IROS 2015 Key Data• 2134 contributed paper submissions (970 accepted 45%)
• 165 sessions in 15 parallel tracks
• 51 accepted Workshops and Tutorial submissions
• 72 accepted Late Breaking Poster papers
• 6 plenary and 9 keynote talks
• 2541 registrations
• Government Forum, Industry Forum, EU Forum and Start-up Forum
Alois C. Knoll, Program Chair
Program Overview
• 970 Contributed Papers in 165 sessions and 15 parallel tracks
• 51 Workshops and Tutorials
• New: 72 poster papers in the Late Breaking Poster Session
• Government, Industry, EU, Citizen and Start-up fora
• Plenary and Keynote talks
Conference Paper Review Board
Wolfram Burgard, University of
Freiburg, Germany
• Adriana Tapus, ENSTA-ParisTech, France
• Cedric Pradalier, Georgia Tech Lorraine, France
• Carme Torras, Technical University of Catalonia, Spain
• Danica Kragic, KTH, Sweden
• Dezhen Song, TAMU, USA
• Eiichi Yoshida, AIST, Japan
• Fumihito Arai, Nagoya University, Japan
• Giuseppe Oriolo, Università di Roma La Sapienza, Italy
• Jose A. Castellanos, University of Zaragoza, Spain
• Jorge Dias, University of Coimbra, Portugal
• Jan Peters, TU Darmstadt, Germany
• Jean-Pierre Merlet, INRIA Sophia Antipolis, France
• Keehoon Kim, Korea Institute of Science and Technology, South Korea
• Maren Bennewitz, University of Bonn, Germany
• Roderich Gross, University of Sheffield, UK
• Shinichi Harai, Ritsumeikan University, Japan
• Siddhartha Srinivasa, Carnegie Mellon University, USA
• Tatsuo Arai, Osaka University, Japan
• Torsten Kroeger, Stanford University, USA
Editors
• 272 Associated Editors• 5444 Reviews from • 3465 Reviewers
Editor-in-Chief
0102030405060708090
100110120130140150160170180190200210220230240250
Un
ited
Sta
tes
of
Am
eri
ca
Jap
an
Ger
man
y
Fran
ce
Ital
y
Ch
ina
Un
ited
Kin
gdo
m
Ko
rea,
So
uth
Can
ada
Swit
zerl
and
Spai
n
Au
stra
lia
Gre
ece
Swed
en
Sin
gap
ore
Net
her
lan
ds
Po
rtu
gal
Ind
ia
Au
stri
a
Bel
giu
m
Bra
zil
Isra
el
Turk
ey
Thai
lan
d
Den
mar
k
Mex
ico
Sou
th A
fric
a
Taiw
an
Slo
ven
ia
Egyp
t
Cze
ch R
epu
blic
Iran
Leb
ano
n
Pak
ista
n
Ru
ssia
New
Ze
alan
d
Bo
snia
an
d H
erze
govi
na
Cro
atia
Fin
lan
d
No
rway
Po
lan
d
Ro
man
ia
Arg
enti
na
Ch
ile
Distribution of Accepted Papers
• 2134 contributed paper submissions
• 970 accepted (45%)
Country Number of PapersUnited States of America 236
Japan 141
Germany 117
France 57
Italy 55
China 50
United Kingdom 39
South Korea 36
Canada 32
Switzerland 29
Top 10 Countries
Distribution % of Accepted Papersacross Continents 0,52
27,45
1,86
41,18
