TABLE OF CONTENTS - University of Pennsylvania WILLIAM ROOM HYAT T STAY FIT GYM POOL JACUZZI...

TABLE OF CONTENTS

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2

3

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5

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7

Meeting Floor Plan

Program Agenda

Biographies

Registrants (as of 11/21/16)

Rapid Session Talks / Poster Session Diagram

Additional Information

Notes

1

MEETING FLOOR PLAN

2

Hyatt Regency Crystal CityAt Reagan National AirportDIRECTIONS

From Reagan National Airport (1/2 mile): Follow signs to Crystal City. Take the Rt. 1 South exit and get in the left hand lane. Turn left at first light, 27th Street, the hotel is on the left. From Dulles Airport (32 miles): Take I-66 East to Exit 75 (Rt. 110 South/turns into Rt. 1 South). Proceed on Rt. 1 to 4th light (27th Street). Turn left onto 27th Street. Hotel is on left.

HYATT REGENCYCRYSTAL CITY

INDEPENDENCE AVE

REAGANNATIONAL AIRPORT

OLD TOWNALEXANDRIA

POTOMAC RIVER

DISTRICT OF COLUMBIA

U.S. CAPITOL

JEFFERSONMEMORIAL

14TH STBRIDGE

WASHINGTONMONUMENT

LINCOLNMEMORIAL

PENTAGON

ARLINGTONMEMORIALBRIDGE

ARLINGTONNATIONALCEMETERY

NORTHERNVIRGINIA

CONSTITUTION AVE

PENNSYLVANIA AVE

MASS. AVE

14TH

ST

6TH

ST

3RD

ST

23R

D S

T

395

295

GEORGE WASHINGTON MEMORIAL PKW

Y

ALRINGTON BLVD

23RD ST

GLEBE RD

WASHINGTON BLVD

SHIR

LEY

MEM

OR

IAL

HW

Y

JEFF

ERSO

N D

AVIS

HW

Y

ELEVATORS

TIDEWATER I

BOARDROOM

CINNABARRESTAURANT

ATRIUM

TERRACE

PHONESRESTROOMS

RESTROOMS

ATRIUM

ELEVATORS

INDEPENDENCECENTER A

INDEPENDENCECENTER B

CAPITOLROOM

BUSINESSCENTER

ELEVATORS

POTOMACROOM

WASHINGTONROOM

REGENCYBALLROOM

REGENCYBALLROOM

FOYER

CONFERENCE THEATER

ATRIUM

A

BC

D

E

F

I

II III

IV V

VI

PHONES

ATRIUM

ELEVATORS

RESTROOMS

ARLINGTON ROOM

FAIRFAX ROOM

PRINCE WILLIAM ROOM

HYATT STAY FIT GYM

POOL

JACUZZI

ROOSEVELT ROOM

LINCOLN ROOM

JEFFERSON ROOM

KENNEDY ROOM

PRESIDENT’SQUARTERS

INDEPENDENCE LEVEL

BALLROOM LEVEL

SECOND FLOOR

THIRD FLOOR

VIRGINIAROOM

CONVENTIONOFFICE

FOYEROFFICE

REGENCYOFFICE

INDEPENDENCE FOYER

RESTROOMSINDEPENDENCE

OFFICE

A B

CENTER

TIDEWATER II

ANTEROOM

05.09

INDEPENDENCE LEVEL

BALLROOM LEVEL

MEETING FLOOR PLAN

3

PROGRAM AGENDA

4

Tuesday, November 29th

7:15 AM – 5:30 PM Registration

8:00 AM – 9:00 AM Breakfast

9:00 AM – 9:30 AM Welcome and Opening Remarks: Vijay Kumar, Reid Simmons

9:30 AM – 10:30 AM NRI 5 Year Retrospective: Henrik Christensen, Daniel Schmoldt, Lynne Parker, SK Gupta, Jeff Trinkle

10:30 AM – 11:00 AM Rapid Session A

11:00 AM – 11:30 AM Break

11:30 AM – 12:30 PM Rapid Session B

12:30 PM – 2:00 PM Lunch / Poster Session A and B

2:00 PM – 3:00 PM Deep Learning vs. Model Based Approaches: Dieter Fox, Drew Bagnell

3:00 PM – 3:30 PM Rapid Session C

3:30 PM – 4:00 PM Break

4:00 PM – 4:30 PM Demo Session

4:30 PM – 5:30 PM Rapid Session D

5:30 PM – 7:30 PM Poster Session C, D and Reception Sponsored by the University of Pennsylvania

PROGRAM AGENDAWEDNESDAY, NOVEMBER 30

5

PROGRAM AGENDAWEDNESDAY, NOVEMBER 30

Wednesday, November 30th

7:30 AM – 8:15 AM Breakfast

8:15 AM – 8:30 AM Welcome from NSF: James Kurose (Assistant Director-CISE), Grace Wang (Acting Assistant Director-Engineer)

8:30 AM – 9:00 AM NRI Solicitation Update: Reid Simmons

9:00 AM – 10:00 AM Keynote: Marc Raibert

10:00 AM – 10:34 AM Rapid Session E

10:34 AM – 11:00 AM Break

11:00 AM – 12:10 PM Rapid Session F

12:10 PM – 1:30 PM Lunch/Poster Session E and F

1:30 PM – 2:30 PM Start-up Panel: Steve Cousins, Sanjiv Singh

2:30 PM – 3:30 PM Rapid Session G

3:30 PM – 4:00 PM Break

4:00 PM – 4:45 PM Rapid Session H

4:45 PM – 5:15 PM Poster Session G and H

5:15 PM Closing

6

BIOGRAPHIES

7

Marc RaibertKEYNOTE SPEAKER

Marc Raibert founded Boston Dynamics in 1992 as a spin-off from MIT. Boston Dynamics develops

some of the world’s most advanced dynamic robots, such as BigDog, Atlas, and Spot. These robots are inspired by the remarkable ability of animals to move with agility, dexterity and perception. A key ingredient of these robots is their dynamic behavior, which contributes to their effectiveness in real-world mobility and mobile manipulation tasks, as well as their life-like qualities. Before starting Boston Dynamics, Raibert was Professor of Electrical Engineering and Computer Science at MIT from 1986 to 1995 and Associate Professor of Computer Science and Robotics at Carnegie Mellon from 1980 to 1986. While at CMU and MIT Raibert founded the Leg Laboratory, a lab that helped establish the scientific basis for highly dynamic robots. Raibert is a member of the National Academy of Engineering.

BIOGRAPHIES

8

Drew Bagnell

Bagnell directs the Learning, AI, and Robotics Laboratory (LAIRLab) within the Robotics Institute. He is currently on sabbatical leading perception and autonomy software efforts at Uber’s Advanced Technology Group in Pittsburgh.

Bagnell and his group have received over a dozen research paper awards in both the robotics and machine learning communities including at the International Conference on Machine Learning, Robotics Science and Systems, and International Conference on Robotics and Automation. Bagnellreceived the 2016 Ryan Award, Carnegie Mellon’s award for meritorious teaching, and has served as the founding director of the Robotics Institute Summer Scholars program, a summer research experience that has enabled hundreds of undergraduates throughout the world to leap into robotics research.

His current projects focus on machine learning for dexterous manipulation, decision making under uncertainty, ground and aerial vehicle control, robot perception and computer vision. Prior to joining the faculty, Bagnell received his doctorate as an NSF Graduate Fellow at Carnegie Mellon in 2004 and completed undergraduate studies with highest honors in electrical engineering at the University of Florida.

J.A.(Drew) Bagnell is an associate professor at Carnegie Mellon University’s Robotics Institute and Machine Learning Department. His interests in artificial intelligence range from algorithmic and basic theoretical development to delivering fielded learning-based systems.

Henrik ChristensenHenrik I Christensen is the director of the Contextual Robotics Instituteat UC San Diego and also a Professor of Computer Science in theDepartment of Computer Science and Engineering.He earned M.Sc. and Ph.D. EE degrees from Aalborg University, 1987 and 1990, respectively. Upon graduation Dr. Christensen has participated in a large number of international research projects across 4 continents. He has held positions at Aalborg University, Oak Ridge National Laboratory, and Royal Institute of Technology before joining Georgia Tech.

Dr. Christensen does research on robotics with a particular emphasis on a systems perspective to the problem. Solutions must have a strong theoretical basis, a corresponding well-defined implementation and it must be evaluated in realistic settings. There is a strong emphasis on “real systems for real applications!” The research has involved collaborations with ABB, Electrolux, Daimler-Chrysler, KUKA, iRobot, Apple, Partek Forest, Volvo, SAIC, Boeing, GM, PSA Peugeot, BMW, Yujin, ... Dr. Christensen has published more than 300 contributions across robotics, vision and artificial intelligence. He was awarded an honorary doctorate in engineering (Dr. Techn. h.c.) from Aalborg University 2014.

BIOGRAPHIES

9

Steve CousinsSteve Cousins is passionate about building and deploying robotic technology to help people. Before founding Savioke and becoming the CEO, he was the President and CEO of Willow Garage, where he oversaw the creation of the robot operating system (ROS), the PR2 robot, and the open source TurtleBot. In the last three years of his tenure there, Willow Garage spun off 8 companies: Suitable

Technologies, Industrial Perception, Inc. (Acquired by Google in 2013), Redwood Robotics (Acquired by Google in 2013), HiDOF(ROS and robotics consulting), Unbounded Robotics, The Open Source Robotics Foundation, The OpenCV Foundation, and The Open Perception Foundation.

