IROS '02

IROS 2002
2002 IEEE/RSJ International Conference on
Intelligent Robots and Systems

Technical Program

Wed Oct 02 08:30-08:50
Session:  
Chair:
Room:2
Wed Oct 02 09:40-10:40
Session: Space robotics  
Chair:David KORTENKAMP
Room:2
Time:09:40 
Title:Paper # 757, Stereo Vision Based Navigation for Sun-Synchronous Exploration 
Authors:  
Urmson, Chris Carnegie Mellon University
Dias, M. Bernardine Carnegie Mellon University
Simmons, Reid Carnegie Mellon University
Time:10:00 
Title:Paper # 872, Proposition of 3D Measurement method using Shadow for Planetary Surface Exploration 
Authors:  
Kunii, Yasuharu Chuo University
Goto, Taeko Chuo University
Time:10:20 
Title:Paper # 962, Science Target Assesment for Mars Rover Instrument Deployment 
Authors:  
Pedersen, Liam QSS Group, Inc at NASA Ames Research Center
Wed Oct 02 11:00-12:40
Session: Localization 1  
Chair:David AUSTIN
Room:2
Time:11:00 
Title:Paper # 749, Using Wireless Ethernet for Localization 
Authors:  
Ladd, Andrew M. Rice University
Bekris, Kostas E. Rice University
Marceau, Guillaume Consultant.
Rudys, Algis Rice University
Wallach, Dan S. Rice University
Kavraki, Lydia E. Rice University
Time:11:20 
Title:Paper # 925, Temporal Occupancy Grids: a Method for Classifying Spatio-Temporal Properties of the Environment 
Authors:  
Arbuckle, Daniel University of Southern California, Los Angeles
Mataric, Maja J. University of Southern California, Los Angeles
Howard, Andrew University of Southern California, Los Angeles
Time:11:40 
Title:Paper # 797, A robot localization method based on Evidence Accumulation and Multi-Resolution 
Authors:  
Sorrenti, Domenico G. Universita' di Milano - Bicocca
Restelli, Marcello Politecnico di Milano
Marchese, Fabio M. Universita' di Milano - Bicocca
Time:12:00 
Title:Paper # 806, Robust Geometric-Based Localization in Indoor Environments using Sonar Range Sensors 
Authors:  
Kim, Jinsuck Texas A&M University
Pearce, Roger Texas A&M University
Amato, Nancy Texas A&M University
Time:12:20 
Title:Paper # 966, Bayesian Network for Online Global Pose Estimation 
Authors:  
rahimi, ali Massachusetts Institute of Technology
Morency, Louis Philippe Massachusetts Institute of Technology
darrell, trevor Massachusetts Institute of Technology
Wed Oct 02 14:00-15:20
Session: Localization 2  
Chair:Lindsay KLEEMAN
Room:2
Time:14:00 
Title:Paper # 322, Localization for Mobile Robot Teams Using Maximum Likelihood Estimation 
Authors:  
Howard, Andrew University of Southern California, Los Angeles
Mataric, Maja J. University of Southern California, Los Angeles
Sukhatme, Gaurav S. University of Southern California, Los Angeles
Time:14:20 
Title:Paper # 431, Sensor Planning for Mobile Robot Localization using Bayesian Network Representation and Inference 
Authors:  
Zhou, Hongjun Chuo University, Japan
Sakane, Shigeyuki Chuo University, Japan
Time:14:40 
Title:Paper # 726, Collaborative Probabilistic Constraint-Based Landmark Localization 
Authors:  
Stroupe, Ashley Carnegie Mellon University
Balch, Tucker Georgia Institute of Technology
Time:15:00 
Title:Paper # 950, An Experimental Comparison of Localization Methods Continued 
Authors:  
Gutmann, Jens-Steffen Sony Corporation, Japan, Dig. Creatures Lab.
