Control of Mobile Robots: Lessons from Practice. 670-675 - John R. Spletzer, Camillo J. Taylor:
Sensor Planning and Control in a Dynamic Environment. 676-681 - Attawith Sudsang:
A Sufficient Condition for Capturing an Object in the Plane with Disc-Shaped Robots. 682-687
Localization III
- Frank Dellaert, Ashley W. Stroupe:
Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios. 688-694 - Michael Montemerlo, Sebastian Thrun, William Whittaker:
Conditional Particle Filters for Simultaneous Mobile Robot Localization and People-Tracking. 695-701 - Douglas P. Perrin
, Esra Kadioglu
, Sascha Stoeter, Nikolaos Papanikolopoulos:
Localization of Miniature Mobile Robots using Constant Curvature Dynamic Contours. 702-707 - Cédric Pradalier, Sepanta Sekhavat:
"Localization Space: " A Framework for Localization and Planning, for Systems using a Sensor/Landmarks Module. 708-713
Omnidirectional Robots
- Geoffrey Long, Jay Anderson, Johann Borenstein:
The Kinematic Design of the OmniPede: A New Approach to Obstacle Traversion. 714-719 - Kyung-Seok Byun, Sung-Jae Kim, Jae-Bok Song:
Design of a Four-Wheeled Omnidirectional Mobile Robot with Variable Wheel Arrangement Mechanism. 720-725 - Matthew Spenko
, Haoyong Yu, Steven Dubowsky:
Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors. 726-731 - Tae Bum Park, Jae Hoon Lee, Byung-Ju Yi, Whee Kuk Kim, Bum-Jae You, Sang-Rok Oh
:
Optimal Design and Actuator Sizing of Redundantly Actuated Omni-Directional Mobile Robots. 732-737
Underwater Robots I
- Shuxiang Guo, Toshio Fukuda, Kinji Asaka:
Fish-Like Underwater Microrobot with 3 DOF. 738-745 - Daniel J. Stilwell:
Decentralized Control Synthesis for a Platoon of Autonomous Vehicles. 744-749 - Kenneth A. McIsaac, James P. Ostrowski:
Experiments in Closed-Loop Control for an Underwater Eel-Like Robot. 750-755 - Kristi A. Morgansen, Patricio A. Vela
, Joel W. Burdick:
Trajectory Stabilization for a Planar Carangiform Robot Fish. 756-762
Manufacturing Information Infrastrucutre
- C. V. L. Raju, Y. Narahari:
Queueing Network Modeling and Lead Time Compression of Electronic Procurement. 763-768