Steve is an active participant in the Robots for Humanity project. Steve has been a senior manager at IBM's Almaden Research Center, and a member of the senior staff at Xerox PARC. Steve holds a Ph.D. from Stanford University, BS and MS degrees in computer science from Washington University, and earned a micro-MBA while at IBM.

Dieter Fox

Dieter Fox is a Professor in the Department of Computer Science & Engineering at the University of Washington, where he heads the UW Robotics and State Estimation Lab. From 2009 to 2011, he was also Director of the Intel Research Labs Seattle. He currently serves as the academic PI of the Intel Science and Technology Center for Pervasive Computing hosted at UW. Dieter obtained his Ph.D. from the University of Bonn, Germany. Before joining the faculty of UW, he spent two years as a postdoctoral researcher at the CMU Robot Learning Lab.Fox's research is in robotics and artificial intelligence, with a focus on state estimation and perception applied to various problems in robotics and activity recognition. He has published over 150 technical papers and is co-author of the text book "Probabilistic Robotics". Dieter is an IEEE Fellow, a Fellow of the AAAI, and he received several best paper awards at major robotics, AI, and computer vision conferences. He was an editor of the IEEE Transactions on Robotics, program co-chair of the 2008 AAAI Conference on Artificial Intelligence, and program chair of the 2013 Robotics: Science and Systemsconference.

BIOGRAPHIES

10

SK GuptaDr. Satyandra K. Gupta is currently the Smith International Professor in the Department of Aerospace and Mechanical Engineering and the Director, Center for Advanced Manufacturing in the Viterbi School of Engineering at the University of Southern California. He received a Bachelor of Engineering (B.E.) degree in Mechanical Engineering from the

University of Roorkee (currently known as Indian Institute of Technology, Roorkee) in 1988, a Master of Technology (M. Tech.) degree in Production Engineering from Indian Institute of Technology, Delhi in 1989, and a Ph.D. in Mechanical Engineering from the University of Maryland in 1994.

Dr. Gupta's current research interests are in the areas of Computer Aided Design, Manufacturing Automation, and Robotics. He is mainly interested in the following three computational problems arising in these areas: (1) shape analysis and feature extraction, (2) shape generation and synthesis, and (3) model simplification. He has authored or co-authored more than two hundred fifty articles in journals, conference proceedings, and book chapters. He has also delivered more than seventy five invited tutorials, seminars, and keynote lectures at conferences, workshops, government labs, and universities. He holds a US Patent titled Apparatus and Method for Multi-Purpose Setup Planning for Sheet Metal Bending Operations.

Vijay KumarVijay Kumar is the Nemirovsky Family Dean of Penn Engineeringwith appointments in the Departments of Mechanical Engineeringand Applied Mechanics, Computer and Information Science, andElectrical and Systems Engineering at the University ofPennsylvania. Dr. Kumar received his Bachelor of Technologydegree from the Indian Institute of Technology, Kanpur and his Ph.D. from The Ohio State University in 1987. He has been on the Faculty in the Department of Mechanical Engineering and Applied Mechanics with secondary appointments in the Department of Computer and Information Science and Electrical and Systems Engineering at the University of Pennsylvania since 1987.

Vijay has served on the editorial boards of the IEEE Transactions on Robotics and Automation, IEEE Transactions on Automation Science and Engineering, ASME Journal of Mechanical Design, the ASME Journal of Mechanisms and Robotics and the Springer Tract in Advanced Robotics (STAR). He has won best paper awards at DARS 2002, ICRA 2004, ICRA 2011, RSS 2011, RSS 2013, ICRA 2014, and BICT 2015 and has advised doctoral students who have won Best Student Paper Awards at ICRA 2008, RSS 2009, and DARS 2010. He is a member of the National Academy of Engineering, and a fellow of ASME and IEEE.

BIOGRAPHIES

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Lynne ParkerDr. Lynne E. Parker is the Division Director for the Information and IntelligentSystems (IIS) Division in the Computer and Information Science andEngineering (CISE) Directorate at the National Science Foundation, on loansince January 2015 from the University of Tennessee, Knoxville. Dr. Parkerreceived her Ph.D. degree in computer science in 1994 from the MassachusettsInstitute of Technology (MIT), performing her research on cooperative controlalgorithms for multi- robot systems in MIT's Artificial Intelligence Laboratory,

with a minor in brain and cognitive science. She received her M.S. degree in computer science from The University of Tennessee-Knoxville, and her B.S. degree in computer science from Tennessee Technological University, with a minor in mathematics.

Dr. Parker is a leading international researcher in the field of distributed multi-robot systems. She has published numerous articles in the areas of mobile robot cooperation, human-robot cooperation, sensor networks, robotic learning, intelligent agent architectures, and robot navigation. These publications include five edited books on the topic of distributed robotics. For this research, she was awarded the 1999 DOE Office of Science Early Career Scientist Award, and the 2000 PECASE (Presidential Early Career Award for Scientists and Engineers) for her research in multi-robot systems. In 2015, she received the IEEE Robotics and Automation Society Distinguished Service Award. She is a Fellow of IEEE (class of 2010), selected for her contributions to distributed and heterogeneous multi-robot systems.

Dan Schmoldt

Daniel Schmoldt completed his academic training in 1987 from the University of Wisconsin-Madison with degrees in mathematics, computer science, and forest science. The latter included completion of both Masters and Ph.D. programs. From 1987 until 2001, he held several research scientist positions with the U.S. Forest Service while conducting research in a variety of forestry areas: wildfire management, atmospheric deposition, artificial intelligence, decision support systems, ecosystem management, machine vision systems, and automation in forest products utilization. From 1997-2004, he served as Joint Editor-in-Chief for the Elsevier journal, Computers and Electronics in Agriculture, and remains on their editorial board.

Since 2001, he has filled a newly created position as National Program Leader for Instrumentation and Sensors with the National Institute of Food and Agriculture, and helps to prioritize, develop, focus, and coordinate USDA research, education, and extension programs covering the development of sensors, instrumentation, and automation technologies related to precision agriculture/forestry, robotics, processing of agricultural and forest products, detection of contaminants in agricultural products, and monitoring and management of air, soil, and water quality. His current $100M+ portfolio of grant programs include specialty crops, agroclimatology, robotics, engineering, nanotechnology, and cyber-physical systems. Finally, he currently serves as the USDA representative to several Office of Science and Technology Policy working groups on engineering and technology.

BIOGRAPHIES

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Reid SimmonsReid Gordon Simmons is a research professor in the School of Computer Science and the associate director for education in the Robotics Institute at Carnegie Mellon. He earned his B.A. degree in 1979 in computer science from SUNY at Buffalo and his M.S. and Ph.D. degrees from MIT in 1983 and 1988, respectively, in the field of artificial intelligence.

Since coming to Carnegie Mellon in 1988, Professor Simmons' research has focused on developing self-reliant robots that can autonomously operate over extended periods of time in unknown, unstructured environments. This work involves issues of robot control architectures that combine deliberative and reactive control, probabilistic planning and reasoning, monitoring and fault detection, and robust indoor and outdoor navigation. More recently, Professor Simmons has focused on the areas of human-robot social interaction, coordination of multiple heterogeneous robots and formal verification of autonomous systems. Over the years, he has been involved in the development of over a dozen autonomous robots, including the social robots Grace and Valerie. Professor Simmons has published over 150 papers and articles in the areas of robotics and artificial intelligence. He won the Newell Research Award in 2004 and was part of the Remote Agent team that won the 1999 NASA Software of the Year Award.

Sanjiv SinghDr. Satyandra K. Gupta is Smith International Professor in the Department of Aerospace and Mechanical Engineering at the University of Southern California. He is the founding Director of the Center for Advanced Manufacturing at the University of Southern California. He served as a program director for the National Robotics Initiative at the National Science Foundation from September 2012 to September 2014. Dr. Gupta's interest is in the area decision making to facilitate automation. He is specifically interested in automation problems arising in Engineering Design, Manufacturing, and Robotics. He is a fellow of the American Society of Mechanical Engineers (ASME). He has served as an Associate Editor for IEEE Transactions on Automation Science and Engineering, ASME Journal of Computing and Information Science in Engineering, ASME Journal of Mechanism and Robotics, and SME Journal of Manufacturing Processes. Dr. Gupta has received several honors and awards for his research contributions. Representative examples include: a Young Investigator Award from the Office of Naval Research in 2000, a Robert W. Galvin Outstanding Young Manufacturing Engineer Award from the Society of Manufacturing Engineers in 2001, a CAREER Award from the National Science Foundation in 2001, a Presidential Early Career Award for Scientists and Engineers (PECASE) in 2001, Invention of the Year Award in Physical Science category at the University of Maryland in 2007, Kos Ishii-Toshiba Award from ASME Design for Manufacturing and the Life Cycle Committee in 2011, and Excellence in Research Award from ASME Computers and Information in Engineering Division in 2013. He has also received six best paper awards at conferences and 2012 Most Cited Paper Award from Computer Aided Design Journal.

BIOGRAPHIES

13

BIOGRAPHIES

Jeff Trinkle

In 1987, Jeff Trinkle received a PhD from the Department of Systems Engineering at the University of Pennsylvania, where he was a research assistant in the GRASP Laboratory. He is now Professor of Computer Science, Professor of Electrical, Computer, and Systems Engineering, and Director of the CS Robotics Lab.