Fox, Dieter University of Washington
Wed Oct 02 15:40-17:20
Session: Localization 3  
Chair:Jens-Steffen GUTMANN
Room:2
Time:15:40 
Title:Paper # 709, A Model to Image Straight Line Matching Method for Vision-Based Indoor Mobile Robot Self-Location 
Authors:  
Ait Aider, Omar CEMIF, Complex System Group, University of Evry
Hoppenot, Philippe CEMIF, Complex System Group, University of Evry
Colle, Etienne CEMIF, Complex System Group, University of Evry
Time:16:00 
Title:Paper # 727, Towards global consistent pose estimation from images 
Authors:  
ten Hagen, Stephan University of Amsterdam
Kröse, Ben University of Amsterdam
Time:16:20 
Title:Paper # 837, Vision for Mobile Robot Localization in Urban Environments 
Authors:  
Georgiev, Atanas Columbia University, New York
Allen, Peter Columbia University, New York
Time:16:40 
Title:Paper # 704, Using Motor Representations for Topological Mapping and Navigation 
Authors:  
Vassallo, Raquel F. Universidade Federal do Espírito Santo - Brazil
Santos-Victor, José Instituto Superior Tecnico, Lisboa
Schneebeli, Hans J. Universidade Federal do Espírito Santo - Brazil
Time:17:00 
Title:Paper # 162, Localization and Modelling Approach Using Topo-geometric Maps 
Authors:  
Boada, Beatriz L. Carlos III University
Blanco, Dolores Carlos III University
Moreno, Luis Carlos III University
Thu Oct 03 08:30-08:50
Session:  
Chair:
Room:2
Thu Oct 03 09:20-10:40
Session: Dynamic Environments for Mobile Robots  
Chair:Illah NOURBAKHSH
Room:2
Time:09:20 
Title:Paper # 280, Predictive Autonomous Robot Navigation 
Authors:  
Foka, Amalia Foundation for Research and Technology - Hellas (FORTH)
Trahanias, Panos Foundation for Research and Technology - Hellas (FORTH)
Time:09:40 
Title:Paper # 635, Map Building with Mobile Robots in Populated Environments 
Authors:  
Haehnel, Dirk University of Freiburg
Schulz, Dirk University of Bonn
Burgard, Wolfram University of Freiburg
Time:10:00 
Title:Paper # 688, Using EM to Learn Motion Behaviors of Persons with Mobile Robots 
Authors:  
Bennewitz, Maren University of Freiburg
Burgard, Wolfram University of Freiburg
Thrun, Sebastian Carnegie Mellon University
Time:10:20 
Title:Paper # 823, An Integrated Approach to Goal-directed Obstacle Avoidance under Dynamic Constraints for Dynamic Environments 
Authors:  
Stachniss, Cyrill University of Freiburg
Burgard, Wolfram University of Freiburg
Thu Oct 03 11:00-12:40
Session: SLAM 1  
Chair:Salah SUKKARIEH
Room:2
Time:11:00 
Title:Paper # 165, Concurrent matching,localization and map building using invariant features 
Authors:  
Pradalier, Cedric INRIA Rhône-Alpes
Sekhavat, Sepanta INRIA Rhône-Alpes
Time:11:20 
Title:Paper # 503, A Probabilistic Technique for Simultaneous Localization and Door State Estimation with Mobile Robots in Dynamic Environments 
Authors:  
Avots, Dzintars Stanford University
Lim, Edward Stanford University
Thibaux, Romain Stanford University
Thrun, Sebastian Carnegie Mellon University
Time:11:40 
Title:Paper # 794, Generalized Architecture for Simultaneous Localization, Auto-Calibration, and Map-building 
Authors:  
Foxlin, Eric InterSense Inc.