28,07
0,93
Asia
EuropeAustralia-Oceania
AfricaS.America
N.America
10 most frequent
0
10
20
30
40
50
60
70
80
90
Co
mp
ute
r V
isio
nH
um
an-R
ob
ot
Inte
ract
ion
Mo
tio
n a
nd
Pat
h P
lan
nin
gU
nm
ann
ed
Aer
ial S
yste
ms
Loca
lizat
ion
Map
pin
gB
iolo
gica
lly-I
nsp
ired
Ro
bo
tsSL
AM
Legg
ed R
ob
ots
Mar
ine
Ro
bo
tics
Hu
man
oid
Ro
bo
tsM
icro
/Nan
o R
ob
ots
Surg
ical
Ro
bo
tics
Forc
e an
d T
acti
le S
ensi
ng
Hu
man
oid
an
d B
ipe
dal
Lo
com
oti
on
Me
dic
al R
ob
ots
an
d S
yste
ms
Hap
tics
an
d H
apti
c In
terf
ace
sR
eh
abili
tati
on
Ro
bo
tics
Vis
ual
Nav
igat
ion
Cal
ibra
tio
n a
nd
Ide
nti
fica
tio
nM
oti
on
Co
ntr
ol
Soft
-bo
die
d R
ob
ots
Ro
bo
t A
ud
itio
nTe
lero
bo
tics
Fie
ld R
ob
ots
Pe
rcep
tio
n f
or
Gra
spin
g an
d M
anip
ula
tio
nLe
arn
ing
fro
m D
em
on
stra
tio
nM
ult
i-R
ob
ot
Co
ord
inat
ion
Sen
sor
Fusi
on
Mo
tio
n a
nd
Tra
ject
ory
Ge
ner
atio
nIn
du
stri
al R
ob
ots
Soft
war
e a
nd
Arc
hit
ect
ure
Nav
igat
ion
Serv
ice
Ro
bo
tsM
ech
anis
m D
esig
nP
hys
ical
Hu
man
-Ro
bo
t In
tera
ctio
nR
eco
gnit
ion
We
arab
le R
ob
ots
Wh
eele
d R
ob
ots
Swar
m R
ob
oti
csH
um
an D
ete
ctio
n a
nd
Tra
ckin
gM
anip
ula
tio
n P
lan
nin
g an
d C
on
tro
lG
rasp
ing
Co
gnit
ive
Hu
man
-Ro
bo
t In
tera
ctio
nA
I Re
aso
nin
g M
eth
od
sSp
ace
Ro
bo
tics
an
d A
uto
mat
ion
Gri
pp
er
and
Han
d D
esig
nP
aral
lel R
ob
ots
Inte
grat
ed
Tas
k an
d M
oti
on
Pla
nn
ing
Me
dic
al S
yste
ms,
He
alth
care
, an
d A
ssis
ted
…V
isu
al T
rack
ing
Re
du
nd
ant
Ro
bo
tsG
estu
re, P
ost
ure
, So
cial
Sp
aces
an
d F
acia
l…P
ath
Pla
nn
ing
for
Mu
ltip
le M
ob
ile R
ob
ots
or…
No
nh
olo
no
mic
Mo
tio
n P
lan
nin
gSe
nso
r-b
ased
Pla
nn
ing
Var
iab
le S
tiff
ne
ss A
ctu
ato
r D
esig
n a
nd
Co
ntr
ol
Ran
ge S
ensi
ng
Ro
bo
t Le
arn
ing
Mo
tio
n P
lan
nin
g fo
r M
anip
ula
tors
Join
t/M
ech
anis
m D
esi
gnB
iom
imet
ics
Dis
trib
ute
d R
ob
ot
Syst
ems
Inte
llige
nt
Tran
spo
rtat
ion
Sys
tem
sR
ob
ot
Rei
nfo
rcem
en
t Le
arn
ing
Co
ntr
ol A
rch
ite
ctu
res
and
Pro
gram
min
gD
ext
ero
us
Man
ipu
lati
on
Au
ton
om
ou
s A
gen
tsC
om
plia
nce
an
d Im
ped
ance
Co
ntr
ol
Hu
man
Ce
nte
red
Ro
bo
tics
Mo
bile
Man
ipu
lati
on
Net
wo
rked
Ro
bo
tsO
pti
mal
Co
ntr
ol
First-Keyword Distribution (Submitted Papers) – Head of List Computer Vision 78
Human-Robot Interaction 66
Motion and Path Planning 60
Unmanned Aerial Systems 56
Localization 49
Mapping 46
Biologically-Inspired Robots 45
SLAM 43
Legged Robots 40
Marine Robotics 40
0
2
4
6
8
10
12
Vis
ual
Ser
voin
g
Ro
bo
tics
in A
gric
ult
ure
an
d F
ore
stry