Trinkle's primary research interests lie in the areas of robotic manipulation and multibody dynamics. Under the continuous support of the National Science Foundation since 1989, he has written many technical articles on theoretical issues underpinning the science of robotics and automation. One of these articles was the first to develop a now-popular method for simulating multibody systems. Variants of this method are key components of several physics engines for computer game development, for example, NVIDIA PhysX and the Bullet Physics Library. In 2010 he became a fellow of the IEEE for his research contributions to robotic grasping and dexterous manipulation. From 2014 to 2016, Dr. Trinkle served as a program officer for the National Robotics Initiative at the National Science Foundation.

14

REGISTRANTS

15

REGISTRANTS

NameAffiliation

First Last

Akanimoh Adeleye University of Oklahoma

Sunil Agrawal Columbia University

Konrad Ahlin Georgia Institute of Technology

Nayef Ahmar Georgia Institute of Technology

Kaveh Akbari Hamed San Diego State University

Kostas Alexis University of Nevada, Reno

Peter Allen Columbia University

Robert Ambrose NASA

Aaron Ames Georgia Tech

Harry Asada MIT

Alan Asbeck Virginia Tech

Drew Bagnell Carnegie Mellon University

Kishan Baheti National Science Foundation

Ruzena Bajcsy UC Berkeley

Maria Bauza Villalonga MIT

Kostas Bekris Rutgers University

Calin Belta Boston University

Dmitry Berenson University of Michigan

Alexander Berg UNC Chapel Hill

Sourabh Bhattacharya Iowa State University

Jonathan Bohren The Johns Hopkins University

16

NameAffiliation

First Last

Byron Boots Georgia Institute of Technology

Justin Bradley University of Nebraska

Kenny Breuer Brown University

Timothy Brick Penn State University

Hugh Bruck University of Maryland

Katie Byl UCSB

Zhaowei Cai UCSD

Maya Cakmak University of Washington

Kostas Bekris Rutgers University

David Cappelleri Purdue University

Leonardo Cappello Harvard University -Wyss Institute

Stefano Carpin University of California, Merced

Angela Carter NITRD

M. Cenk Cavusoglu Case Western Reserve University

Andrea Censi MIT

Alison Cernich NIH

Elizabeth Cha University of Southern California

Joyce Chai Michigan State University

Sumn Chakravorty TAMU

Preetham Chalasani Johns Hopkins University

Steven Chen University of Pennsylvania

Zihan Chen Johns Hopkins University

Sonia Chernova Georgia Institute of Technology

David Cappelleri Purdue University

Sung Kwon Cho University of Pittsburgh

17

NameAffiliation

First Last

Howie Choset Carnegie Mellon

Girish Chowdhary University of Illinois at Urbana Champaign

Henrik Christensen UC San Diego

Wendell Chun DOE/Univ of Colorado Denver

Venanzio Cichella University of Illinois at Urbana Champaign

Matei Ciocarlie Columbia University

Adam Cohen SMU

Jose L. Contreras-Vidal University of Houston

Michael Corey Air Force Research Lab Information Directorate

Jason Corso University of Michigan

Steve Cousins Savioke, Inc

Dustin Crouch North Carolina State University

Mark Cutkosky Stanford University

Sung Kwon Cho University of Pittsburgh

Eric Daimler OSTP/PIF

Harry Dankowicz University of Illinois at Urbana-Champaign

Jnaneshwar Das University of Pennsylvania

Eric Deng University of Southern California

Ashish Deshpande The University of Texas at Austin

Marie desJardins University of Maryland, Baltimore County

Carrick Detweiler University of Nebraska-Lincoln

Aaron Dollar Yale University

James Donlon NSF

18

NameAffiliation

First Last

Luke Drnach Georgia Institute of Technology

Brittany Duncan University of Nebraska

Harris Edge U.S. Army Research Laboratory

Reza Ehsani University of Florida

Sebastian Elbaum University of Nebraska

Eric Daimler OSTP/PIF

Erik Engeberg Florida Atlantic University

Brendan Englot Stevens Institute of Technology

Irfan Essa Georgia Institute of Technology

Andrew Fagg University of Oklahoma

Navid Fallahinia University of Utah

Nima Fazeli MIT

Ronald Fearing UC Berkeley

Karen Feigh Georgia Tech

William Ford US DOJ / NIJ

Dieter Fox University of Washington

Joseph Francis University of Houston

Gerard Francisco UTHealth at Houston

Douglas Freese University of Central Florida

Erik Engeberg Florida Atlantic University

Brendan Englot Stevens Institute of Technology

Eric Frew University of Colorado

Tomonari Furukawa Virginia Tech

19

NameAffiliation

First Last

Yang Gao UC Berkeley

Mustafa Ghazi University of Oklahoma

Erwin GianchandaniDirectorate of Computer and

Information Science and Engineering, National Science Foundation

Brent Gillespie University of Michigan

Michael Gleicher University of Wisconsin - Madison

Daniel Goldman Georgia Tech

Goren Gordon Tel-Aviv University, Israel

Robert Gregg University of Texas at Dallas

Yu Gu West Virginia University

Yi Guo Stevens Institute of Technology

Satyandra Gupta University of Southern California

Greg Hager Johns Hopkins University

Eric Frew University of Colorado

Levi Hargrove Rehabilitation Institute of Chicago

William Harrod Department of Energy

Kris Hauser Duke University

Haibo He University of Rhode Island

Martial Hebert Carnegie Mellon Univeristy/Robotics Institute

Daniel Hicks AAAS Fellow, Hosted at NSF

Francois Hogan MIT

John Hollerbach University of Utah

Adam Houston University of Nebraska-Lincoln

Naira Hovakimyan UIUC

20

NameAffiliation

First Last

Thomas Howard University of Rochester

Robert Howe Harvard University

Ai-Ping Hu Georgia Tech Research Institute

Xiaogang Hu UNC Chapel Hill

Levi Hargrove Rehabilitation Institute of Chicago

He (Helen) HuangNC State University and

University of North Carolina at Chapel Hill

Stephanie Huang North Carolina State University

Manfred Huber The University of Texas at Arlington

Daniel Huber Carnegie Mellon University

Volkan Isler University of Minnesota

Tetsuya Iwasaki UCLA

Rachel Jackson Carnegie Mellon University

Chad Jenkins University of Michigan

Myounghoon Jeon Michigan Technological University

Yan-Bin Jia Iowa State University

Mathieu Joerger University of Arizona

Sanjay Joshi University of California, Davis

Leslie Kaelbling MIT

Michael Kaess Carnegie Mellon University

Behzad Kamgar-Parsi Office of Naval Research (ONR)

Manoj Karkee Washington State University

Peter Kazanzides Johns Hopkins University

Alonzo Kelly Carnegie Mellon University

21

NameAffiliation

First Last

Thenkurussi Kesavadas University of Illinois Urbana-Champaign

Oussama Khatib Stanford University

Charles Kim Bucknell University

Joo H. Kim New York University

Sungmin Kim Johns Hopkins University

Zsolt Kira Georgia Tech

Kris Kitani Carnegie Mellon University

Marin Kobilarov Johns Hopkins University

Dan Koditschek University of Pennsylvania

Thubi Kolobe University of Oklahoma Health Sciences Center

Jana Kosecka George Mason University

Bruce Kramer NSF

Hadas Kress-Gazit Cornell University

Katherine Kuchenbecker University of Pennsylvania

Vijay Kumar University of Pennsylvania

Hung La University of Nevada, Reno

Yuri Lansinger University of Oklahoma Heath Sciences Center

Joseph LaViola University of Central Florida

James Lawton AFOSR

Nancey Green Leigh College of Design

Simon Leonard Johns Hopkins University

Sergey Levine UC Berkeley

22

NameAffiliation

First Last

Changying Li University of Georgia

Yingwei Li UCSD

Hod Lipson Columbia University

Jeffrey Lipton MIT CSAIL

Tomas Lozano-Perez MIT CSAIL

James Luby University of Minnesota

Sean Luke George Mason University

Siwei lyu University at Albany, State University of New York

Nina Mahmoudian Michigan Tech

Abhijit Makhal Idaho State University

Stephen Mascaro University of Utah

Matthew Mason Carnegie Mellon University

Maja Mataric University of Southern California

Genia McKinley DOE

Gary McMurray Georgia Tech Research Institute

Sanford Meek University of Utah

Joshua Mehling NASA

Roger Miller HHS/NIH/NIDCD

David Miller University of Oklahoma

Mark Moll Rice University

Philippos Mordohai Stevens Institute of Technology

Antonio Moualeu Georgia Institute of Technology

23

NameAffiliation

First Last

Todd Murphey Northwestern University

Robin Murphy Texas A&M

Bilge Mutlu University of Wisconsin-Madison

Peter Neuhaus IHMC

Scott Niekum The University of Texas at Austin

Wendy Nilsen National Science Foundation

Wenlong Niu The Johns Hopkins University

Stephen Nuske CMU

Marcie O'Malley Rice University

Paul Oh University of Nevada Las Vegas

Allison Okamura Stanford University

Jean P Pabon DOE/HQ/EM

Jennifer Padgett Cornell University

Taskin Padir Northeastern University

Nikos Papanikolopoulos CSE, UMN

Hae Won Park MIT

Chung Hyuk Park George Washington University

Lynne Parker NSF

Alejandro Patino University of Oklahoma

Rohan Paul MIT

Qibing Pei UCLA

Nestor Perez-Arancibia University of Southern California (USC)

