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13th WAFR 2018: Mérida, Mexico
- Marco Morales, Lydia Tapia, Gildardo Sánchez-Ante, Seth Hutchinson:
Algorithmic Foundations of Robotics XIII, Proceedings of the 13th Workshop on the Algorithmic Foundations of Robotics, WAFR 2018, Mérida, Mexico, December 9-11, 2018. Springer Proceedings in Advanced Robotics 14, Springer 2020, ISBN 978-3-030-44050-3
General Tools for Motion Planning
- Sipu Ruan, Qianli Ma, Karen L. Poblete, Yan Yan, Gregory S. Chirikjian:
Path Planning for Ellipsoidal Robots and General Obstacles via Closed-Form Characterization of Minkowski Operations. 3-18 - Anastasiia Varava, J. Frederico Carvalho, Florian T. Pokorny, Danica Kragic:
Free Space of Rigid Objects: Caging, Path Non-existence, and Narrow Passage Detection. 19-35 - Mukulika Ghosh, Shawna L. Thomas, Nancy M. Amato:
Fast Collision Detection for Motion Planning Using Shape Primitive Skeletons. 36-51 - Hao-Tien Lewis Chiang, Aleksandra Faust
, Satomi Sugaya, Lydia Tapia:
Fast Swept Volume Estimation with Deep Learning. 52-68 - Jeffrey Ichnowski
Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces. 69-85
Data Structures for Motion Planning
- Alexandra Q. Nilles, Yingying Ren, Israel Becerra
A Visibility-Based Approach to Computing Nondeterministic Bouncing Strategies. 89-105 - Yulin Zhang, Dylan A. Shell, Jason M. O'Kane:
Finding Plans Subject to Stipulations on What Information They Divulge. 106-124
Planning Under Uncertainty
- Yue Wang, Swarat Chaudhuri, Lydia E. Kavraki
Online Partial Conditional Plan Synthesis for POMDPs with Safe-Reachability Objectives. 127-143 - Lifeng Zhou, Pratap Tokekar:
An Approximation Algorithm for Risk-Averse Submodular Optimization. 144-159 - Wisdom C. Agboh, Mehmet Remzi Dogar
Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty. 160-176
Imitation Learning
- Sumeet Singh, Vikas Sindhwani, Jean-Jacques E. Slotine, Marco Pavone:
Learning Stabilizable Dynamical Systems via Control Contraction Metrics. 179-195 - Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. 196-211 - Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani
A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. 212-227 - Glen Chou, Dmitry Berenson, Necmiye Ozay
Learning Constraints from Demonstrations. 228-245 - Chris Bowen, Ron Alterovitz:
Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations. 246-263
Learning in Planning
- Haruki Nishimura, Mac Schwager:
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control. 267-283 - Ian Abraham, Ahalya Prabhakar, Todd D. Murphey:
Active Area Coverage from Equilibrium. 284-300 - Varun Suryan, Pratap Tokekar:
Learning a Spatial Field with Gaussian Process Regression in Minimum Time. 301-317 - James Harrison, Apoorva Sharma, Marco Pavone:
Meta-learning Priors for Efficient Online Bayesian Regression. 318-337 - Olalekan P. Ogunmolu, Michael Folkerts, Dan Nguyen, Nicholas R. Gans, Steve B. Jiang:
Deep BOO! Automating Beam Orientation Optimization in Intensity-Modulated Radiation Therapy. 338-354
Sensor-Based Planning, Navigation, and Control
- Behnam Maleki
Continuous Optimization Framework for Depth Sensor Viewpoint Selection. 357-372 - Gustavo Goretkin, Leslie Pack Kaelbling, Tomás Lozano-Pérez:
Look Before You Sweep: Visibility-Aware Motion Planning. 373-388 - Michael W. Otte, Donald A. Sofge:
Path Planning for Information Gathering with Lethal Hazards and No Communication. 389-405 - Vasileios Vasilopoulos, Daniel E. Koditschek:
Reactive Navigation in Partially Known Non-convex Environments. 406-421 - Yulun Tian, Kasra Khosoussi
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees. 422-438
Dynamics of Contact in Manipulation and Locomotion
- Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff:
RMPflow: A Computational Graph for Automatic Motion Policy Generation. 441-457 - Jiayin Xie, Nilanjan Chakraborty:
Dynamic Model of Planar Sliding. 458-473 - Patrick Varin, Scott Kuindersma:
A Constrained Kalman Filter for Rigid Body Systems with Frictional Contact. 474-490 - Mathew Halm, Michael Posa:
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming. 491-507 - Maria Bauzá, Alberto Rodriguez:
GP-SUM. Gaussian Process Filtering of non-Gaussian Beliefs. 508-525
Optimal Motion Generation
- Weifu Wang, Devin J. Balkcom:
Time-Optimal Motion of Spatial Dubins Systems. 529-544 - Sumeet Singh, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin, Marco Pavone:
Robust Tracking with Model Mismatch for Fast and Safe Planning: An SOS Optimization Approach. 545-564 - Kris Hauser:
Semi-infinite Programming for Trajectory Optimization with Nonconvex Obstacles. 565-580 - Mo Chen, Qizhan Tam, Scott C. Livingston, Marco Pavone:
Signal Temporal Logic Meets Reachability: Connections and Applications. 581-601 - Ana Pervan, Todd D. Murphey
Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells. 602-618
Tools for Perception, Kinematics and Dynamics
- Liyang Liu, Teng Zhang, Yi Liu, Brenton Leighton, Liang Zhao, Shoudong Huang
Parallax Bundle Adjustment on Manifold with Improved Global Initialization. 621-638 - Neil T. Dantam
Practical Exponential Coordinates Using Implicit Dual Quaternions. 639-655 - Brian Plancher
A Performance Analysis of Parallel Differential Dynamic Programming on a GPU. 656-672 - Zherong Pan, Dinesh Manocha:
Time Integrating Articulated Body Dynamics Using Position-Based Collocation Methods. 673-688 - Taosha Fan
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization. 689-706
Multi-Robot and Multi-Body Systems
- Yinan Zhang, Devin J. Balkcom:
Interlocking Block Assembly. 709-726 - Sándor P. Fekete, Robert Gmyr, Sabrina Hugo, Phillip Keldenich, Christian Scheffer, Arne Schmidt:
CADbots: Algorithmic Aspects of Manipulating Programmable Matter with Finite Automata. 727-743 - Christoforos I. Mavrogiannis
Multi-agent Trajectory Prediction and Generation with Topological Invariants Enforced by Hamiltonian Dynamics. 744-761 - Nicola Basilico, Stefano Carpin:
Balancing Unpredictability and Coverage in Adversarial Patrolling Settings. 762-777 - Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris, Dan Halperin:
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. 778-795
Optimality, Completeness, and Complexity in Planning
- Israela Solomon, Dan Halperin:
Motion Planning for Multiple Unit-Ball Robots in \(\mathbb {R}^{{\varvec{d}}}\). 799-816 - Rupesh Chinta, Shuai D. Han, Jingjin Yu:
Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density. 817-834 - Israel Becerra
An Experimental Analysis on the Necessary and Sufficient Conditions for the RRT* Applied to Dynamical Systems. 835-851 - Luke Shimanuki, Brian Axelrod:
Hardness of 3D Motion Planning Under Obstacle Uncertainty. 852-867 - Fatemeh Zahra Saberifar, Jason M. O'Kane, Dylan A. Shell:
The Hardness of Minimizing Design Cost Subject to Planning Problems. 868-883
Human-Robot Interaction
- Erdem Biyik, Daniel A. Lazar, Ramtin Pedarsani, Dorsa Sadigh:
Altruistic Autonomy: Beating Congestion on Shared Roads. 887-904 - Alexander Broad, Todd D. Murphey
Operation and Imitation Under Safety-Aware Shared Control. 905-920 - Min Chen, David Hsu, Wee Sun Lee:
Guided Exploration of Human Intentions for Human-Robot Interaction. 921-938 - Jonathan A. DeCastro, Lucas Liebenwein, Cristian Ioan Vasile
Counterexample-Guided Safety Contracts for Autonomous Driving. 939-955
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