Technical Program

ISRR 2015 is structured in  mini-symposia,  interactive sessions and  “Best Of 2014” sessions.
Each Symposium includes two invited talks and presentations of reviewed papers submitted to the Conference.
Interactive Sessions will be introduced orally and followed by one-to-one discussion at screens.
The“Greatest Hits” sessions include invited presentations of top-quality work who has recently received recognition with awards or other distinctions

[Download Programme at a Glance]

[Download Full Programme]

Programme at a Glance

Full Programme

Saturday, September 12

8.50 -9.00 Welcome Address

9.00 -10.40 Flying Robots
Chairs: Robert Mahony and Paolo Robuffo Giordano

9.00 Keynote talk: R. Mahony and P. Robuffo Giordano
  pdf Aerial Robotic Vehicles: Shared Autonomy and Formations
9.30 R. Siddall, G. Kennedy, M. Kovac
  pdf High-Power Propulsion Strategies for Aquatic Take-off in Robotics
9.45 R. Ritz, R. D'Andrea 
  pdf A Global Strategy for Tailsitter Hover Control
10.00 T. Do, S. Roumeliotis, L. Carrillo-Arce 
  pdf Autonomous Flights through Image-defined Paths
10.15 E. Helbling, S. B. Fuller, R. J. Wood
  pdf Altitude Estimation and Control of an Insect-Scale Robot with an Onboard Proximity Sensor
10.20 T. Alhinai, A. P. Braithwaite, M. Kovac
  pdf Tensile Web Construction and Perching with Nano Aerial Vehicles
10.25 F. Tan, W. Lohmiller, J-J. Slotine
  pdf Analytical SLAM Without Linearization
10.30 G. Costante, J. Delmerico, M. Werlberger, P. Valigi, D. Scaramuzza
  pdf Online Perception-Aware Planning
10.35 G. Huang, J. Leonard
  pdf Optimal-State-Constraint EKF for Visual-Inertial Navigation

10.40 - 11.10 Coffee Break

11.10 - 12.50 Soft Robotics and Natural Machine Motion 
Chairs: Fumiya Iida and Sangbae Kim

11.10 Keynote talks: F. Ida and S. Kim  
  pdf F. Ida Toward dynamic mobile robot: design considerations for future robots for mobile applications
11.40 F. Renda, G. Serchi, F. Boyer, C. Laschi, J. Dias, L. Seneviratne
  pdf A Multi-Soft-Body Dynamic Model for Underwater Soft Robotics
11.55  A. Kupcsik, D. Hsu, W. S. Lee
  pdf Learning Dynamic Human-Robot Object Handover from Human Feedback
12.10 A. J. Ijspeert
  pdf Decoding the neural mechanisms underlying locomotion using mathematical models and bio-inspired robots: from lamprey to human locomotion
12.25 S. S. Cheng, Y. Kim, J. P. Desai
  pdf Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II
12.30 F. Hammond, Y. Wu, H. Asada
  pdf Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices
12.35 C. Phillips-Grafflin, D. Berenson
  pdf Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC
12.40 T. Tosun, G. Jing, H. Kress-Gazit, M. Yim
  pdf Computer-Aided Compositional Design and Verification for Modular Robots
12.45 C. Sung, D. Rus
  pdf Automated Fabrication of Foldable Robots Using Thick Materials

12.50 - 13.50 Lunch

13.50 - 16.00 Free

16.00 - 17.40 Hands and Haptics
Chairs: Matei Ciocarlie and Domenico Prattichizzo

16.00 Keynote talk: M. Ciociarlie 
  pdf Robotic Grasping: Versatility vs. Complexity
16.15 Keynote talk: D. Prattichizzo 
  pdf The Robotic Sixth Finger: A Wearable Compensatory Tool to Regain Grasping Capabilities in Paretic Hands
16.30 H. Dai, A. Majumdar, R. Tedrake
  pdf Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming
16.45 A. ten Pas, R. Platt
  pdf Using Geometry to Detect Grasp Poses in 3D Point Clouds
17.00 R. Ying, J. Weisz, P. K. Allen
  pdf Grasping with your brain: a brain-computer interface for fast grasp selection 
17.15 Y. Asano
  pdf Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro 
17.20 L. Jentoft, Q. Wan, R. Howe
  pdf How to Think about Grasping Systems - Basis Grasps and Variation Budgets
17.25 O. Tokatli, V. Patoglu
  pdf Using Fractional Order Elements for Haptic Rendering
17.30 Y. Wu, M. Carricato
  pdf Design of a Novel 3-DoF Serial-Parallel Kinematic Wrist: A Symmetric Space Approach
17.35 A. C. Huaman Quispe, H. Ben Amor, H. Christensen
  pdf A Taxonomy of Benchmark Tasks for Robot Manipulation

