Robotics : Science and Systems II

Preface vii Haptic Playback: Modeling, Controller Design, and Stability Analysis 1(8) Matteo Corno Milos Zefran Optimal Rules for Programmed Stochastic Self-Assembly 9(8) Eric Klavins Samuel Burden Nils Napp Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments 17(8) Frederik W. Heger Sanjiv Singh Improving Robot Navigation Through Self-Supervised Online Learning 25(8) Boris Sofman Ellie Lin J. Andrew Bagnell Nicolas Vandapel Anthony Stentz Self-supervised Monocular Road Detection in Desert Terrain 33(8) Hendrik Dahlkemp Adrian Kaehler David Stavens Sebastian Thrun Gary Bradski Enhancing Supervised Terrain Classification with Predictive Unsupervised Learning 41(8) Michael Happold Mark Ollis Nik Johnson Distributed Coverage Control with Sensory Feedback for Networked Robots 49(8) Mac Schwager James McLurkin Daniela Rus Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies 57(8) David C. Conner Howie Choset Alfred A. Rizzi On Comparing the Power of Mobile Robots 65(8) Jason M. O'Kane Steven M. LaValle Exploiting Locality in SLAM by Nested Dissection 73(8) Peter Krauthausen Alexander Kipp Frank Dellaert Unified Inverse Depth Parameterization for Monocular SLAM 81(8) J.M.M. Montiel Javier Civera Andrew J. Davison Qualitative Hybrid Control of Dynamic Bipedal Walking 89(8) Subramanian Ramamoorthy Benjamin J. Kuipers Gait Regulation and Feedback on a Robotic Climbing Hexapod 97(8) G. Clark Haynes Alfred A. Rizzi Slip Prediction Using Visual Information 105(8) Anelia Angelova Larry Matthies Daniel Helmick Pietro Perona Pursuit and evasion in non-convex domains of arbitrary dimension 113(8) Stephanie Alexander Richard Bishop Robert Ghrist Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems 121(8) Ashish Deshpande Jonathan Luntz An Equilibrium Point based Model Unifying Movement Control in Humanoids 129(8) Xue Gu Dana H. Ballard A new inlier identification scheme for robust estimation problems 137(8) Wei Zhang Jana Kosecka A Probabilistic Exemplar Approach to Combine Laser and Vision for Person Tracking 145(8) Dirk Schulz Outdoor Path Labeling Using Polynomial Mahalanobis Distance 153(8) Greg Grudic Jane Mulligan Probabilistic Terrain Analysis For High-Speed Desert Driving 161(8) Sebastian Thrun Mike Montemerlo Andrei Aron Multi-loop Position Analysis via Iterated Linear Programming 169(8) Josep M. Porta Lluis Ros Federico Thomas Inverse Kinematics for a Serial Chain with Joints under Distance Constraints 177(8) Li Han Lee Rudolph A Gravity Balancing Passive Exoskeleton for the Human Leg 185(6) Sunil K. Agrawal Sai K. Banala Abbas Fattah Design methodologies for central pattern generators: an application to crawling humanoids 191(8) Ludovic Righetti Auke Jan Ijspeert Dynamic Imitation in a Humanoid Robot through Nonparametric Probabilistic Inference 199(8) David B. Grimes Rawichote Chalodhorn Rajesh P.N. Rao Computing Smooth Feedback Plans Over Cylindrical Algebraic Decompositions 207(8) Stephen R. Lindemann Steven M. LaValle Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements 215(8) Anastasios I. Mourikis Steroigos I. Roumeliotis The Identity Management Kalman Filter (IMKF) 223(8) Brad Schumitsch Sebastian Thrun Leonidas Guibas Kunle Olukotun Adaptive Dynamics with Efficient Contact Handling for Articulated Robots 231(8) Russell Gayle Ming C. Lin Dinesh Manocha Generation of Point-contact State Space between Strictly Curved Objects 239(8) Peng Tang Jing Xiao A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics 247(8) Jo-Anne Ting Michael Mistry Jan Peters Stefan Schaal Jun Nakanishi Learning Operational Space Control 255(8) Jan Peters Stefan Schaal The Iterated Sigma Point Kalman Filter with Applications to Long Range Stereo 263(8) Gabe Sibley Gaurav Sukhatme Larry Matthies Environment Identification for a Running Robot Using Inertial and Actuator Cues 271(8) Philippe Giguere Gregory Dudek Chris Prahacs Shane Saunderson Elastic Roadmaps: Globally Task-Consistent Motion for Autonomous Mobile Manipulation in Dynamic Environments 279(8) Yuandong Yang Oliver Brock Responsive robot gaze to interaction partner 287(8) Yuichiro Yoshikawa Kazuhiko Shinozawa Hiroshi Ishiguro Norihiro Hagita Takanori Miyamoto On the Dubins Traveling Salesperson Problems: novel approximation algorithms 295(8) Ketan Savla Emilio Frazzoli Francesco Bullo Gaussian Processes for Signal Strength-Based Location Estimation 303 Brian Ferris Dirk Hahnel Dieter Fox