Contents -- Preface -- Organizing Committee -- Program Committee -- Workshop Evaluation Committee -- Sponsors -- Unmanned Aircraft Collision Avoidance Using Continuous-State POMDPs -- I. INTRODUCTION -- II. RELATED WORK -- III. COLLISION AVOIDANCE MODELS -- IV. MONTE CARLO VALUE ITERATION (MCVI) -- V. SIMULATION RESULTS -- VI. DISCUSSION -- VII. CONCLUSIONS -- REFERENCES -- Identification and Representation of Homotopy Classes of Trajectories for Search-Based Path Planning in 3D -- I. INTRODUCTION -- II. BACKGROUND -- III. APPLICATION OF THEORY OF ELECTROMAGNETISM IN IDENTIFYING HOMOTOPY CLASSES -- IV. SEARCH-BASED PLANNING IN THREE DIMENSIONS WITH HOMOTOPY CLASS CONSTRAINTS -- V. RESULTS -- VI. HOMOLOGY AS AN APPROXIMATION OF HOMOTOPY -- VII. CONCLUSION -- REFERENCES -- Controlling Wild Bodies Using Linear Temporal Logic -- I. INTRODUCTION -- II. THE OVERALL DESIGN -- III. CONTROLLING ONE WILD BODY -- IV. CONTROLLING MULTIPLE WILD BODIES -- V. EXPERIMENTS -- VI. CONCLUSIONS AND FUTURE WORK -- REFERENCES -- Exploiting Variable Stiffness in Explosive Movement Tasks -- I. INTRODUCTION -- II. OPTIMAL TORQUE/STIFFNESS CONTROL -- III. CASE STUDY: OPTIMAL BALL THROWING -- IV. EXPLOITING VARIABLE STIFFNESS THROUGH OPTIMAL CONTROL -- V. BALL THROWING EXPERIMENT -- VI. CONCLUSION -- ACKNOWLEDGMENTS -- REFERENCES -- Automatic Calibration of Multiple Coplanar Sensors -- I. INTRODUCTION -- II. BACKGROUND -- III. PROBLEM STATEMENT -- IV. OBSERVABILITY & THE CRAMER-RAO LOWER BOUND -- V. ESTIMATION -- VII. INTERPOLATION IN PRACTICE -- VIII. PRACTICAL COVARIANCE MEASUREMENTS -- IX. RESULTS -- X. CONCLUSION -- APPENDIX -- REFERENCES -- A Linear Approximation for Graph-Based Simultaneous Localization and Mapping -- I. INTRODUCTION -- II. RELATED WORK -- III. PROBLEM FORMULATION -- IV. A LINEAR ESTIMATION FRAMEWORK FOR SLAM -- V. EXPERIMENTAL VALIDATION.

VI. CONCLUSION -- ACKNOWLEDGMENTS -- REFERENCES -- The Motion Grammar: Linguistic Perception, Planning, and Control -- I. INTRODUCTION -- II. RELATED WORK -- III. THE MOTION GRAMMAR -- IV. GRAMMARS FOR ROBOTIC SYSTEMS -- V. HUMAN-ROBOT GAME APPLICATION -- VI. ANALYSIS -- VII. CONCLUSIONS AND FUTURE WORK -- REFERENCES -- Learning to Control a Low-Cost Manipulator Using Data-Efficient Reinforcement Learning -- I. INTRODUCTION -- II. RELATED WORK -- III. PRELIMINARIES -- IV. POLICY LEARNING WITH STATE-SPACE CONSTRAINTS -- V. EXPERIMENTAL VALIDATION -- VI. DISCUSSION -- VII. CONCLUSION -- ACKNOWLEDGEMENTS -- REFERENCES -- A Framework for Push-Grasping in Clutter -- I. Introduction -- II. Planning Framework -- III. Action Library -- IV. Implementation and Results -- V. Conclusion and Discussion -- Acknowledgments -- References -- Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts -- I. INTRODUCTION -- II. RELATED WORK -- III. BACKGROUND -- IV. WHY MPC IS NOT ENOUGH -- V. INFINITE-HORIZON MODEL PREDICTIVE CONTROL -- VI. APPROXIMATING THE INFINITE HORIZON VALUE FUNCTION -- VII. RESULTS -- VIII. CONCLUSION -- APPENDIX -- REFERENCES -- An Art Gallery Approach to Ensuring That Landmarks Are Distinguishable -- I. INTRODUCTION -- II. PROBLEM DEFINITION -- III. LOWER BOUNDS ON THE CHROMATIC GUARD NUMBER -- IV. UPPER BOUNDS ON THE CHROMATIC GUARD NUMBER -- V. CONCLUSION -- Acknowledgments -- REFERENCES -- An Interaction Design Framework for Social Robots -- I. INTRODUCTION -- II. RELATED WORK -- III. INTERACTION DESIGN FRAMEWORK -- IV. EXPERIMENTAL EVALUATION -- V. RESULTS -- VI. DISCUSSION AND CONCLUSIONS -- REFERENCES -- Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution -- I. INTRODUCTION -- II. MONTE CARLO POSE ESTIMATION -- III. LOCAL FEATURE DISTRIBUTIONS -- IV. THE BINGHAM DISTRIBUTION.