17.40-18.00 Coffee Break

18.00 - 19.30 Blue-Sky Robotics: an IFRR Vision

Sunday, September 13

9.00- 10.15 Greatest Hits - Part I

9.00 D. Rus
Printable Robots
9.15 S. Vijayakumar
pdf An Approximate Inference Approach to Temporal Optimization for Robotics
9.30 S. Haddadin
On Physical Interaction Between Humans and Robots: From Basic Principles to Real-World Applications
9.45 N. Bradley
Magnetically Guided Medical Therapies
10.00 T. Kawahara
  pdf High-Speed Microrobotic Platform for Mechanical Manipulation of Single Microorganism

10.15 - 10.40 Multi-Robot Systems

10.15 V. Indelman
Towards Cooperative Multi-Robot Belief Space Planning in Unknown Environments 
10.20 J. A. DeCastro, J. Alonso-Mora, V. Raman, D. Rus, H. Kress-Gazit
  pdf Collision-Free Reactive Mission and Motion Planning for Multi-Robot Systems
10.25 R. K. Ramachandran, K. Elamvazhuthi, S. Berman
  pdf An Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm
10.30 J. Yu, D. Rus
  pdf An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning
10.35 P. Dames, P. Tokekar, V. Kumar
  pdf Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots

10.40 - 11.10 Coffee Break

11.10 - 12.50 Interactive Session

Sala Ginestra

Flying Robots
E. Helbling, S. B. Fuller, R. J. Wood: pdf Altitude Estimation and Control of an Insect-Scale Robot with an Onboard Proximity Sensor
T. Alhinai, A. P. Braithwaite, M. Kovac: pdf Tensile Web Construction and Perching with Nano Aerial Vehicles
F. Tan, W. Lohmiller, J-J. Slotine: pdf Analytical SLAM Without Linearization
G. Costante, J. Delmerico, M. Werlberger, P. Valigi, D. Scaramuzza: pdf Online Perception-Aware Planning
G. Huang, J. Leonard: pdf Optimal-State-Constraint EKF for Visual-Inertial Navigation

Soft Robotics and Natural Machine Motion
S. S. Cheng, Y. Kim, J. P. Desai: pdf Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II
F. Hammond, Y. Wu, H. Asada: pdf Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices

C. Phillips-Grafflin, D. Berenson: pdf Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC
T. Tosun, G. Jing, H. Kress-Gazit, M. Yim: pdf Computer-Aided Compositional Design and Verification for Modular Robots
C. Sung, D. Rus: pdf Automated Fabrication of Foldable Robots Using Thick Materials

Sala Pitosforo

Hands and Haptics
Y. Asano: pdf Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro
L. Jentoft, Q. Wan, R. Howe: pdf How to Think about Grasping Systems - Basis Grasps and Variation Budgets
O. Tokatli, V. Patoglu: pdf Using Fractional Order Elements for Haptic Rendering
Y. Wu, M. Carricato: pdf Design of a Novel 3-DoF Serial-Parallel Kinematic Wrist: A Symmetric Space Approach
A. C. Huaman Quispe, H. Ben Amor, H. Christensen: pdf A Taxonomy of Benchmark Tasks for Robot Manipulation

Multi-Robot Systems
V. Indelman: pdf Towards Cooperative Multi-Robot Belief Space Planning in Unknown Environments 
J. A. DeCastro, J. Alonso-Mora, V. Raman, D. Rus, H. Kress-Gazit: pdf  Collision-Free Reactive Mission and Motion Planning for Multi-Robot Systems 
R. K. Ramachandran, K. Elamvazhuthi, S. Berman: pdf An Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm
J. Yu, D. Rus: pdf An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning
P. Dames, P. Tokekar, V. Kumar: pdf Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots

12.50 - 13.50 Lunch

13.50  Cruise and Dinner

 Monday, September 14

 9.00 - 10.40 Cognitive Robotics and Learning
Chairs: Tamim Asfour and Fabio Ramos