24

NameAffiliation

First Last

Alba Perez-Gracia Idaho State University

Brett Piekarski Army Research Laboratory

Nancy Pollard Carnegie Mellon University

Heather Pon-Barry Mount Holyoke College

Feifei Qian University of Pennsylvania

Alireza Ramezani University of Illinois

Yosef Razin Georgia Institute of Technology

Ioannis Rekleitis University of South Carolina

Rodrigo Rimando US Department of Energy

Alberto Rodriguez MIT

Stergios Roumeliotis University of Minnesota

Nicholas Roy MIT

Amit Roy-Chowdhury University of California, Riverside

Caleb Rucker University of Tennessee

Andy Ruina Cornell University

Daniela Rus MIT

Paul Sajda Columbia University

Veronica Santos UCLA

Gregory Sawicki North Carolina State University

Sebastian Scherer Carnegie Mellon University

Matthias Scheutz Tufts University

Joe Schimmels Marquette University

25

NameAffiliation

First Last

David Schmale Virginia Tech

Daniel Schmoldt USDA National Institute of Food & Agriculture

Joshua Schultz The University of Tulsa

Alan Schultz Naval Research Laboratory

Eric Seibel University of Washington

Luis Sentis The University of Texas at Austin

Fabrizio Sergi University of Delaware

Pourya Shahmaleki University of Utah

Matthew Sheen Cornell University

Yantao Shen University of Nevada, Reno

Xiangrong Shen The University of Alabama

Weihua Sheng Oklahoma State University

Minoru Shinohara Georgia Institute of Technology

Elaine Short University of Southern California

Monique Shotande University of Oklahoma

Nabil Simaan Vanderbilt University

Reid Simmons NSF

Sanjiv Singh CMU

Jeffrey Siskind Purdue University

Metin Sitti CMU

Bill Smart Oregon State University

Joshua Smith University of Washington

26

NameAffiliation

First Last

Jack Snoeyink NSF CISE CCF

Don Sofge Naval Research Laboratory

Dezhen Song Texas A&M University

Matthew Spenko Illinois Institute of Technology

Koushil Sreenath Carnegie Mellon University

Jason Stack Office of Naval Research

Joel Stein Columbia University

Aaron Steinfeld Carnegie Mellon University

Leia Stirling MIT

Peter Stone The University of Texas at Austin

Haijun Su The Ohio State University

Gaurav Sukhatme University of Southern California

Yu Sun University of South Florida

Frank Sup University of Massachusetts Amherst

Lydia Tapia University of New Mexico

Minoru Taya University of Washington

Russell Taylor Johns Hopkins University

Stefanie Tellex Brown University

Dinesh Thakur University of Pennsylvania

Nitish Thatte Carnegie Mellon University

Evangelos Theodorou Georgia Institute of Technology

Andrea Thomaz University of Texas at Austin

27

NameAffiliation

First Last

Steven Thomson USDA NIFA

Lena Ting Emory and Georgia Tech

Pratap Tokekar Virginia Tech

Jeff Trinkle NSF

Conrad Tucker Penn State University

Betty Tuller NSF

Paul Umbanhowar Northwestern University

Nuno Vasconcelos UCSD

Hamid Vejdani Brown University

Arun Venkatraman Carnegie Mellon University

Kris Verdeyen NASA

Karl von Ellenrieder Florida Atlantic University

Stavros Vougioukas University of California, Davis

Ian Walker Clemson University

Jacob Walker Carnegie Mellon University

Conor Walsh Harvard University - Wyss Institute

Matthew Walter TTIC

Xiaofeng Wang University of South Carolina

Frances Wang University of Illinois at Urbana-Champaign

Christopher Weiss Texas Tech Univ

David Wettergreen Carnegie Mellon University

Louis Whitcomb Johns Hopkins University

Red Whittaker Carnegie Mellon University

28

NameAffiliation

First Last

Christopher Widdowson UIUC

Indika Wijayasinghe University of Louisville

Andrew Williams Marquette University

Michael Wolfson NIH/NIBIB

Lawson Wong Brown University

Zhixin Xie UCLA

Yunjun Xu University of Central Florida

Yujie Yan Northeastern University

Holly Yanco University of Massachusetts Lowell

Jie Yang NSF

Cang Ye University of Arkansas Little Rock

Jingang Yi Rutgers University

Mark Yim UPenn

Stuart Young Army Research Laboratory

Jingjin Yu Rutgers University

Qin Zhang Washington State University

YuMing Zhang University of Kentucky

Yibiao Zhao MIT

Brian Ziebart Univ. of Illinois at Chicago

Michael Zinn University of Wisconsin -Madison

29

RAPID SESSION TALKS POSTER SESSION

DIAGRAMS

30

Rapid Session A Poster Locations

A.01 10:30 AM

Robotics in the Department of Energy: Rod Rimondo Rod Rimondo

A.02 10:34 AM

Measuring Unconstrained Grasp Forces Using Fingernail Imaging

Stephen Mascaro 18-F-R

A. 03 10:36 AM

Spacial Primitives for Enabling Situated Human-Robot Interaction

Maja Mataric 18-F-L

A.04 10:38 AM

Context-Driven Haptic Inquiry of Objects Based on Task Requirements for Artificial Grasp and Manipulation

Veronica Santos 17-F-R

A.0510:40 AM

A Biologically Plausible Architecture for Robotic Vision

Nuno Vasconcelos 17-F-L

A.06 10:42 AM

A Design Methodology for Multi-fingered Robotic Hands with Second-order Kinematic Constraints

Alba Perez Gracia; J. Michael McCarthy 16-F-R; 16-F-L

A.0710:44 AM

A Dynamic Bayesian Approach to Real-Time Estimation and Filtering in Grasp Acquisition and Other Contact Tasks

Siwei Lyu; Jeffrey Trinkle; Barbara Cutler

19-F-R; 19-F-L; 20-F-R

RAPID SESSION ATuesday, November 29

31

Rapid Session A Poster Locations

A.08 10:46 AM

Perceptually Inspired Dynamics for Robot Arm Motion

Michael Gleicher 20-F-L

A.09 10:48 AM

Robotic Treadmill Therapy for Lower Spinal Cord Injuries

John Hollerbach 21-F-R

A.1010:50 AM

Virtualized Welding: A New Paradigm for Intelligent Welding Robots in Unstructured Environment

Ruigang Yang 21-F-L

A.11 10:52 AM

Managing Uncertainty in Human-Robot Cooperative Systems

Peter Kazanzides 26-F-R

A.12 10:54 AM

Experiential Learning for Robots: From Physics to Actions to Tasks

Dieter Fox; Gregory Hager 26-F-L; 25-F-R

A.1310:56 AM

Sketching Geometry and Physics Informed Inference for Mobile Robot Manipulation in Cluttered Scenes

Odest Jenkins; Joseph LaViola 25-F-L; 24-F-R

A.1410:58 AM

Human-Centered Modeling and Control of Cooperative Manipulation with Bimanual Robots

Ruzena Bajcsy; OussamaKhatib 24-F-L; 23-F-R

RAPID SESSION ATuesday, November 29

32

Rapid Session B Poster Locations

B.0111:30 AM

Assistive Robotics for Grasping and Manipulation using Novel Brain Computer Interfaces

Peter Allen; Sanjay Joshi 23-F-L; 22-F-R

B.02 11:32 AM

Contextually Grounded Collaborative Discourse for Mediating Shared Basis in Situated Human Robot Dialogue

Joyce Chai 22-F-L

B.03 11:34 AM

Improved safety and reliability of robotic systems by faults/anomalies detection from uninterpreted signals of computation graphs

Andrea Censi 12

B.04 11:36 AM

Multilateral Manipulation by Human-Robot Collaborative Systems

Jacob Rosen; Gregory Hager; Allison

Okamura; Pieter Abbeel

27-F-R; 27-F-L; 28-F-R;

28-F-L

B.05 11:38 AM

Purposeful Prediction: Co-robot Interaction via Understanding Intent and Goals

Martial Hebert; Dieter Fox; James Bagnell; Joshua Tenenbaum

33-F-R; 33-F-L; 32-F-R-;

32-F-L

B.06 11:40 AM

Robot Assistants for Promoting Crawling and Walking in Children at Risk of Cerebral Palsy

Andrew Fagg 29-F-R

B.0711:42 AM

Soft Compliant Robotic Augmentation for Human-Robot Teams

Nikolaus Correll; Robert Wood; Daniela

Rus

31-F-R; 31-F-L

RAPID SESSION BTuesday, November 29

33


B.08 11:44 AM

Online Training of Hierarchical MultirobotTeams

Sean Luke 29-F-L

B.09 11:46 AM

A Variable Stiffness Artificial Muscle Material for Dexterous Manipulation

Qibing Pei 30-F-L

B.10 11:48 AM

Assistive Robots for Blind Travelers

Aaron Steinfeld; M. Bernardine Dias

34-F-R; 34-F-L

B.11 11:50 AM

Compliant Multifunctional Robotic Structures for Safety and Communication by Touch

Hugh Bruck 35-F-R

B.12 11:52 AM

Interleaved Continuum-Rigid Manipulation -Enabling High-Performance and Inherent-Safety in Minimally-Invasive Surgical Procedures