Time:12:00 
Title:Paper # 978, An Experiment in Integrated Exploration 
Authors:  
Makarenko, Alexei University of Sydney
Williams, Stefan University of Sydney
Bourgault, Frederic University of Sydney
Durrant-Whyte, Hugh University of Sydney
Time:12:20 
Title:Paper # 986, Information Based Adaptive Robotic Exploration 
Authors:  
Bourgault, Frederic University of Sydney
Makarenko, Alexei University of Sydney
Williams, Stefan University of Sydney
Durrant-Whyte, Hugh University of Sydney
Grocholsky, Ben University of Sydney
Thu Oct 03 14:00-15:20
Session: SLAM 2  
Chair:Raja CHATILA
Room:2
Time:14:00 
Title:Paper # 70, Concurrent mapping and localization for mobile robots with segmented local maps 
Authors:  
Zalama, Eduardo University of Valladolid
Candela, Gabriel University of Valladolid
Gómez, Jaime University of Valladolid
Thrun, Sebastian Carnegie Mellon University
Time:14:20 
Title:Paper # 570, Topological Map Building Based on Thinning and Its Application to Localization 
Authors:  
Choi, Chang-Hyuk Korea University
Song, Jae-Bok Korea University
Chung, Woo-Jin Korea Institute of Science and Technology
Kim, Munsang Korea Institute of Science and Technology
Time:14:40 
Title:Paper # 814, A Decoupled Approach for Simultaneous Stochastic Mapping and Mobile Robot Localization 
Authors:  
Borges, Geovany Laboratoire d'Informatique, de Robotique et Microélectronique de Montpellier
Aldon, Marie-José Laboratoire d'Informatique, de Robotique et Microélectronique de Montpellier
Time:15:00 
Title:Paper # 905, A Constrained Optimization Approach to Globally Consistent Mapping 
Authors:  
Unnikrishnan, Ranjith Carnegie Mellon University
Kelly, Alonzo Carnegie Mellon University
Thu Oct 03 15:40-16:40
Session: SLAM 3  
Chair:Wolfram BURGARD
Room:2
Time:15:40 
Title:Paper # 72, Hybrid Architecture for Simultaneous Localization and Map Building in Large Outdoor Areas 
Authors:  
Masson, Favio Universidad nacional del Sur
Guivant, Jose University of Sydney
Nebot, Eduardo University of Sydney
Time:16:00 
Title:Paper # 626, An Iterative Approach for Building Feature Maps in Cyclic Environments 
Authors:  
Baltzakis, Haris Foundation for Research and Technology - Hellas (FORTH)
Trahanias, Panos Foundation for Research and Technology - Hellas (FORTH)
Time:16:20 
Title:Paper # 728, A Laser Scanner based Mobile Robot SLAM Algorithm with Improved Convergence Properties 
Authors:  
Lionis, Grigoris National Technical University of Athens
Kyriakopoulos, Konstantinos National Technical University of Athens
Fri Oct 04 08:30-08:50
Session:  
Chair:
Room:2
Fri Oct 04 09:20-10:40
Session: Obstacle Avoidance  
Chair:Phillip MCKERROW
Room:2
Time:09:20 
Title:Paper # 272, Reactive Collision Avoidance for Navigation with Dynamic Constraints 
Authors:  
Minguez, Javier Universidad de Zaragoza (Spain)
Montano, Luis Universidad de Zaragoza (Spain)
Khatib, Oussama Stanford University (USA)
Time:09:40 
Title:Paper # 278, A Tractable Convergent Dynamic Window Approach to Obstacle Avoidance 
Authors:  
Ogren, Petter Royal Institure of Technology (KTH)
Leonard, Naomi E. Princeton University
Time:10:00 
Title:Paper # 645, Local Action Planning for Mobile Robot Collision Avoidance 
Authors:  
Belker, Thorsten University of Bonn
Schulz, Dirk University of Bonn
Time:10:20 
Title:Paper # 710, Towards Real-Time Global Motion Planning in a Dynamic Environment Using the NLVO Concept 
Authors:  
Large, Frederic INRIA Rhône-Alpes
Shiller, Zvi College of Judea and Samaria - Ariel, Israel
Sekhavat, Sepanta INRIA Rhône-Alpes
Laugier, Christian INRIA Rhône-Alpes
Fri Oct 04 11:00-12:40
Session: Mobile Robot Navigation 1  
Chair:Takashi KUBOTA
Room:2
Time:11:00 
Title:Paper # 106, Mobile Robot Navigation Used Space and Time Sensor Fusion In an Unknown Environment 
Authors:  
Jin, Tae-Seok Pusan National University
Lee, Jang-Myung Pusan Nat'l Univ.
