WAFR 2002 Program

15-17 December, 2002

8:45- 9:00:    Welcome
9:00-10:00:    Plenary 1: Mark Overmars, Algorithms for Motion and Navigation in Virtual Environments and Games
10:00-10:50:    Coffee Break
10:50-12:30:    Session of 4 papers
  • Motion Planning for Knot Untangling
Andrew M. Ladd Lydia E. Kavraki
  • Exact Collision Checking of Robot Paths
Fabian Schwarzer, Mitul Saha and Jean-Claude Latombe
  • A comparative study of probabilistic roadmap planners
R. Geraerts, M.H. Overmars
  • On the Relationship Between Classical Grid Search and Probabilistic Roadmaps
Steven M. LaValle and Michael S. Branicky

12:30- 2:00:    Lunch
2:00- 3:40:    Session of 4 papers 
  • Algorithms for Rapidly dispersing robot swarms in unknown environments
Tien-Ruey Hsiang, Esther M. Arkin, Michael A. Bender, Sandor P. Fekete, and Joseph S.B.Mitchell
  • Better Flocking Behaviors using Rule-Based Roadmaps
O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato
  • Interactive cutting in triangulated surfaces, a Delaunay approach
Han-Wen Nienhuys and A. Frank van der Stappen
  • Stochastic Conformational Roadmaps for Computing Ensemble Properties of Molecular Motion
Mehmet Serkan Apaydin, Douglas L. Brutlag, Carlos Guestrin, David Hsu, Jean-Claude Latombe

3:40- 4:20:    Coffee Break
4:20- 6:00:    Session of 4 papers  
  • View Planning via Maximal Entropy Reduction
Pengpeng Wang Kamal Gupta
  • Exact and Distributed Algorithms for Collaborative Camera Control
Dezhen Song, A.Frank van der Stappen, and Ken Goldberg
  • Shape complexes for metamorphic robot systems
Robert Ghrist
  • Flexonics
John Canny Jeremy Risner Vivek Subramanian

 9:00-10:00:    Plenary 2:  Nicholas Ayache, Surgery Simulation : Integrating Geometry, Physics and Physiology into the Virtual Patient
10:00-10:50:    Coffee Break
10:50-12:30:    Session of 4 papers  
  • Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths
Jufeng Peng and Srinivas Akella
  • Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane
Shai Hirsch and Dan Halperin
  • Decentralized Algorithms for Multirobot Manipulation via Caging
Guilherme A. S. Pereira, Vijay Kumar, Mario F. M. Campos
  • Communication Complexity of Multi-Robot Systems
Eric Klavins

12:30-2:00:     Lunch
2:00- 3:40:     Session of 4 papers 
  • Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors
Mark Moll Michael A. Erdmann
  • A general manipulation task planner
T. Simeon, J. Cortes, A. Sahbani, J.P. Laumond
  • Computation on Parametric Curves with Applications in Localization and Grasping
Yan-Bin Jia
  • A Near-Quadratic Algorithm for Fence Design
Pankaj K. Agarwal, Robert-Paul Berretty, Anne D. Collins

3:40 - 6:30:    Long Break
"Birds of a Feather" informal meetings in local cafes
6:30:    Workshop Banquet

9:00 - 10:40    Session of 4 papers 
  • Simultaneous Mapping and Localization With Sparse Extended Information Filters: Theory and Initial Results
Sebastian Thrun, Daphne Koller, Zoubin Ghahramani, Hugh Durrant-Whyte, and Andrew Y. Ng
  • Expected Shortest Paths for Landmark-Based Robot Navigation
Amy J. Briggs, Carrick Detweiler, Daniel Scharstein, Alexander Vandenberg-Rodes
  • Sensor-based Coverage: Incremental Construction of Cellular Decompositions
Ercan U. Acar, Howie Choset
  • On-line Scan Coverage of Grid Environments by a Mobile Robot
Gabriely and Elon Rimon

10:40- 11:20:    Coffee Break
11:20- 1:00:    Session of 4 papers 
  • Distributed motion planning for 3D modular robots with unit-compressible modules
Zack Butler and Daniela Rus
  • Distributed Manipulation with Rolling Contact
Mark Bedillion William Messner
  • Computing Equilibria on Superpositions of Logarithmic-radial Potential Fields
Hyungpil Moon, Jonathan Luntz
  • Feedback Control for Distributed Manipulation
T.D. Murphey and J.W. Burdick

1:00- 2:30:    Lunch
2:30- 4:10:    Session of 4 papers  
  • Fast Penetration Depth Estimation between Polyhedral Models using Hierarchical Refinement
Young Kim and Dinesh Manocha
  • Generalizing Demonstrated Manipulation Tasks
Nancy S. Pollard and Jessica K. Hodgins
  • Constraint-Based Motion Planning Using Voronoi Diagrams
Maxim Garber Ming C. Lin
  • Trajectory Planning for Second-Order Underactuated Mechanical Systems in Presence of Obstacles
Prasun Choudhury and Kevin Lynch

4:10:    Closing