Co
op
erat
ing
Ro
bo
ts
Clim
bin
g R
ob
ots
Un
der
actu
ated
Ro
bo
ts
Co
llisi
on
Det
ect
ion
an
d A
void
ance
Do
mes
tic
Ro
bo
ts a
nd
Ho
me
Au
tom
atio
n
Hyd
rau
lic/P
neu
mat
ic A
ctu
ato
rs
Vis
ual
Lea
rnin
g
Cel
lula
r an
d M
od
ula
r R
ob
ots
Dyn
amic
s
Task
Pla
nn
ing
Rea
ctiv
e an
d S
en
sor-
Bas
ed P
lan
nin
g
Ro
bo
tics
in C
on
stru
ctio
n
Failu
re D
ete
ctio
n a
nd
Rec
ove
ry
Ne
w A
ctu
ato
rs
Per
form
ance
Eva
luat
ion
an
d B
ench
mar
kin
g
Mo
del
Lea
rnin
g
Ro
bo
t Sa
fety
Flex
ible
Arm
s
An
imat
ion
an
d S
imu
lati
on
Lear
nin
g C
on
tro
l
Ro
bo
t C
om
pan
ion
s an
d S
oci
al H
um
an-R
ob
ot
Inte
ract
ion
Mu
ltif
inge
red
Han
ds
Co
op
erat
ive
Man
ipu
lato
rs
Bio
logi
cal A
pp
licat
ion
s o
f M
icro
Ro
bo
ts
Ten
do
n/W
ire
Mec
han
ism
s
Pla
nn
ing,
Sch
edu
ling
and
Co
ord
inat
ion
Clo
ud
Ro
bo
tics
Surv
eilla
nce
Sys
tem
s
Sen
sor
Net
wo
rks
Kin
emat
ics
Form
al M
eth
od
s in
Ro
bo
tics
an
d A
uto
mat
ion
Ro
bo
ts a
nd
Em
bo
die
d A
rt
Man
ipu
lati
on
an
d C
om
plia
nt
Ass
em
bly
Man
ufa
ctu
rin
g an
d A
uto
mat
ion
Inte
grat
ed
Pla
nn
ing
and
Co
ntr
ol
Bra
in M
ach
ine
Inte
rfac
es
Sear
ch a
nd
Re
scu
e R
ob
ots
Ente
rtai
nm
en
t R
ob
oti
cs
Ro
bo
tics
in H
azar
do
us
Fiel
ds
Ne
ura
l an
d F
uzz
y C
on
tro
l
Envi
ron
me
nt
Mo
nit
ori
ng
and
Man
age
men
t
Om
nid
irec
tio
nal
Vis
ion
Vir
tual
Re
alit
y an
d In
terf
aces
Beh
avio
ur-
Bas
ed S
yste
ms
Age
nt-
Bas
ed S
yste
ms
Arc
hit
ectu
res,
Pro
toco
ls A
nd
Mid
dle
-War
e
Hu
man
Per
form
ance
Au
gme
nta
tio
n
Evo
luti
on
ary
Ro
bo
tics
Co
nta
ct M
od
ellin
g
Forc
e C
on
tro
l
Ne
uro
rob
oti
cs
Co
mm
un
icat
ion
-aw
are
Sen
sor
and
Mo
tio
n P
lan
nin
g
Mo
tor
Skill
Lea
rnin
g
Ne
two
rke
d T
eleo
pe
rati
on
Imit
atio
n L
earn
ing
Edu
cati
on
Ro
bo
tics
Hu
man
oid
Nav
igat
ion
Inte
llige
nt
Toys
Per
son
al R
ob
ots
Self
-Org
anis
ed R
ob
ot
Syst
ems
Smar
t A
ctu
ato
rs
Soft
-tis
sue
Mo
del
ing
Ub
iqu
ito
us
Ro
bo
tics
Vo
ice,
Sp
eech
Syn
thes
is a
nd
Rec
ogn
itio
n
Eth
ics
and
Ph
iloso
ph
y
Gre
en R
ob
oti
cs
Hu
man
oid
Inte
ract
ion
Min
ing
and
De
min
ing
Par
ts F
eed
ing
and
Fix
turi
ng
Pro
gram
min
g En
viro
nm
ents
First-Keyword Distribution (Submitted Papers) – Tail of List 10 least frequent
Imitation Learning 1
Education Robotics 1Humanoid Navigation 1
Intelligent Toys 1Personal Robots 1Self-Organised Robot Systems 1Smart Actuators 1
Soft-tissue Modeling 1
Ubiquitous Robotics 1Voice, Speech Synthesis and Recognition 1
0
5
10
15
20
25
30
Hu
man
-Ro
bo
t In
tera
ctio
n
Un
man
ne
d A
eria
l Sys
tem
s
Mo
tio
n a
nd