Michael Zinn 35-F-L

B.14 11:54 AM

Multirobot-Human Coordination for Visual Scene Understanding

Amit Roy Chowdhury 36-F-L

B.15 11:56 AM

Rethinking Motion Generation for Robots Operating in Human Workspaces

Mark Moll 39-F-R


34


B.16 11:58 AM

Robotic Scouts: Augmenting Human Perception for Underground Rescue

William Whittaker 39-F-L

B.17 12:00 PM

Active Sensing for Robotic Cameramen

Ibrahim Isler; Kostas Daniilidis

38-F-R; 38-F-L

B.18 12:02 PM

Adaptive Motion Planning and Decision-Making for Human-Robot Collaboration in Manufacturing

Julie Shah; Dmitry Berenson

37-F-R; 37-F-L

B.19 12:04 PM

Don't Read my Face: Tackling the Challenges of Facial Masking in Parkinson's Disease Rehabilitation through Co-Robot Mediators

Matthias Scheutz; Ronald Arkin

40-F-R; 40-F-L

B.20 12:06 PM

EEG and EMG Human Model-Based Adaptive Control of a Dexterous Artificial Hand

Erik Engeberg 41-F-R

B.21 12:08 PM

Fast and Accurate Infrastructure Modeling and Inspection with Low-Flying Robots

Jerome Hajjar; SanjivSingh

44-F-R; 44-F-L

B.22 12:10 PM

Integrated modeling and manufacturing framework for soft fluidic robotics

Conor Walsh 41-F-L


35


B.23 12:12 PM

Magnetic Mobile Micro-Robotic Swarms using Smart Magnetic Composites

Metin Sitti 43-F-R

B.24 12:14 PM

Understanding neuromuscular adaptations in human-robot physical interaction for adaptive robot co-workers

Jun Ueda 43-F-L

B.25 12:16 PM

Virtualized Robot Test and Integration Laboratory Alonzo Kelly 42-F-R

B.26 12:18 PM

Collaborative Planning for Human-robot Science Teams

Gaurav Sukhatme 42-F-L

B.27 12:20 PM

Complementary Situational Awareness for Human-Robot Partnerships

Nabil Simaan; Howard Choset; Russell Taylor

45-F-R; 1; 45-F-L

B.28 12:22 PM

Active Tendon-driven Orthosis for Prehensile Manipulation after Stroke

Matei Ciocarlie 46-F-R

B.29 12:24 PM

Quadrupedal Human-Assistive Robotic Platform (Q-HARP)

Sanford Meek; Xiangrong Shen; Lena

Ting; Cang Ye

46-F-L; 47-F-R; 47-F-L;

48-F-R

B.30 12:26 PM

A Wearable Robotic Object Manipulation Aid for the Visually Impaired

Yantao Shen; Cang Ye 48-B-L; 48-B-R


36

37

Rapid Session C Poster Locations

C.01 03:00 PM

Human-robot Coordinated Manipulation and Transportation of Large Objects

Steven Lavalle; Paul Oh; Stergios

Roumeliotis; R. Vijay Kumar; Loannis

Poulakakis

18;B-L; 18-B-R; 17-B-L; 17-B-R; 16-

B-L

C.02 03:02 PM

Learning from Demonstration for Cloud Robotics

Sonia Chernova 16-B-R

C.03 03:04 PM

Scalable Robot Autonomy through Remote Operator Assistance and Lifelong Learning

Sonia Chernova; Scott Niekum

19-B-L; 19-B-R

C.04 03:06 PM

Autonomous Synthesis of Haptic Languages Todd Murphey 20-B-L

C.0503:08 PM

Dexterous Manipulation Attained Using Task-Specific Admittance Realized with Variable Impedance Actuation

Joseph Schimmels 20-B-R

C.06 03:10 PM

Formal Methods for Motion Planning and Control with Human-in-the-Loop

Calin Belta 21-B-L

C.07 03:12 PM

Human Cognition Assisted Control of Industrial Robots for Manufacturing

T. Kesavadas 21-B-R

RAPID SESSION CTuesday, November 29

38


C.08 03:14 PM

Improving the Safety and Agility of Robotic Flight with Bat-Inspired Flexible-Winged Robots

Kenneth Breuer; Seth Hutchinson 8; 26-B-L

C.09 03:16 PM

Jointly Learning Language and Affordances

Stefanie Tellex; AshutoshSaxena

26-B-R; 25-B-L

C.10 03:18 PM

Minimally Invasive Robotic Non-Destructive Evaluation and Rehabilitation for Bridge Decks (Bridge-MINDER)

Jingang Yi; Dezhen Song 25-B-R; 24-B-L

C.11 03:20 PM

A Co-Robotic Navigation Aid for the VisaullyImpaired

Cang Ye 24-B-R

C.12 03:22 PM

Robust and Low-cost Smart Skin with Active Sensing Network for Enhancing Human-Robot Interaction

Fu-Kuo Chang 34-B-L

C.13 03:24 PM

Versatile Locomotion: from Walking to Dexterous Climbing with a Human-Scale Robot

Mark Cutkosky; Katie Byl; Kris Hauser

4; 34-B-R; 35-B-L

C.1403:26 PM

Accelerating Robotic Manipulation with Data-Enhanced Contact Mechanics

Alberto Rodriguez Garcia; Byron Boots; Matthew

Mason

23-B-L; 23-B-R; 22-B-L


39


C.1503:28 PM

Inferring Mechanical Explanations from Manipulation Demonstrations

Alberto Rodriguez Garcia 22-B-R


40

Rapid Session D Poster Locations

D.01 04:30 PM

Multi-Digit Coordination by Compliant Connections in an Anthropomorphic Hand

Joshua Schultz 6

D.02 04:32 PM

Representing and Anticipating Actions in Human-Robot Collaborative Assembly Tasks

Aaron Bobick 27-B-L

D.03 04:34 PM

Biologically-inspired, hybrid quadruped robot control

Sanford Meek 27-B-R

D.04 04:36 PM

Efficient Algorithms for Contact-Aware State Estimation

Michael Kaess; Russell Tedrake

28-B-L; 28-B-R

D.05 04:38 PM

Exploiting Granular Mechanics to Enable Robotic Locomotion

Daniel Goldman; Howard Choset; Robin

Murphy

33-B-L; 5; 33-B-R

D.06 04:40 PM

Human-Supervised Perception and Grasping in Clutter

Robert Platt; Holly Yanco

29-B-L; 29-B-R

D.07 04:42 PM

Modeling and Verification of Language-based Interaction

Mark Campbell; Nicholas Roy

32-B-L; 32-B-R

RAPID SESSION DTuesday, November 29

41


D.08 04:44 PM

Robotics 2.0 for Disaster Response and Relief Operations

R. Vijay Kumar; Nikolaos

Papanikolopoulos

31-B-L; 31-B-R

D.09 04:46 PM

Biologically Inspired Feedback Control of Robots Interacting with Humans to Cooperate and Assist with Repetitive Movement Tasks

Tetsuya Iwasaki 30-B-L

D.10 04:48 PM

Building a ROS Education Ecosystem William Smart 30-B-R

D.11 04:50 PM

Co-Robots for COMPUGIRLS - Culturally Responsive Robotics Education for Underrepresented Girls

Andrew Williams 35-B-R

D.12 04:52 PM

Considerate Co-robot Intelligence through Ubiquitous Human State Awareness

Weihua Sheng 36-B-L

D.13 04:54 PM

Electrosense imaging for underwater telepresence and manipulation

Michael Peshkin 36-B-R

D.14 04:56 PM

Flexible Multi-Leg Robots for Safe Interaction and Surgical Dexterity

Daniel Rucker 39-B-L


42


D.15 04:58 PM

Information-Theoretic Trajectory Optimization for Motion Planning and Control with Applications to Space Proximity Operations

Panagiotis Tsiotras 39-B-R

D.16 05:00 PM

Large-Scale Collaborative Semantic Mapping using 3D Structure from Motion

Zsolt Kira 38-B-L

D.17 05:02 PM

Models and Instruments for Integrating Effective Human-Robot Teams into Manufacturing

Julie Shah; Bilge Mutlu

38-B-R; 37-B-L

D.18 05:04 PM

Optimal Interaction Design Framework for Powered Lower-Extremity Exoskeletons

Joo Kim; Peter Neuhaus

40-B-L; 40-B-R

D.1905:06 PM

Using Multi-Robot Enabled Dexterous Locomotion to Search for Victims in Disaster Areas

Ronald Fearing 37-B-R

D.20 05:08 PM

Teleoperated Robot Systems in Support of Health Care Workers

William Smart 41-B-L

D.21 05:10 PM

Rich Task Perception for Programming by Demonstration

Dieter Fox 41-B-R


43


D.22 05:12 PM

Collaborative Goal and Policy Learning from Human Operators of Construction CoÂ¬-Robots

Girish Chowdhary 2

D.23 05:14 PM

Deep Learning Unmanned Aircraft Systems for High-Throughput Agricultural Disease Phenotyping

Hod Lipson 45-B-L

D.24 05:16 PM

Human-Supervised Manipulation of Deformable Objects

M. Cenk Cavusoglu; Dmitry Berenson

45-B-R; 44-B-L

D.25 05:18 PM

Novel prosthetic arm control based on a Low-dimensional Internal Musculoskeletal Biomechanical (LIMB) model

He Huang 44-B-R

D.26 05:20 PM

Planning, Collaborative Guidance and Navigation in Uncertain Dynamic Environments

