Technical Program

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DAY 1: OCTOBER 15
8:45-9:00 Opening Remarks

Plenary 1: 9:00-10:00
Raffaello D'Andrea, Cornell University
Chair: Kostas Kyriakopoulos

Coffee break 10:00-10:30

Session 1: 10:30-12:35
MOBILITY FOR COMMUNICATIONS
Chair: Lydia Kavraki
10:30 - 10:55
C. Dixon. Maintaining Optimal Communication Chains in Robotic Sensor
Networks using Mobility Control
10:55 - 11:20
C.C. Ooi and C. Schindelhauer. Minimal Energy Path Planning for Wireless
Robots
11:20 - 11:45
C. Reinl and O. von Stryk. Cooperative Control of Multi-Vehicle Systems
Under Communication Constraints Using Mixed-Integer Linear Programming
11:45 - 12:10
S. Poduri and G.S. Sukhatme. Achieving Connectivity through Coalescence in
Mobile Robot Networks
12:10 - 12:35
A. Muhammad. Sensor Selection and Motion Planning in Robotic Sensor
Networks Under Communication Constraints

Lunch 12:35-14:00

Session 2: 14:00-15:40
LOCALIZATION AND TRACKING
Chair: Alcherio Martinoli
14:00 - 14:25
S. Bergbreiter, A. Mehta, and K. Pister. PhotoBeacon: Design of an Optical
System for Localization and Communication in Multi-Robot Systems
14:25 - 14:50
B.I. Triplett, D.J. Klein, and K.A. Morgansen. Distributed Estimation for
Coordinated Target Tracking in a Cluttered Environment
14:50 - 15:15
B. Sohn. Localization System for Mobile Robot Using Wireless
Communication with IR Landmark
15:15 - 15:40
M. Vendittelli , A. Franchi , L. Freda , G. Oriolo. A Decentralized
Strategy for Cooperative Robot Exploration

15:40-16:00 Coffee break

Session 3: 16:00-18:20
DECENTRALIZED COORDINATION
Chair: Panagiotis Tsiotras
16:00 - 16:25
D. Dimarogonas and K. Kyriakopoulos. Decentralized Swarm Aggregation with
Static Communication Links
16:25 - 16:40
R. Pissolato, B. Pimentel, and M. Campos. Dynamic Sensor Coverage with
Mobile Robots under Cooperative Communication
16:40 - 17:05
K. Bekris, K. Tsianos, and L. Kavraki. A Distributed Protocol for Safe
Real-Time Planning of Communicating Vehicles with Second-Order Dynamics
17:05 - 17:30
I.U.Mir. A Fully Decentralized Approach for Incremental Perception
17:30 - 17:55
J. Certo. A Generic Multi-Robot Coordination Strategic Layer
17:55 - 18:20
Christopher M. Cianci, Thomas Lochmatter, Jim Pugh, and Alcherio Martinoli.
Toward Multi-Level Modeling of Robotic Sensor Networks: A Case Study in
Acoustic Event Monitoring.

DAY 2: OCTOBER 16

Plenary 2: 9:00-10:00
Dr Gerard McKee, Active Robotics Laboratory, University of Reading, UK
Chair: Magnus Egerstedt

Coffee break: 10:00-10:30

Session 4: 10:30-12:10
CONTROL ARCHITECTURES
Chair: Alan Winfield
10:30 - 10:55
L. Mota and L. Reis. Setplays: Achieving Coordination by the appropriate
Use of arbitrary Pre-defined Flexible Plans and Inter-Robot Communication
11:55 - 11:20
B. Smith, M. Egerstedt, and A. Howard
Automatic Generation of Persistent Formations for Multi-Agent Networks
Under Range Constraints
11:20 - 11:45
U.P. Schultz. Distributed Control Diffusion: Towards a Flexible
Programming Paradigm for Modular Robots
11:45 - 12:10
O. Azouaoui. Behavioral Multi-Agent Based Control Architecture for
Autonomous Robotic Systems

Lunch 12:10-14:00

POSTER SESSION 1:
14:00 - 15:20
Poster 1: K.W. N'Ong. A Flexible Robot Assists Human Teleoperation under
Implicit Communication Scheme
Poster 2: R. Vaidyanathan. Semi-autonomous micro air and ground vehicle
control and video relay through internet and iridium networks
Poster 3: Y. Yoon, H.J. Kim, T. Choe, and Y. Park. Communication in
distributed model predictive collision avoidance
Poster 4: W. Turek. Motion Coordination Method for Numerous Groups of Fast
Mobile Robots
Poster 5: M. Li, B. Prabhakaran, I. Chlamtac, F. De Pellegrini, and A.
Alvarez. ROBOTRAK: A Centralized Real-time Monitoring, Control, and
Coordination System for Robot Swarms
Poster 6: A. Cezayirli and F. Kerestecioglu. Navigation of Autonomous
Mobile Robots in Connected Groups
Poster 7: R. Singh. Path Planning using Shi and Karl Level Sets
Poster 8: H. Narahara. Relationship between Robot's Gesture and Human's
Emotion Observing the Robot
Poster 9: M. Shimokura. Networks for a symbiotic Human Life with Robots
Poster 10: L. Zalud. User Interface for Multiple Mobile Robot Teleoperation
Poster 11: K. LeBlanc and A. Saffiotti. Cooperative Information Fusion in
a Network Robot System
Poster 12: M. Righi. Romeo and Juliet: an infrared search system