Pat
h P
lan
nin
g
Co
mp
ute
r V
isio
n
SLA
M
Surg
ical
Ro
bo
tics
Bio
logi
cally
-In
spir
ed R
ob
ots
Forc
e an
d T
acti
le S
ensi
ng
Map
pin
g
Loca
lizat
ion
Hu
man
oid
Ro
bo
ts
Mic
ro/N
ano
Ro
bo
ts
Hu
man
oid
an
d B
ipe
dal
Lo
com
oti
on
Legg
ed R
ob
ots
Me
dic
al R
ob
ots
an
d S
yste
ms
Mar
ine
Ro
bo
tics
Tele
rob
oti
cs
Me
chan
ism
Des
ign
Soft
-bo
die
d R
ob
ots
Ro
bo
t A
ud
itio
n
Cal
ibra
tio
n a
nd
Ide
nti
fica
tio
n
Mo
tio
n C
on
tro
l
Fie
ld R
ob
ots
Re
hab
ilita
tio
n R
ob
oti
cs
Hap
tics
an
d H
apti
c In
terf
ace
s
Join
t/M
ech
anis
m D
esi
gn
Man
ipu
lati
on
Pla
nn
ing
and
Co
ntr
ol
Pe
rcep
tio
n f
or
Gra
spin
g an
d M
anip
ula
tio
n
Ph
ysic
al H
um
an-R
ob
ot
Inte
ract
ion
Vis
ual
Nav
igat
ion
Gra
spin
g
We
arab
le R
ob
ots
Lear
nin
g fr
om
De
mo
nst
rati
on
Re
cogn
itio
n
De
xter
ou
s M
anip
ula
tio
n
Mu
lti-
Ro
bo
t C
oo
rdin
atio
n
Soft
war
e a
nd
Arc
hit
ect
ure
Sen
sor
Fusi
on
Par
alle
l Ro
bo
ts
Ce
llula
r an
d M
od
ula
r R
ob
ots
Co
gnit
ive
Hu
man
-Ro
bo
t In
tera
ctio
n
Bio
mim
etic
s
Co
mp
lian
ce a
nd
Imp
edan
ce C
on
tro
l
Hu
man
De
tect
ion
an
d T
rack
ing
Au
ton
om
ou
s A
gen
ts
Dis
trib
ute
d R
ob
ot
Syst
ems
Hu
man
Ce
nte
red
Ro
bo
tics
Task
Pla
nn
ing
Clim
bin
g R
ob
ots
AI R
eas
on
ing
Me
tho
ds
Co
op
era
tive
Man
ipu
lato
rs
Mo
bile
Man
ipu
lati
on
Mo
tio
n a
nd
Tra
ject
ory
Ge
ner
atio
n
Ro
bo
t Sa
fety
Spac
e R
ob
oti
cs a
nd
Au
tom
atio
n
Wh
eele
d R
ob
ots
Nav
igat
ion
Ro
bo
t R
ein
forc
eme
nt
Lear
nin
g
Swar
m R
ob
oti
cs
Ten
do
n/W
ire
Me
chan
ism
s
Vis
ual
Tra
ckin
g
Ro
bo
t Le
arn
ing
Ges
ture
, Po
stu
re, S
oci
al S
pac
es a
nd
Fac
ial E
xpre
ssio
ns
Mo
del
Le
arn
ing
Bio
logi
cal A
pp
licat
ion
s o
f M
icro
Ro
bo
ts
Fle
xib
le A
rms
Inte
llige
nt
Tran
spo
rtat
ion
Sys
tem
s
Me
dic
al S
yste
ms,
He
alth
care
, an
d A
ssis
ted
Liv
ing
Pat
h P
lan
nin
g fo
r M
ult
iple
Mo
bile
Ro
bo
ts o
r A
gen
ts
Re
acti
ve a
nd
Se
nso
r-B
ased
Pla
nn
ing
No
nh
olo
no
mic
Mo
tio
n P
lan
nin
g
Op
tim
al C
on
tro
l
First-Keyword Distribution (Final Version Received Papers) – Head of List
10 most frequent
Human-Robot Interaction 28
Unmanned Aerial Systems 27
Motion and Path Planning 26
Computer Vision 25SLAM 24Surgical Robotics 23Biologically-Inspired Robots 23Force and Tactile Sensing 23
Mapping 23Localization 22
10 least frequent
0
1
2
3
4
5
6
Un
der
actu
ated
Ro
bo
ts
Var
iab
le S
tiff
nes
s A
ctu
ato
r D
esig
n a
nd
Co
ntr
ol
Vis
ual
Ser
voin
g
Ran
ge S
ensi
ng
Ind
ust
rial
Ro
bo
ts
Dyn
amic
s
Gri
pp
er a
nd
Han
d D
esi
gn
Clo
ud
Ro
bo
tics
Co
ntr
ol A