Lydia Tapia 11

D.27 05:22 PM

Towards Restoring Natural Sensation of Hand Amputees via Wearable Surface Grid Electrodes

Xiaogang Hu 43-B-L


44


D.28 05:24 PM

Human-machine collaboration for automated harvesting of tree fruit

Manoj Karkee 43-B-R

D.29 05:26 PM

Automated Stress and Disease Detection in Vegetable and Tree Crops using a Cooperative Ground and Aerial Vehicle Network and Optical Sensors

Reza Ehsani; YunjunXu

42-B-L; 42-B-R

D.30 05:28 PM

Cooperative Human-Robot Networks for Agricultural Applications

Harry Dankowicz 48-F-L


45

Demos Demo Location

Complementary SituationalAwareness for Human-Robot Partnerships

Preetham Chalasani 1

Collaborative Goal and Policy Learning for Human Operators of Constructions Co-Robots

Girish Chowdhary 2

Robot Swarms and Human Scouts for Persistent Monitoring of Specialty Crops

Jnaneshwar Das 3

Versatile Locomotion: from Walking to Dexterous Climbing with a Human-Scale Robot

Mark Cutkosky 4

Exploiting Granular Mechanics to Enable Robotic Locomotion Howard Choset 5

Multi-Digit Coordination by Compliant Connections in an Anthropomorphic Hand

Joshua Schultz 6

Real Time Observation, Inference and Intervention of Co-Robot Systems Towards Individually Customized Performance Feedback Based on Students' Affective States

Conrad Tucker 7

DEMOSTuesday, November 29

46

Demos Demo Location

Improving the Safety and Agility of Robotic Flight with Bat-Inspired Flexible Winged-Robots

Hamid Vejdani 8

Task Dependent Semantic Modeling for Robot Perception---Dataset and fast detection plus pose estimation

Jana Kosecka & Alexander Berg 9

ASPIRE: Automation Supporting Prolonged Independent Residence for the Elderly

Naira Hovakimyan 10

Planning, Collaborative Guidance and Navigation in Uncertain Dynamic Environments

Lydia Tapia 11

Demonstrations of the Homunculus Model for Telerobotics in Manufacturing and Printable Programmable Viscoelasticity for Robotic Grippers

Jeffrey Lipton 12

microMVP - Affordable 3D Printing Enabled Multi-Vehicle Platform for Research and Education

Jingjin Yu 13

Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research

Andrea Censi 14

DEMOSTuesday, November 29

47

48

Rapid Session E Poster Locations

E.01 10:00 AM

Robotics and USDA: Dan Schmoldt

E.02 10:04 AM

A Compliant Lower-Body Exoskeleton to Enable Balanced Walking for Patients with Spinal Cord Injuries

A. Wicks; Alan Asbeck

18-F-L; 17-F-R

E.03 10:06 AM

A Proactive Approach to Managing Contingencies during Human Robot Collaboration in Manufacturing

Satyandra Gupta 17-F-L

E.04 10:08 AM


Xiaofeng Wang; Naira Hovakimyan 18-F-R; 10

E.05 10:10 AM

Co-Exploration using Science Hypothesis Maps David Wettergreen 16-F-R

E.06 10:12 AM

Development of Autonomous Sub-Gram Flapping-Wing Artificial Flyers Using Novel Combustion-Driven SMA-based Actuators

Nestor Perez-Arancibia 16-F-L

RAPID SESSION EWednesday, November 30

49


E.07 10:14 AM

Dynamic Braces for Quantification and Treatment of Abnormal Curves in the Human Spine

Sunil Agrawal; Charles Kim

19-F-R; 19-F-L

E.08 10:16 AM

Dynamic Robot Guides for Emergency Evacuations Haibo He; Yi Guo 20-F-R; 20-F-

L

E.09 10:18 AM

Enabling Risk-Aware Decision Making in Human-Guided Unmanned Surface Vehicle Teams

Karl von Ellenrieder; Satyandra Gupta

21-F-R; 21-F-L

E.10 10:20 AM

Functional Imitation of Observed Tasks by Co-Robots

Manfred Huber 29-F-R

E.11 10:22 AM

Learning to Plan for New Robot Manipulation Tasks Tomas Lozano-Perez 26-F-L

E.12 10:24 AM

Real Time Observation, Inference and Intervention of Co-robot Systems Towards Individually Customized Performance Feedback Based on Students' Affective States

Conrad Tucker 7


50


E.13 10:26 AM

Reflection and Diffraction Sound Signals for Non-Field-of-View Target Estimation

Tomonari Furukawa 25-F-R

E.14 10:28 AM

RobotSLANG: Simultaneous Localization, Mapping, and Language Acquisition

Jason Corso; Jeffrey Siskind

25-F-L; 24-F-R

E.15 10:30 AM

Dexterous Manipulation with Underactuated Hands: Strategies, Control Primitives, and Design for Open-Source Hardware

Aaron Dollar

E.1610:32 AM

Passive Terrain Adaptability through Underactuated Mechanisms and Exactly-Constrained Kinematics

Aaron Dollar


51

Rapid Session F Poster Locations

F.01 11:00 AM

Robust Stochastic Control for Agile Aerial Manipulation

Marin Kobilarov 24-F-L

F.02 11:02 AM

Simulation Guided Design To Optimize the Performance of Robotic Lower Limb Prostheses

Frank Sup IV 23-F-R

F.03 11:04 AM

Socially Aware, Expressive, and Personalized Mobile Remote Presence: Co-Robots as Gateways to Access to K-12 In-School Education

Maja Mataric 23-F-L

F.04 11:06 AM

Task Dependent Semantic Modeling for Robot Perception

Alexander Berg; Jana Kosecka 9; 26-F-R

F.05 11:08 AM

Toward Descriptive Mapping for Underwater Exploration

Brendan Englot 22-F-R

F.06 11:10 AM

Unified Feedback Control and Mechanical Design for Robotic, Prosthetic, and Exoskeleton Locomotion

Jessy Grizzle; KoushilSreenath; Aaron Ames;

Levi Hargrove

27-F-R; 27-F-L; 28-F-R;

28-F-L

RAPID SESSION FWednesday, November 30

52


F.07 11:12 AM

Understanding the Influence of a Teachable Robot on STEM Skills and Attitudes

Heather PonBarry 22-F-L

F.08 11:14 AM

Targeted Observation of Severe Local Storms Using Aerial Robots

Ibrahim Isler; DezhenSong; Adam Houston;

Christopher Weiss; Eric Frew

33-F-R; 33-F-L; 32-F-R;

32-F-L; 31-F-R

F.09 11:16 AM

Characterizing Physical Interaction in Instrument Manipulations

Yu Sun 29-F-L

F.10 11:18 AM

Multimodal Brain Computer Interface for Human-Robot Interaction

Joseph Francis; Peter Allen

30-F-R; 30-F-L

F.11 11:20 AM

Design and Fabrication of Robot Hands for Dexterous Tasks

Nancy Pollard 31-F-L

F.12 11:22 AM

Enabling Unmanned Aerial Systems (UAS) Fire Ignitions in Complex Firefighting Contexts

Sebastian Elbaum 34-F-L

F.13 11:24 AM

Vine Robots: Achieving Locomotion and Construction by Growth

Allison Okamura 35-F-R


53


F.14 11:26 AM

3-D Maneuverable Feedback-Controlled Micro Swimming Drone for Biomedical Applications

Sung Cho 35-F-L

F.15 11:28 AM

A Cognitive Navigation Assistant for the Blind Kris Kitani 36-F-R

F.16 11:30 AM

A Framework for Hierarchical, Probabilistic Planning and Learning

Stefanie Tellex; Marie desJardins

39-F-R; 39-F-L

F.17 11:32 AM

A Model based Approach to Distributed Adaptive Sampling of Spatio-Temporally Varying Fields

Suman Chakravorty 36-F-L

F.18 11:34 AM

Towards Dexterous Micromanipulation and Assembly

David Cappelleri 38-F-R

F.19 11:36 AM

Autonomous Quadrotors for 3D Modeling and Inspection of Outdoor Infrastructure

Philippos Mordohai; Stergios Roumeliotis

37-F-R; 38-F-L

F.20 11:38 AM

Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs

Kaveh Akbari Hamed 37-F-L


54


F.21 11:40 AM

Goal-Oriented, subject-Adaptive, robot-assisted Locomotor Learning (GOALL)

Fabrizio Sergi 40-F-R

F.22 11:42 AM

Human-Aware Navigation in Populated Indoor Environments

Peter Stone 40-F-L

F.23 11:44 AM

Robots that Learn to Communicate through Natural Human Dialog

Raymond Mooney 41-F-R

F.24 11:46 AM

Learning deep sensorimotor policies for shared autonomy

Sergey Levine; Siddhartha Srinivasa

45-F-R; 45-F-L

F.25 11:48 AM

Real-time Semantic Computer Vision for Co-Robotics

Nuno Vasconcelos 41-F-L

F.26 11:50 AM

Exosuit System Design Parameters as Revealed by an Integrated, Human Musculoskeletal Computational Model

Leia Stirling 44-F-R

F.27 11:52 AM

A Collaborative Visual Assistant for Robot Operations in Unstructured or Confined Environments

Robin Murphy 44-F-L


55


F.28 11:54 AM

An autonomous curious social robot with a mindset for long-term interaction with children

