WAFR 2014

The Eleventh International Workshop on the
Algorithmic Foundations of Robotics
3-5 August 2014, Boğaziçi University, İstanbul, Turkey




Preliminary Technical Program

You can click on the talk titles to access papers or invited talk abstracts

Sunday August 3rd

8:45 - 9:00Welcome
9:00 - 10:40 Oral Session I (RRT)
Chair: Ron Alterovitz
9:00 - 9:25 Michael Otte and Emilio Frazzoli. RRT-X: Real-Time Motion Planning/Replanning for Environments with Unpredictable Obstacles
9:25 - 9:50 Zhongdi Luo, Yi-Jen Chiang, Jyh-Ming Lien and Chee Yap. Resolution-Exact Algorithms for Link Robots
9:50 - 10:15 Kiril Solovey, Oren Salzman and Dan Halperin. Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning
10:15 - 10:40 Tobias Kunz and Mike Stilman. Kinodynamic RRTs with Fixed Time Step and Best-Input Extension Are Not Probabilistically Complete
10:40 - 11:10Coffee Break
11:10 - 12:15Spotlights for Interactive Presentations
Chairs: Kostas Bekris and Sertac Karaman
1Haluk Bayram and Isil Bozma. Coalition Formation Games for Dynamic Multirobot Tasks
2Yanyan Lu, Zhonghua Xi and Jyh-Ming Lien. Predict Collision Among Rigid and Articulated Obstacles with Unknown Motion
3Hao-Tien Chiang, Nick Malone, Kendra Lesser, Meeko Oishi and Lydia Tapia. Aggressive Moving Obstacle Avoidance Using a Stochastic Reachable Set Based Potential Field
4Jingjin Yu and Daniela Rus. Pebble Motion on Graphs with Rotations: Efficient Feasibility Tests and Planning Algorithms
5Jeffrey Ichnowski and Ron Alterovitz. Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning
6Aviv Adler, Mark de Berg, Dan Halperin and Kiril Solovey. Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons
7Wen Sun, Jur van den Berg and Ron Alterovitz. Stochastic Extended LQR: Optimization-based Motion Planning Under Uncertainty
8Caelan Garrett, Tomas Lozano-Perez and Leslie Kaelbling. FFRob: An efficient heuristic for task and motion planning
9Weifu Wang, Matthew Bell and Devin Balkcom. Towards arranging and tightening knots and unknots with fixtures
10Chonhyon Park and Dinesh Manocha. Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots
11Shishir Nadubettu Yadukumar, Wen-Loong Ma and Aaron Ames. Composing Dynamical Systems to Realize Dynamic Robotic Dancing
12Benjamin Charrow, Nathan Michael and Vijay Kumar. Active control strategies for discovering and localizing devices with range-only sensors
13Wen Li and Dezhen Song. Featureless Motion Vector-based Simultaneous Localization, Planar Surface Extraction, and Moving Obstacle Tracking
14Alejandro Cornejo and Radhika Nagpal. Distributed Range-Based Relative Localization of Robot Swarms
15Didier Devaurs, Thierry Siméon and Juan Cortés. Efficient Sampling-based Approaches to Optimal Path Planning in Complex Cost Spaces
16Dmitry Yershov and Emilio Frazzoli. Asymptotically Optimal Feedback Planning: FMM Meets Adaptive Mesh Refinement
17Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg and Pieter Abbeel. Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation
18Fatemeh Panahi, A. Frank van der Stappen and Mansoor Davoodi. Orienting Parts with Shape Variation
19Jory Denny, Read Sandstrom, Nicole Julian and Nancy Amato. A Region-Based Strategy for Collaborative Roadmap Construction
20Narges Noori and Volkan Isler. The Lion and Man Game on Convex Terrains
12:15 - 13:45 Lunch
13:45 - 15:00 Oral Session II (Trajectory Planning & Navigation)
Chair: Dezhen Song
13:45 - 14:10 Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek. Navigation of Distinct Euclidean Particles via Hierarchical Clustering
14:10 - 14:35 Yu-Han Lyu and Devin Balkcom. Optimal Trajectories for Planar Rigid Bodies with Switching Costs
14:35 - 15:00 Neil Mathew, Stephen Smith and Steven Waslander. Optimal Path Planning in Cooperative Heterogeneous Multi-robot Delivery Systems
15:00 - 16:30 Interactive Session & Coffee
16:30 - 17:30 Invited Talk (Vijay Kumar)
Chair: Tomas Lozano-Perez
17:30 Welcome Reception