rch
itec
ture
s an
d P
rogr
amm
ing
Form
al M
eth
od
s in
Ro
bo
tics
an
d A
uto
mat
ion
Inte
grat
ed
Tas
k an
d M
oti
on
Pla
nn
ing
Sen
sor-
bas
ed P
lan
nin
g
Co
llisi
on
Det
ect
ion
an
d A
void
ance
Pla
nn
ing,
Sch
edu
ling
and
Co
ord
inat
ion
Ro
bo
tics
in C
on
stru
ctio
n
Mo
tio
n P
lan
nin
g fo
r M
anip
ula
tors
Ne
w A
ctu
ato
rs
An
imat
ion
an
d S
imu
lati
on
Ne
two
rke
d R
ob
ots
Do
mes
tic
Ro
bo
ts a
nd
Ho
me
Au
tom
atio
n
Envi
ron
me
nt
Mo
nit
ori
ng
and
Man
age
men
t
Inte
grat
ed
Pla
nn
ing
and
Co
ntr
ol
Lear
nin
g C
on
tro
l
Ro
bo
t C
om
pan
ion
s an
d S
oci
al H
um
an-R
ob
ot…
Ro
bo
tics
in A
gric
ult
ure
an
d F
ore
stry
Surv
eilla
nce
Sys
tem
s
Red
un
dan
t R
ob
ots
Serv
ice
Ro
bo
ts
Bra
in M
ach
ine
Inte
rfac
es
Evo
luti
on
ary
Ro
bo
tics
Failu
re D
ete
ctio
n a
nd
Rec
ove
ry
Hyd
rau
lic/P
neu
mat
ic A
ctu
ato
rs
Man
ipu
lati
on
an
d C
om
plia
nt
Ass
em
bly
Mu
ltif
inge
red
Han
ds
Om
nid
irec
tio
nal
Vis
ion
Sear
ch a
nd
Re
scu
e R
ob
ots
Vir
tual
Re
alit
y an
d In
terf
aces
Co
op
erat
ing
Ro
bo
ts
Kin
emat
ics
Ne
uro
rob
oti
cs
Per
form
ance
Eva
luat
ion
an
d B
ench
mar
kin
g
Ro
bo
ts a
nd
Em
bo
die
d A
rt
Beh
avio
ur-
Bas
ed S
yste
ms
Co
nta
ct M
od
ellin
g
Ente
rtai
nm
en
t R
ob
oti
cs
Forc
e C
on
tro
l
Imit
atio
n L
earn
ing
Ro
bo
tics
in H
azar
do
us
Fiel
ds
Vis
ual
Lea
rnin
g
Sen
sor
Net
wo
rks
Age
nt-
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First-Keyword Distribution(Final Version Received Papers) – Tail of List
Neurorobotics 2Performance Evaluation and Benchmarking 2Robots and Embodied Art 1Behavior-Based Systems 1Contact Modelling 1Entertainment Robotics 1Force Control 1Imitation Learning 1Robotics in Hazardous Fields 1Visual Learning 1
Late Breaking Poster Session
72 Posters will be Presented
16
12
98
8
3
3
2
2
11
11 1
1 1 1 1
South Korea China Japan USA UK
France Germany Italy Sweden Canada
Finnland Israel Netherlands New Zealand Norway
Singapore Spain Turkey
Country Number of Posters
South Korea 16
China 12
Japan 9
USA 8
UK 8
France 3
Germany 3
Italy 2
Sweden 2
Canada 1
Finnland 1
Israel 1
Netherlands 1New
Zealand 1
Norway 1
Singapore 1
Spain 1
Turkey 1
10 most frequentkeywords
Plenary Speakers
Practice makes Perfect? The Role of Place-Dependent Expertise in Mobile RoboticsPaul Newman, Mobile Robotics Group, University of OxfordTuesday, September 29, 10:30-11:15, Hall 2
The New Robotics Age: Meeting the Physical Interactivity ChallengeOussama Khatib, Artificial Intelligence Laboratory, Department of Computer Science, Stanford UniversityTuesday, September 29, 16:00-16:45, Hall 2