POSTER SESSION 2:
15:20 - 16:40
Poster 13: S. Souissi. Gathering Two Stateless Mobile Robots Using Very
Inaccurate Compasses in Finite Time
Poster 14: Y. Miyamoto. How Humans Evaluate the Impression when
Interacting Haptically with a Robot
Poster 15: M. Bordignon, E. Pagello, and A. Saffiotti. An Inexpensive,
Off-The-Shelf Platform for Networked Embedded Robotics
Poster 16: J.P. Murphy, L.M. Wachter, and L. Ray. Computational Resource
Allocation in Cooperative Control of Mobile Robots
Poster 17: Soko Aoki.Spinning Sensors: Middleware for Robotic Sensor
Network
Poster 18: K. Huguenin. An Architecture for Distributed Collaborative
Adaptive Sensing
Poster 19: K. Kamejima. Robotic Anticipation on Satellite-Roadway-Vehicle
Network
Poster 20: H. Sugiyama. Reconnaissance into Distant Spaces by Multi-Robot
Rescue System with Ad Hoc Networking
Poster 21: C. Park. An Emotion Expression Robot: KOBIE
Poster 22: C. Christodoulopoulos, C. Kyriakopoulos, and A. Kanatas. A
realistic approach to source localization using a wireless robotic network
Poster 23: J. Shin. Formation flight control under communication failure
Poster 24: Salman Ahmed. Motion Coordination of Multi Agent Robots


16:40 - 17:00 Coffee break

Session 5: 17:00-18:55
NETWORKED SENSING
Chair: Dimos Dimargonas
17:00 - 17:25
H. Sakai, H. Kawanami, T. Cincarek, K. Shikano, H. Saruwatari, and A. Lee.
Voice Activity Detection Applied to Hands-Free Spoken Dialogue Robot based
on Decoding using Acoustic and Language Model
17:25 - 17:40
M. de Graaf. Ethernet-based communication framework for sensor integration
on industrial robots
17:40 - 18:05
E.W. Frew. Information-Theoretic Integration of Sensing and Communication
for Active Robot Networks
18:05 - 18:30
Oscar Alonso. An Optical Interface for Inter-Robot Communication in a
Swarm of Microrobots
18:30 - 18:55
G. Sankaranarayanan, B. Hannaford, and L. Potter. Measurement and
Emulation of Time Varying Packet Delay with Applications to Networked
Haptic Virtual Environments


DAY 3: OCTOBER 17

Session 6: 8:30-10:10
RECONFIGURABLE NETWORKS
Chair: Luca Schenato
8:30 - 8:55
H. Kurokawa. Self-Reconfigurable Modular Robot M-TRAN: Distributed Control
and Communication
8:55 - 9:20
R.F.M. Garcia, D.J. Christensen, K. Stoy, and A. Lyder. Hybrid Approach: A
Self-Reconfigurable Communication Network for Modular Robots
9:20 - 9:45
F. Zeiger. An Application Protocol to Integrate a Small Size Helicopter
into an IP based Ad-Hoc Network
9:45 - 10:10
K. Obraczka. Networking Under Episodic Connectivity for Autonomous
Multi-Robot Coordination

Coffee break 10:10-10:40

Session 7: 10:40-12:45
DECENTRALIZED DECISION MAKING
Chair: P.R. Kumar
10:40 - 11:05
E. Frazzoli, M. Pavone, V. Isler, and N. Bisnik. Decentralized Vehicle
Routing in a Stochastic and Dynamic Environment with Customer Impatience
11:05 - 11:30
C. Li. RationalSwarms for Distributed On-line Bayesian Search
11:30 - 11:55
F. Stulp, H. Utz, M. Isik, and G. Mayer. Implicit Coordination with Shared
Belief: A Heterogeneous Robot Soccer Team Case Study
11:55 - 12:20
D.J. Christensen. Neighbor Detection and Crosstalk Elimination in
Self-Reconfigurable Robots
12:20 - 12:45
X. Han, C.C. Shen, and L. Rossi. Autonomous Navigation of Wireless Robot
Swarms with Covert Leaders

Lunch 12:45-14:10

Session 8: 14:10-15:50
APPLICATIONS AND DEVICES
Chair: Daniel Klein
14:10 - 14:35
G. Sankaranarayanan, B. Hannaford, H. King, S.Y. Ko, M. Lum, J. Rosen, and
D. Friedman. Portable Surgery Master Station for Mobile Robotic Surgery
14:35 - 15:00
P. Hinterseer. THE WEBER QUANTIZER: PERCEPTUAL CODING FOR NETWORKED
TELEPRESENCE AND TELEACTION
15:00 - 15:25
M. Broxvall. A Middleware for Ecologies of Robotic Devices
15:25 - 15:50
G. Sankaranarayanan and B. Hannaford. Comparison of Performance of Virtual
Coupling Schemes for Haptic Collaboration using Real and Emulated Internet
Connections

15:50-16:10 Coffee break

Session 9: 16:10-18:05
TOOLS AND SIMULATORS
Chair: Emilio Frazzoli
16:10 - 16:35
T. Chiueh, R. Krishnan, and P. De. A Networked Robot System for Wireless
Network Emulation
16:35 - 16:50
P.W. Chen and S. Sastry. Latency and Connectivity Analysis Tools for
Wireless Mesh Networks
16:50 - 17:15
A. Tiderko and T. Bachran. A Service Oriented Framework for Wireless
Communication in Mobile Multi Robot Systems
17:15 - 17:40
G. ROUSSOS. Shared Memories: A Trail-based Coordination Server for Robot
Teams
17:40 - 18:05
S. Hara. A Common Coordinates/Heading Direction Generation Method for
Wireless-Networked Robots only with Ranging Capability

18:05 - 18:10
Closing remarks