V. EXPERIMENTAL RESULTS -- VI. RELATED WORK -- VII. CONCLUSION -- ACKNOWLEDGMENTS -- REFERENCES -- Model-Based Proprioceptive State Estimation for Spring-Mass Running -- I. INTRODUCTION -- II. RELATED WORK -- IV. ESTIMATION PERFORMANCE -- V. CONCLUSIONS AND FUTURE WORK -- VI. ACKNOWLEDGMENTS -- REFERENCES -- Kinematic Cartography for Locomotion at Low Reynolds Numbers -- I. INTRODUCTION -- II. GEOMETRIC MECHANICS FOR LOCOMOTION -- III. POWER-NORMALIZED COORDINATES -- IV. OTHER SHAPE MODES -- V. CONCLUSIONS AND FUTURE WORK -- APPENDIX: JORDAN CRITERION -- REFERENCES -- Friendly Patrolling: A Model of Natural Encounters -- I. INTRODUCTION -- II. RELATED WORKS -- III. MODELING FRIENDLY PATROLLING -- IV. EXPERIMENT -- V. RESULTS -- VI. DISCUSSION -- VII. CONCLUSION -- REFERENCES -- Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon -- I. INTRODUCTION -- II. PROPOSED HYBRID MODELING OF A HEMISPHERICAL SOFT FINGERTIP -- III. MATHEMATICAL MODELS -- IV. SIMULATIONS -- V. EXPERIMENTAL VALIDATION -- VI. DISCUSSION -- VII. CONCLUSION -- REFERENCES -- Probabilistic Analysis of Correctness of High-Level Robot Behavior with Sensor Error -- I. INTRODUCTION -- II. PRELIMINARIES -- III. PROBLEM STATEMENT -- IV. APPROACH -- V. EXAMPLES -- VI. CONCLUSION -- REFERENCES -- Real-Time Prioritized Kinematic Control under Inequality Constraints for Redundant Manipulators -- I. INTRODUCTION -- II. THE CLASSICAL TASK-PRIORITY FRAMEWORK WITH QR FACTORIZATION -- III. PRIORITY UNDER INEQUALITY CONSTRAINTS -- IV. SIMULATION RESULTS -- V. CONCLUSION AND FUTURE WORKS -- ACKNOWLEDGMENTS -- REFERENCES -- Cross-Entropy Randomized Motion Planning -- I. INTRODUCTION -- II. PROBLEM FORMULATION -- III. BACKGROUND ON MONTE CARLO OPTIMIZATION -- IV. MOTION PLANNING -- V. EXAMPLES -- VI. LINKS TO SAMPLING-BASED MOTION PLANNING.

VII. AERIAL VEHICLE APPLICATION -- VIII. CONCLUSION -- REFERENCES -- Global Motion Planning under Uncertain Motion, Sensing, and Environment Map -- I. INTRODUCTION -- II. RELATED WORK AND BACKGROUND -- III. POMDP FORMULATION -- IV. OVERVIEW OF GCS -- V. GUIDED CLUSTER SAMPLING (GCS) -- VI. APPROXIMATION BOUND -- VII. EXPERIMENTAL SETUP AND RESULTS -- VIII. CONCLUSION -- REFERENCES -- Designing Petri Net Supervisors from LTL Specifications -- I. INTRODUCTION -- II. FUNDAMENTAL LOGIC CONCEPTS -- III. PETRI NETS -- IV. SUPERVISOR SYNTHESIS -- V. EXAMPLE -- VI. CONCLUSION AND FURTHER WORK -- REFERENCES -- Construction of Cubic Structures with Quadrotor Teams -- I. INTRODUCTION -- II. CONSTRUCTION -- III. EXPERIMENTAL INFRASTRUCTURE -- IV. CONTROL FOR ROBOTIC ASSEMBLY -- V. SYSTEM EVALUATION -- VI. DISCUSSION -- ACKNOWLEDGMENTS -- REFERENCES -- APPENDIX: PROOF OF LEMMA 2 -- Multi-Level Partitioning and Distribution of the Assignment Problem for Large-Scale Multi-Robot Task Allocation -- I. INTRODUCTION -- II. RELATED WORK -- III. PROBLEM DESCRIPTION -- IV. BACKGROUND: PARTITIONING -- V. THE TWO-STAGE PARTITIONING AND DISTRIBUTION STRATEGY -- VI. EXPERIMENTS -- VII. DISCUSSION -- VIII. CONCLUSION -- ACKNOWLEDGMENTS -- REFERENCES -- Comparing Heads-Up, Hands-Free Operation of Ground Robots to Teleoperation -- I. INTRODUCTION -- II. BACKGROUND -- III. SYSTEM -- IV. METHOD -- V. RESULTS -- VI. DISCUSSION -- VII. CONCLUSIONS -- ACKNOWLEDGMENTS -- REFERENCES -- Distributed Robot Ensemble Control for Deployment to Multiple Sites -- I. INTRODUCTION -- II. PROBLEM FORMULATION -- III. ENSEMBLE CONTROLLER DESIGN -- IV. DISTRIBUTED IMPLEMENTATION -- V. RESULTS -- VI. DISCUSSION -- VII. CONCLUSION AND FUTURE WORK -- VIII. ACKNOWLEDGEMENTS -- REFERENCES -- A Serial Approach to Handling High-Dimensional Measurements in the Sigma-Point Kalman Filter -- I. INTRODUCTION.

II. REVIEW -- III. THE SIGMA-POINT KALMAN FILTER -- IV. SERIAL PROCESSING -- V. RESULTS -- VI. DISCUSSION -- VII. CONCLUSION -- REFERENCES -- Visual Segmentation of "Simple" Objects for Robots -- I. MOTIVATION -- II. INTRODUCTION -- III. RELATED WORK -- IV. PROBABILISTIC BOUNDARY EDGE MAP -- V. FIXATION STRATEGY -- VI. FIXATION BASED SEGMENTATION -- VII. SELECTING CLOSED CONTOURS CORRESPONDING TO OBJECTS -- VIII. EXPERIMENTS -- IX. DISCUSSION & CONCLUSION: TOWARD SEMANTIC ACTIVE VISION -- REFERENCES -- Operational Space Control of Constrained and Underactuated Systems -- I. INTRODUCTION -- II. OPERATIONAL SPACE DYNAMICS -- III. UNDERACTUATION -- IV. EXAMPLES -- V. CONCLUSION -- APPENDIX -- REFERENCES -- Collision-Free and Curvature-Continuous Path Smoothing in Cluttered Environments -- I. INTRODUCTION -- II. REPRESENTATION FOR MOTIONS -- III. SHORTCUT SMOOTHING BASED ON CUBIC B-SPLINES -- IV. EXACT COLLISION DETECTION -- V. RESULTS -- VI. ANALYSIS AND COMPARISONS -- VII. CONCLUSIONS AND FUTURE WORK -- REFERENCES -- Motion Planning under Uncertainty in Highly Deformable Environments -- I. INTRODUCTION -- II. PRIOR WORK -- III. PROBLEM DEFINITION -- IV. APPROACH -- V. EXAMPLE APPLICATIONS AND RESULTS -- VI. CONCLUSION AND FUTURE WORK -- ACKNOWLEDGMENTS -- REFERENCES -- Load Balancing for Mobility-on-Demand Systems -- I. INTRODUCTION -- II. MODELING THE MOBILITY-ON-DEMAND SYSTEM -- III. WELL-POSEDNESS, EQUILIBRIA, AND OPTIMAL REBALANCING -- IV. ROBUST REBALANCING -- V. ADAPTIVE REAL-TIME REBALANCING POLICY -- VI. SIMULATIONS -- VII. CONCLUSION -- ACKNOWLEDGEMENTS -- REFERENCES -- TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction -- I. INTRODUCTION -- II. RELATED WORK -- III. APPROACH -- IV. CLIMBING -- V. NAVIGATION -- VI. MANIPULATION -- VII. CONSTRUCTION DEMONSTRATION -- VIII. MANUFACTURING.

IX. HIGH-LEVEL AND MULTI-ROBOT CONTROL.