Cynthia Breazeal 43-F-R

F.29 11:56 AM

Robotics to Improve Patient Care for Highly Infectious Diseases

Bill Smart 43-F-L

F.30 11:58 AM

Reflex approximation of optimal control for an energy-efficient bipedal walking platform

Andy Ruina 42-F-R

F.31 12:00 PM

RAPID: Robot Assisted Precision Irrigation Delivery

Stefano Carpin; Ken Goldberg; Stavros

Vougioukas

46-F-R; 46-F-L; 47-F-R

F.32 12:02 PM

FRAIL-bots: Fragile cRophArvest-aIding mobiLerobots

Stavros Vougioukas 42-F-L

F.33 12:04 PM

Robotic Harvest-Aiding Orchard Platforms

Stephen Nuske; Stavros Vougioukas

47-F-L; 48-F-R

F.34 12:06 PM

Personal Pill Sized Soft Medical Robots for the Gastrointestinal Tract

Metin Sitti 48-F-L

F.35 12:08 PM

A Novel Light-weight Cable-driven Active Leg Exoskeleton (C-ALEX) for Training of Human Gait

Sunil Agrawal


56

57

Rapid Session G Poster Locations

G.01 02:30 PM

Robotics and NIH: Michael Wolfson

G.02 02:34 PM

Receding Horizon Integrity-A New Navigation Safety Methodology for Co-Robotic Passenger Vehicles

Matthew Spenko 18-B-L

G.03 02:36 PM

Shape Morphing Arm Robotic (SMART) Manipulators for Simultaneous Safe Human-Robot Interaction and High Performance in Manufacturing

Hai-Jun Su 18-B-R

G.04 02:38 PM

Task-Based Assistance for Software-Enabled Biomedical Devices

Todd Murphey 17-B-L

G.05 02:40 PM

Workers, Firms, and Industries in Robotic Regions

Nancey Green Leigh 17-B-R

G.06 02:42 PM

Coordinated Detection and Tracking of Hazardous Agents with Aerial and Aquatic Robots to Inform Emergency Responders

Pratap Tokekar 16-B-L

RAPID SESSION GWednesday, November 30

58


G.07 02:44 PM

Design of nanorobotics based on iron-palladium alloy nanohelicses for a new diagnosis and treatment of cancer

Minoru Taya 16-B-R

G.08 02:46 PM Dexterous Robotic Cutting Yan-Bin Jia 19-B-L

G.09 02:48 PM

Learning Adaptive Representations for Robust Mobile Robot Navigation from Multi-Modal Interactions

Thomas Howard; Matthew Walter

19-B-R; 20-B-L

G.10 02:50 PM

Software Framework for Research in Semi-Autonomous Teleoperation

Blake Hannaford; Gregory Fischer; Peter

Kazanzides

20-B-R; 21-B-L; 21-B-R

G.11 02:52 PM

Enhancing Mapping Capabilities of Underwater Caves using Robotic Assistive Technology

Ioannis Rekleitis 26-B-L

G.12 02:54 PM

Achieving Selective Kinematics and Stiffness in Flexible Robotics

Robert Howe 26-B-R

G.1302:56 PM

Guiding with touch: Haptic cueing of surgical techniques on virtual and robotic platforms

Marcia O'Malley 25-B-L


59


G.14 02:58 PM

MDevelopment of an Instrument that Monitors Behaviors Associated with Obsessive-Compulsive Behaviors and Schizophrenia

Nikolaos Papanikolopoulos 25-B-R

G.15 03:00 PM

Balance Recovery Control for Amputees using Powered Leg Prostheses

Hartmut Geyer 24-B-L

G.16 03:02 PM

Robotic Tool-Use for Cleaning Maya Cakmak

G.17 03:04 PM

BMI Control of a Therapeutic Exoskeleton to Facilitate Personalized Robotic Rehabilitation of the Upper Limb

Jose Contreras-Vidal; Gerard Francisco; Marcia O'Malley

23-B-L; 23-B-R; 22-B-L

G.18 03:06 PM

Advanced biophotonics for image-guided robotic surgery

Eric Seibel 22-B-R

G.19 03:08 PM

Long, Thin Continuum Robots for Space Applications

Ian Walker 27-B-L


60


G.20 03:10 PM

Whole-Body Telemanipulation of the Dreamer Humanoid Robot on Rough Terrains Using a Hand Exoskeleton (EXODREAM)

Luis Sentis 27-B-R

G.21 03:12 PM

G.22 03:14 PM

Magnetic Resonance Imaging Guided Co-Robotic Active Catheter System

M. Cenk Cavusoglu 29-B-L

G.23 03:16 PM

Co-Aerial-Ecologist: Robotic Water Sampling and Sensing in the Wild

Carrick Detweiler; Sally Thompson

33-B-L; 33-B-R

G.24 03:18 PM

Co-Robots to Engage Next Generation of Students in STEM Learning

Nina Mahmoudian 29-B-R

G.25 03:20 PM

Human Detection And Tracking For Agricultural Workforce Safety

Herman H. 32-B-L


61


G.26 03:22 PM

An Egocentric Computer Vision based Active Learning Assistive Co-Robot Wheelchair System

Philippos Mordohai 32-B-R

G.27 03:24 PM

Multimodal Skin and Garments for Home and Healthcare Robots

Dan Popa 31-B-L

G.28 03:26 PM

Toward Humanoid Avatar Robots for Co-exploration of Hazardous Environments

Jerry Pratt 31-B-R

G.29 03:28 PM

Legged Locomotion for Desert Research Daniel Koditschek 1


62

Rapid Session H Poster Locations

H.01 04:00 PM

Novel platform for rapid exploration of robotic ankle exoskeleton control strategies to augment healthy or restore post-stroke locomotion

Steve Collins; Gregory Sawicki

30-B-L; 30-B-R

H.02 04:02 PM

Multipurpose Robotic Sampling to Optimize Crop Production

Gary McMurray 34-B-L

H.03 04:04 PM

Intelligent In-Orchard Bin-Managing System for Tree Fruit Production

Geoffrey Hollinger; Qin Zhang

35-B-L; 35-B-R

H.04 04:06 PM

Interactive Robotic Orchestration - Music-based Emotion and Social Interaction Therapy for Children with ASD

Myounghoon Jeon; Chung Hyuk Park

36-B-L; 36-B-R

H.05 04:08 PM

Integrating Physics Models and Control Methodologies for Enhanced Legged Locomotion on Yielding Terrain

Daniel Goldman; Paul Umbanhowar

39-B-L; 39-B-R

H.06 04:10 PM

Robot Swarms and Human Scouts for Persistent Monitoring of Specialty Crops

R. Vijay Kumar 3

RAPID SESSION HWednesday, November 30

63


H.07 04:12 PM

Shall I Touch This?: Navigating the Look and Feel of Complex Surfaces

Katherine Kuchenbecker; Trevor

Darrell

38-B-L; 38-B-R

H.08 04:14 PM Symbiotic Exploration William Whittaker 34-B-R

H.09 04:16 PM

Surveying and Servoing as Canonical Tasks to Enable Future Farms with Commercial Off-The-Shelf Robots

Ai-Ping Hu; Ibrahim Isler

37-B-L; 37-B-R

H.10 04:18 PM

At the Water's Edge -Installation and Optimization of Robotic Sensing Systems

Elizabeth Basha; Carrick Detweiler

40-B-L; 40-B-R

H.11 04:20 PM

Cooperative Control of Humanoid Robots for Remote Operations in Nuclear Environments

Taskin Padir; Holly Yanco

41-B-L; 41-B-R

H.12 04:22 PM

Multimodal Robotic Mapping of Nuclear Facilities

Kostas Alexis; William Whittaker

45-B-L; 45-B-R

H.13 04:24 PM

Saliency-driven Robotic Network for Spatio-temporal Plant Phenotyping

Sourabh Bhattacharya 44-B-L


64


H.14 04:26 PM

Robot-assisted Field-based High Throughput Plant Phenotyping

Changying Li 44-B-R

H.15 04:28 PM Precision Pollination Robot Yu Gu 43-B-L

H.16 04:30 PM

Extra Robotic Limbs for Body Support in Kneeling and Crouching Works

H. Harry Asada 43-B-R

H.17 04:32 PM

Wearable eMbots to Induce Recovery of Function

William Durfee; Richard Gillespie

42-B-L; 42-B-R

H.18 04:34 PM

Modeling, Quantification, and Optimization of Prosthesis-User Interface

Levi Hargrove


65

66

Project / Poster Title Poster Locations

A.0510:40 AM

VLAD3: Encoding Dynamics of Deep Features forAction Recognition

Yingwei Li 17-F-L

A.06 10:42 AM

A Design Methodology for Multi-fingered Robotic Hands with Second-order Kinematic Constraints

Abhijit Makhal 16-F-R; 16-F-L

B.04 11:36 AM

Do What I want, Not What I did: Imitation of Skills by Planning Sequences of Actions

Chris Paxton27-F-R; 27-F-

L; 28-F-R; 28-F-L

B.05 11:38 AM Learning Predictive Models Martial Hebert

33-F-R; 33-F-L; 32-F-R-;

32-F-L

B.09 11:46 AM

A Variable Stiffness Artificial Muscle Material for Dexterous Manipulation

Qzhixin (Jason) Xie 30-F-L

B.21 12:08 PM

Aerial Infrastructure Analyst (ARIA) Sebastian Scherer 44-F-R; 44-F-

L

B.22 12:10 PM

Instructional Materials for Soft Co-Robot Design to Improve Motivation and Learning in STEM Classrooms

Conor Walsh 41-F-L

B.22 12:10 PM

Soft Robotic Glove for Grip Assistance Leonardo Cappello 41-F-L

Alternate Poster Presenters

67


B.25 12:16 PM

Virtualized Robot Test and Integration Laboratory Abhijeet Tallavajhula 42-F-R

B.27 12:20 PM

Autonomous Planning for Robotic Palpation to Estimate Stiffness Distribution, Organ Geometry and Registration.