Monday August 4th

9:00 - 10:40Oral Session III (Time & Kinodynamic Planning)
Chair: Ross Knepper
9:00 - 9:25 Chanyeol Yoo, Robert Fitch and Salah Sukkarieh. Online Task Planning and Control for Aerial Robots with Fuel Constraints in Winds
9:25 - 9:50 Matthew Turpin, Nathan Michael and Vijay Kumar. An Approximation Algorithm for Time Optimal Multi-Robot Routing
9:50 - 10:15 Ryan Luna, Morteza Lahijanian, Mark Moll and Lydia Kavraki. Asymptotically Optimal Stochastic Motion Planning with Temporal Goals
10:15 - 10:40 Yanbo Li, Zakary Littlefield and Kostas Bekris. Sparse Methods for Efficient Asymptotically Optimal Kinodynamic Planning
10:40 - 11:10Coffee Break
11:10 - 12:10Invited Talk (Çağatay Başdoğan)
Chair: Frank van der Stappen
12:15 - 13:45Lunch
13:45 - 15:25Oral Session IV (Manipulation)
Chair: Devin Balkcom
13:45 - 14:10 Marilena Vendittelli, Jean-Paul Laumond and Bud Mishra. Decidability of Robot Manipulation Planning: Three Disks in the Plane
14:10 - 14:35 Krishna Shankar, Joel Burdick and Nicolas Hudson. A Quadratic Programming Approach to Quasi-Static Whole-Body Manipulation
14:35 - 15:00 Sachin Patil, Jia Pan, Pieter Abbeel and Ken Goldberg. Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy
15:00 - 15:25 Laura Lindzey, Ross Knepper, Howie Choset and Siddhartha Srinivasa. The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning
15:30 - 16:00Coffee Break
16:00 - 17:00Invited Talk (Oussama Khatib)
Chair: Jean-Paul Laumond
18:15Departure for Banquet. The shuttle will leave the conference venue at 6:30. Please arrive at least 15 mins early.

Tuesday August 5th

9:00 - 10:40Oral Session V (Online Planning)
Chair: Jyh-Ming Lien
9:00 - 9:25 Iddo Shnaps and Elon Rimon. On-Line Coverage of Planar Environments by a Battery Powered Autonomous Mobile Robot CANCELLED
9:00 - 9:25 Levent Akin. Robocup: Then and Now
9:25 - 9:50 Kyle Klein and Subhash Suri. Trackability with Imprecise Localization
9:50 - 10:15 Zhan Wei Lim, David Hsu and Wee Sun Lee. Adaptive Informative Path Planning in Metric Spaces
10:15 - 10:40 Sarah Ferguson, Brandon Luders, Robert Grande and Jonathan How. Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions
10:40 - 11:10Coffee Break
11:10 - 12:25Oral Session VI (New Techniques)
Chair: Lydia Tapia
11:10 - 11:35 Han Wang, Cheng Chen and Yuliy Baryshnikov. A Topological Perspective on Cycling Robots for Full Tree Coverage
11:35 - 12:00 Robin Deits and Russ Tedrake. Computing Large Convex Regions of Obstacle-Free Space through Semidefinite Programming
12:00 - 12:25 Fangchang Ma and Sertac Karaman. Maximum-reward Motion in a Stochastic Environment: The Nonequilibrium Statistical Mechanics Perspective
12:30 - 13:30Lunch and Good Bye. Shuttles to the hotels and Levent Metro station will leave at 13:30.
14:00 - 15:00Invited Talk (Dan Halperin) CANCELLED
Chair: Ken Goldberg