From Geometry to Startups and to …IncubatorsZexiang Li, Robotics Institute, Hong Kong University of Science and TechnologyWednesday, September 30, 10:30-11:15, Hall 2
Robotic Governance: Paving the Way for Generation ‘R’Bernd Liepert, Chief Innovation Officer, KUKA AGWednesday, September 30, 16:00-16:45, Hall 2
From Mimicry to Mastery: Creating Machines that Augment Human SkillGregory D. Hager, Johns Hopkins UniversityThursday, October 1, 10:30-11:15, Hall 2
Supercomputing the loop of Biomechanics and NeuroscienceYoshihiko Nakamura, University of TokyoThursday, October 1, 16:00-16:45, Hall 2
Keynote Speakers
What We Learned from DarpaRobotics ChallengeJun Ho Oh, Humanoid Robot Research Center, Korea Advanced Institute of Science and TechnologyTuesday September 29, 16:50-17:20, Hall 2
Enter Deep LearningPatrick van der Smagt, Biomimetic robotics and machine learning, Technische Universität MünchenTuesday September 29, 17:20-17:50, Hall 2
Robots, Politics, and Ethics: How Autonomous Driving Transforms Our Way of Thinking About MachinesBjörn Giesler, Head of Driver Assistance, Elektrobit Automotive GmbHTuesday, September 29, 17:50-18:20, Hall 2
Assembly and Drug DiscoveryLianqing Liu, Shenyang Institute of Automation (SIA), Chinese Academy of ScienceWednesday September 30, 16:50-17:20, Hall 2
Robot Ethics in the Era of Self-Driving AutomobilesGeorge Bekey, University of Southern California, Los AngelesWednesday September 30, 17:20-17:50, Hall 2
Application of the Robot Systems and Technologiesfor Natural Disaster Response andInfrastructureMaintenance in Japan Shin'ichi Yuta, Shibaura Institute of TechnologyWednesday, September 30, 17:50-18:20, Hall 2
Reconstructed Brain Models for Virtual Bodies and RobotsMarc-Oliver Gewaltig, The Blue Brain Project, Ecole polytechniquefédérale de LausanneThursday October 1, 16:50-17:20, Hall 2
Optimization for Robust Motion Planning and ControlRuss Tedrake, Robot Locomotion Group, Massachusetts Institute of TechnologyThursday October 1, 17:20-17:50, Hall 2
Research, Development and Field Test of Robotic Observation Systems for Sctive Volcanic Areas in JapanKeiji Nagatani, Field Robotics Laboratory, Tohoku UniversityThursday, October 1, 17:50-18:20, Hall 2
Citizen ForumGateway to Robot Technologies for Challenging Applications and Societal Life
Friday, October 02, 2015, 9:00 -12:00 and 14:00 -17:00h, Hall 2Organizers: Rüdiger Dillmann and Tamim Asfour
A final Thank You to our local organizers and 130 helpers …