Arun SrivatsanRangaprasad

45-F-R; 1; 45-F-L

B.27 12:20 PM

Force-controlled Exploration of Flexible Environment for Model Update

Long Wang 45-F-R; 1; 45-F-L

B.27 12:20 PM

Continuum Robot Modeling, Sensing, and Control for Enabling Situational Awareness

Rashid Yasin 45-F-R; 1; 45-F-L

C.08 03:14 PM

Improving the Safety and Agility of Robotic Flight with Bat-Inspired Flexible-Winged Robots

Alireza Ramezani 8; 26-B-L

C.13 03:24 PM

Spiny Hands for Climbing on Rocky Terrain Mark Cutkosky 4; 34-B-R;

35-B-L

C.1403:26 PM

Closed Loop Manipulation with Contact Dynamics Francois Hogan 23-B-L; 23-

B-R; 22-B-L

D.04 04:36 PM

Probabilistic understanding and modeling of planar pushing

Maria Bauza 28-B-L; 28-B-R


68


D.05 04:38 PM

Exploiting Granular Mechanics to Enable Robotic Locomotion

Julian Whitman 33-B-L; 5; 33-B-R

D.07 04:42 PM

Modeling and Verification of Language-based Interaction

Hadas Kress-Gazit 32-B-L; 32-B-R

D.15 04:58 PM

Information-Theoretic Trajectory Optimization for Motion Planning and Control with Applications to Space Proximity Operations

Evangelos Theodorou 39-B-R

D.25 05:18 PM

Novel prosthetic arm control based on a Low-dimensional Internal Musculoskeletal Biomechanical (LIMB) model

Dustin Crouch 44-B-R

D.28 05:24 PM

Human Machine Collaboration for Fresh Market Apple Harvesting

Manoj Karkee 43-B-R

D.30 05:28 PM

Robust Control of Robotic Arms Applied to In-Flight Crop Seeder Refilling

Harry Dankowicz 48-F-L

E.04 10:08 AM


Venanzio Cichella 18-F-R; 10


69


F.03 11:04 AM

Socially Aware, Expressive, and Personalized Mobile Remote Presence: Co-Robots as Gateways to Access to K-12 In-School Education

Elizabeth Cha 23-F-L

F.08 11:14 AM

The Use of Ensemble Numerical Approaches to Inform Targeted Unmanned Aircraft Sampling of Severe Storms

Christopher Weiss

33-F-R; 33-F-L; 32-F-R;

32-F-L; 31-F-R

F.08 11:14 AM

Targeted Observation of Severe Local Storms Using Aerial Robots

Dezhen Song

33-F-R; 33-F-L; 32-F-R;

32-F-L; 31-F-R

F.23 11:44 AM


Peter Stone 41-F-R

F.28 11:54 AM

An autonomous curious social robot with a mindset for long-term interaction with children

Hae Won Park 43-F-R

G.03 02:36 PM


Peter Stone 18-B-R

G.15 03:00 PM

Balance Recovery Control for Amputees using Powered Leg Prostheses

Nitish Thatte 24-B-L


70


G.17 03:04 PM

Brain-Machine Interface Control of a Therapeutic Exoskeleton

Jose L. Contreras-Vidal

23-B-L; 23-B-R; 22-B-L

G.19 03:08 PM

An integrated robotic system for image-guided semi-autonomous brain tumor resection

Eric Seibel 27-B-L

G.28 03:26 PM

Toward Humanoid Avatar Robots for Co-exploration of Hazardous Environments

Peter Neuhaus 31-B-R

H.01 04:00 PM

NoDiscovering Ankle Exoskeleton Control Strategies that Augment Locomotor Performance

Rachel Jackson 30-B-L; 30-B-R

H.07 04:12 PM

Proton: A Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Katherine Kuchenbecker

38-B-L; 38-B-R

H.12 04:22 PM

Multi-Modal Characterization of DOE-EM Facilities

Kostas Alexis 45-B-L; 45-B-R

G/HSemi-Autonomous co-Robotic Citrus Harvester for High Density Groves

Burks,Thomas Francis 46

G/HAutonomous Vehicles and Ethics Patrick Lin 47


71

ADDITIONAL INFORMATION

72

Instructions for logging on to Wi-Fi:

1. Please select Wi-Fi Internet Access: Hyatt_MTG

2. Once Hyatt_MTG is selected, it will route you to the HYATT splash Page and will request your Access Code

3. Please Enter: penn2016 (Your Personal Access Code: this will allow you access to Wi-Fi throughout all Meeting Spaces)

4. Press enter 5. Afterwards you will notice the HYATT

Crystal City Home Page, which indicates that you have gained access to the Wi-Fi.

WIRELESS INTERNET

73

FROM BALTIMORE AND I-95 SOUTH:

1. Take I-95 South over Woodrow Wilson Bridge into Virginia

2. Exit 1 (first exit off of bridge), this is a three part exit 3. Take middle exit (Rt. 1 North) 4. Travel approximately 5 miles North 5. Turn right onto 27th Street, Hotel is on the left

Or Call our direction Hotline at 703-418-1234 ext 51

Parking Options

Hyatt Valet Based Upon Availability

• up to 2 hours - $11

• 2-4 hours - $18

• 4-6 hours - $27

• 6 + hours - $32

PMI Self Parking Mon- Fri 6AM-11PM Up to 1 Hour $5 Up to 2 Hours $7 Max- Close $10 after 3 hrs Sat /Sun 8AM-12AM $6/day

Colonial Parking Mon-Thurs 6:30AM-1AM Max - Close $18 after 4 hours 1 hr-$5 2hr-$10 3hr- $13 Fri day 8:30AM-3AM $18/day and $10 after 5PM Saturday 10AM-3AM $10/day Sunday 10AM-1AM $10/day

Alternate Transportation Metro Hyatt offers a complimentary shuttle to and from Crystal City Metro Station every 30 mins: ! Schedule: o Mon – Fri: 6:00 am –10:00pm, o Sat – Sun: 7:00 am –10:00pm, ! Picks up in front of the Hotel, and

at Crystal City Metro Stop (18th and Bell St.)

Airport Hyatt offers a complimentary shuttle to and from Reagan National Airport / DCA, every 20 mins: ! Runs from 4:40 am –12:00 am

Midnight, ! Picks up in front of the Hotel, and

at the Airport o Terminal(A): 2nd Curb by the

marked Hotel Shuttle stop location)

o Terminals B & C: Door 5 and Door 9 (1st Curb by the marked Hotel Shuttle stop location)

FROM GEORGETOWN:

1. Take M Street across Key Bridge 2. Turn left at second light (Lee Highway) 3. Go through light for I-66 East, take Exit 75 for Rt. 110 South 4. Rt. 110 South for 4 miles, turns into Rt. 1 South 5. Turn left onto 27th Street, Hotel is on the left

FROM DULLES AIRPORT/66 West: 1. Take I-66 East 2. Take Exit 75 (Rt. 110 South) 3. Rt. 110 South for 4 miles, turns into Rt. 1 South 4. Rt. 1 South to 4th stop light (27th Street) 5. Turn left onto 27th Street, Hotel is on the left

FROM RICHMOND:

1. Take I-95 North to I-395 North 2. Exit 7A (Glebe Road South) 3. Glebe Road South to 5th stop light (approximately 2 miles) 4. Turn left on Jefferson Davis Highway (Rt. 1 North) 5. Turn right onto 27th Street, Hotel is on the left

TRANSPORTATION & PARKING

74

▶ MetroHyatt offers a complimentary shuttle to and from Crystal City Metro Station every 30 mins:

SCHEDULE• Mon – Fri 6:00 AM – 10:00 PM• Sat – Sun 7:00 AM – 10:00 PM

* Picks up in front of the Hotel, and at Crystal City Metro Stop (18th and Bell St.)

▶ AirportHyatt offers a complimentary shuttle to and from Reagan National Airport / DCA, every 20 mins

SCHEDULE• Runs from 4:40 AM – 12:00 AM

* Picks up in front of the Hotel, and at the Airport• Terminal (A): 2nd curb by the marked Hotel Shuttle stop location• Terminals B & C: Door 5 and Door 9: 1st curb by the marked Hotel Shuttle stop location

▶ Hyatt ValetBased Upon Availability• Up to 2 hours - $11• 2-4 hours - $18• 4-6 hours - $27• 6+ hours - $32

▶ PMI Self ParkingMon – Fri, 6:00 AM-11:00 PM• Up to 1 hour - $5• Up to 2 hours - $7Max – Close $10 after 3 hours

Sat/Sun, 8:00 AM-11:00 PM• $6/day

▶ Colonial ParkingMon– Thurs, 6:30 AM-1:00 AM• Max – Close $18 after 4 hours• 1 hour - $5 / 2 hours - $10 / 3 hours - $13

Friday 8:30 AM-3:00 AM• $18

NOTES

75

NOTES

76

NOTES

77

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