9.00 Keynote talk: T. Asfour 
Taxonomy for Whole-Body Loco-Manipulation Actions
9.15 Keynote talk: F. Ramos
  pdf Online Learning for Continuous Environment Representations
9.30 C. Li, J. Bohren, G. Hager
  pdf Bridging the Robot Perception Gap With Mid-Level Vision
9.45 A. Valada, L. Spinello, W. Burgard
  pdf Deep Feature Learning for Acoustics-based Terrain Classification 
10.00 K. Beomjoon, A. Kim, H. Dai, L. Kaelbling, T. Lozano-Pérez
  pdf Generalizing over Uncertain Dynamics for Online Trajectory Generation
10.15 P. Englert, M. Toussaint
  pdf Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations 
10.20 J. Oberlin, S. Tellex
  pdf Autonomously Acquiring Instance-Based Object Models from Experience
10.25 S. Krishnan, A. Garg, S. Patil, C. Lea, G. Hager, P. Abbeel, K. Goldberg
  pdf Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning
10.30 S. Calinon
  pdf Robot learning with task-parameterized generative models 
10.35 L. Y. Ku, E. G. Learned-Miller, R. A. Grupen
  pdf Modeling Objects as Aspect Transition Graphs to Support Manipulation  

10.40 - 11.10 Coffee Break

11.10 - 12.50 Humanoids and Legged Locomotion
Chairs:  Nikos Tsagarakis and Jean-Paul Laumond

12.50 - 13.50 Lunch

13.50 IIT Visit & Banquet

 Tuesday, September 15

9.00- 10.40  Robot Planning and Navigation
Chairs: Eiichi Yoshida and Nancy Amato

9.00 Keynote talk:N. Amato
  pdf A General Region-Based Framework for Collaborative Planning
9.15 Keynote talk: E. Yoshida
  pdf Planning and navigation: recent topics and perspectives
9.30 C. Richter, W. R. Vega-Brown, N. Roy
pdf Bayesian Learning for Safe High-Speed Navigation in Unknown Environments 
9.45 L. Janson, E. Schmerling, M. Pavone
pdf Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty
10.00 M. Gabiccini, A. Artoni, G. Pannocchia, J. Gillis
pdf A Computational Framework for Environment-Aware Robotic Manipulation Planning
10.15 M. A. Hsieh, H. Hajieghrary, D. Kularatne, E. Forgoston, I. B. Schwartz, P. A. Yecko
pdf Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
10.20 I. R. Manchester, J. Z. Tang, J.-J. Slotine
pdf Unifying Classical and Optimization-Based Methods for Robot Tracking Control with Control Contract Metrics
10.25 S. Bai, J. Wang, B. Englot
pdf Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces 
10.30 M. Mazuran, F. Boniardi, W. Burgard, G. D. Tipaldi
pdf Relative Topometric Localization in Globally Inconsistent Maps
10.35 T. M. Caldwell, N. Correll
  pdf Fast Sample-Based Planning of Dynamic Systems by Zero-Control Linearization-Based Steering

10.40 - 11.10 Coffee Break

11.10 - 12.25 Greatest Hits  - Part II

11.10 K. Okada 
Hypothesis  and Verification in Daily Assistive Robots
11.25 M. Yim 
Self-Assembly of a Swarm of Autonomous Boats into Floating Structures
11.40 R. J. Webster III
Design, Estimation, and Planning: Fundamentally Coupled Problems for Continuum Robots
11.55 D. Fox 
DynamicFusion: Reconstruction and tracking of non-rigid scenes in real-time
12.10 P. Dupont
Core Technologies for MRI-powered Robots

12.25 - 12.50 Robot Planning

12.25 C. Potthast, A. Breitenmoser, F. Sha, G. Sukhatme
  pdf Active Multi-View Object Recognition and Online Feature Selection
12.30 D. Kottas, S. Roumeliotis
  pdf An iterative Kalman smoother for robust 3D localization and mapping
12.35 L. Janson, B. Ichter, M. Pavone
  pdf Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance
12.40 R. Gill, D. Kulic, C. Nielsen
  pdf Path Following for Mobile Manipulators
12.45 X. Yan, V. Indelman, B. Boots
  pdf Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping

12.50 - 13.50 Lunch

13.50 - 15.30  Knowledge-Based Robotics 
Chairs: Ashutosh Saxena and Michael Beetz