Time:11:20 
Title:Paper # 194, Indoor Navigation based on an Inaccurate Map using Object Recognition 
Authors:  
Tomono, Masahiro University of Tsukuba
Yuta, Shinichi University of Tsukuba
Time:11:40 
Title:Paper # 407, Using Histogram Correlation to Create Consistent Laser Scan Maps 
Authors:  
Roefer, Thomas FB3, TZI, Universitaet Bremen
Time:12:00 
Title:Paper # 977, Qualitative Modeling of Indoor Environments From Visual Landmarks and Range Data 
Authors:  
Hayet, Jean-Bernard Laboratoire d'Analyse et d'Architecture des Systemes
Esteves, Claudia Laboratoire d'Analyse et d'Architecture des Systemes
Devy, Michel Laboratoire d'Analyse et d'Architecture des Systemes
Lerasle, Frederic Laboratoire d'Analyse et d'Architecture des Systemes
Time:12:20 
Title:Paper # 781, A Virtual Sensor for Room Detection 
Authors:  
Buschka, Par Orebro University
Saffiotti, Alessandro Orebro University
Fri Oct 04 14:00-15:20
Session: Mobile Robot Navigation 2  
Chair:Uwe R. ZIMMER
Room:2
Time:14:00 
Title:Paper # 260, A Relative Motion Estimation Using a Bounded Error Method 
Authors:  
Victorino, Alessandro C. INRIA Sophia Antipolis
Rives, Patrick INRIA Sophia Antipolis
Borrelly, Jean-Jacques INRIA Sophia Antipolis
Time:14:20 
Title:Paper # 286, The convergence property of goal-based visual navigation 
Authors:  
Bianco, Giovanni University of Verona
Zelinsky, Alexander Australian National University
Time:14:40 
Title:Paper # 404, A Connectionist Model for Localization and Route Learning Based on Remembrance of Perception and Action 
Authors:  
Liu, Juan Central South University, China
Cai, Zixing Central South University, China
Zou, Xiaobing Central South University, China
Time:15:00 
Title:Paper # 628, A Multisine Approach for Trajectory Optimisation Based on Information Gain 
Authors:  
Mihaylova, Lyudmila Katholieke Universiteit Leuven
Bruyninckx, Herman Katholieke Universiteit Leuven
De Schutter, Joris Katholieke Universiteit Leuven
Fri Oct 04 15:40-17:00
Session: Mobile Robot Navigation 3  
Chair:Nikos PAPANIKOLOPOULOS
Room:2
Time:15:40 
Title:Paper # 54, Incremental Replanning for Mapping 
Authors:  
Likhachev, Maxim Carnegie Mellon University
Koenig, Sven Georgia Institute of Technology
Time:16:00 
Title:Paper # 694, Robot Motion Planning for Map Building 
Authors:  
Tovar-Lopez, Benjamin ITESM Campus Ciudad de Mexico
Murrieta-Cid, Rafael ITESM Campus Ciudad de Mexico
Esteves-Jaramillo, Claudia ITESM Campus Ciudad de Mexico
Time:16:20 
Title:Paper # 842, Probabilistic Hierarchical Spatial Model for Mine Locations and its application in Robotic Landmine Search 
Authors:  
Zhang, Yangang Carnegie Mellon University
Schervish, Mark Carnegie Mellon University
Choset, Howie Carnegie Mellon University
Time:16:40 
Title:Paper # 235, WAD Project where Attractor Dynamics aids wheelchair Navigation 
Authors:  
Mallet, Pierre CNRS, Institut de Neurosciences Physiologiques et Cognitives, Marseille
Schöner, Gregor Institut für Neuroinformatik Ruhr-Universität, Bochum
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