13.50 Keynote talk: A. Saxena 
  pdf RoboBrain: Knowledge Engine for Robots
14.05 Keynote talk: M. Beetz 
OpenEASE: A Cloud-based Knowledge Processing Service for Robots and Robotics Researchers
14.20 S. Tang, V. Kumar 
  pdf A Complete Algorithm for Generating Safe Trajectories for Multi-Robot Teams
14.35 U. B. Rongala, A. Mazzoni, D. Camboni, M. C. Carrozza, C. Oddo
  pdf Neuromorphic artificial sense of touch: bridging robotics and neuroscience
14.50 A. Mehta, J. DelPreto, K. W. Wong, S. Hamill, H. Kress-Gazit, D. Rus
  pdf Robot Creation from Functional Specifications
15.05 D. Nyga, M. Beetz
  pdf Cloud-based Probabilistic Knowledge Services for Instruction Interpretation
15.10 N. Fazeli, R. Tedrake, A. Rodriguez
  pdf Identifiability Analysis of Planar Rigid-Body Frictional Contact
15.15 Z. Littlefield, H. Kurniawati, K. Bekris, D. Klimenko
  pdf The Importance of a Suitable Distance Function in Belief-Space Planning 
15.20 J. Sung, S. H. Jin, A. Saxena
  pdf Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Pointclouds 

15.25 - 16.00 Coffee Break

16.00 - 18.00 Interactive Session 

Sala Ginestra

Cognitive Robotics and Learning
P. Englert, M. Toussaint: pdf Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations
J. Oberlin, S. Tellex: pdf Autonomously Acquiring Instance-Based Object Models from Experience
S. Krishnan, A. Garg, S. Patil, C. Lea, G. Hager, P. Abbeel, K. Goldberg: pdf Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning
S. Calinon: pdf Robot learning with task-parameterized generative models
L. Y. Ku, E. G. Learned-Miller, R. A. Grupen: pdf Modeling Objects as Aspect Transition Graphs to Support Manipulation  

Humanoids and Legged Locomotion
J.-P. Laumond, M. Benallegue, J. Carpentier, A. Berthoz: pdf The Yoyo-Man
C. O. Saglam, K. Byl: pdf Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain
G. Maeda, G. Neumann, M. Ewerton, R. Lioutikov, J. Peters: pdf A Probabilistic Framework for Semi-Autonomous Robots Based on Interaction Primitives with Phase Estimation
A. De, D. E. Koditschek: pdf Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped
S. Tonneau, N. Mansard, C. Park, D. Manocha, F. Multon, J. Pettré: pdf A Reachability-based planner for sequences of acyclic contacts in cluttered environments 

Knowledge-Based Robotics
D. Nyga, M. Beetz: pdf Cloud-based Probabilistic Knowledge Services for Instruction Interpretation
N. Fazeli, R. Tedrake, A. Rodriguez: pdf Identifiability Analysis of Planar Rigid-Body Frictional Contact
Z. Littlefield, H. Kurniawati, K. Bekris, D. Klimenko: pdf The Importance of a Suitable Distance Function in Belief-Space Planning
J. Sung, S. H. Jin, A. Saxena: pdf Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Point

Sala Pitosforo

Robot Planning and Navigation
M. A. Hsieh, H. Hajieghrary, D. Kularatne, E. Forgoston, I. B. Schwartz, P. A. Yecko: pdf Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
I. R. Manchester, J. Z. Tang, J.-J. Slotine: pdf Unifying Classical and Optimization-Based Methods for Robot Tracking Control with Control Contract
S. Bai, J. Wang, B. Englot: pdf Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces
M. Mazuran, F. Boniardi, W. Burgard, G. D. Tipaldi: pdf Relative Topometric Localization in Globally Inconsistent Maps
D. G. Caldwell, N. Correll: pdf Fast Sample-Based Planning of Dynamic Systems by Zero-Control Linearization-Based Steerin g

Robot Planning
C. Potthast, A. Breitenmoser, F. Sha, G. Sukhatme: pdf Active Multi-View Object Recognition and Online Feature Selection
D. Kottas, S. Roumeliotis: pdf An iterative Kalman smoother for robust 3D localization and mapping
L. Janson, B. Ichter, M. Pavone: pdf Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance
R. Gill, D. Kulic, C. Nielsen: pdf Path Following for Mobile Manipulators 
X. Yan, V. Indelman, B. Boots: pdf Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping