Plenary Session
Algorithms for Motion and Navigation in Virtual Environments
and Games ....................................................... 1
Mark H. Overmars
Session I
Motion Planning for Knot Untangling ............................. 7
Andrew M. Ladd, Lydia E. Kavraki
Exact Collision Checking of Robot Paths ........................ 25
Fabian Schwarzer, Mitul Saha, Jean-Claude Latombe
A Comparative Study of Probabilistic Roadmap Planners .......... 43
Roland Geraerts, Mark H. Overmars
On the Relationship between Classical Grid Search and
Probabilistic Roadmaps ......................................... 59
Steven M. La Valle, Michael S. Branicky
Session II
Algorithms for Rapidly Dispersing Robot Swarms in
Unknown Environments ........................................... 77
Tien-Ruey Hsiang, Esther M. Arkin, Michael
A. Bender, Sandor P. Fekete, Joseph S.B. Mitchell
Better Group Behaviors Using Rule-Based Roadmaps ............... 95
0. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato
A Delaunay Approach to Interactive Cutting in
Triangulated Surfaces ......................................... 113
Han-Wen Nienhuys, A. Frank van der Stappen
Stochastic Conformational Roadmaps for Computing Ensemble
Properties of Molecular Motion ................................ 131
Mehmet Serkan Apaydin, Douglas L. Brutlag,
Carlos Guestrin, David Hsu, Jean-Claude Latombe
Session III
View Planning via Maximal C-space Entropy Reduction ........... 149
Pengpeng Wang, Kamal Gupta
Exact and Distributed Algorithms for Collaborative
Camera Control ................................................ 167
Dezhen Song, A. Frank van der Stappen, Ken Goldberg
Shape Complexes for Metamorhpic Robots ........................ 185
Robert Ghrist
Flexonics ..................................................... 203
John Canny, Jeremy Risner, Vivek Subramanian
Session IV
Coordinating Multiple Robots with Kinodynamic Constraints
along Specified Paths ......................................... 221
Jufeng Peng, Srinivas Akella
Hybrid Motion Planning: Coordinating Two Discs Moving
among Polygonal Obstacles in the Plane ........................ 239
Shai Hirsch, Dan Halperin
Decentralized Algorithms for Multirobot Manipulation
via Caging .................................................... 257
Guilherme A.S. Pereira, Vijay Kumar,
Mario F.M. Campos
Communication Complexity of Multi-robot Systems ............... 275
Eric Klavins
Session V
Reconstructing the Shape and Motion of Unknown Objects with
Active Tactile Sensors ........................................ 293
Mark Moll, Michael A. Erdmann
A General Manipulation Task Planner ........................... 311
Thierry Simeon, Juan Cortes, Anis Sahbani,
Jean-Paul Laumond
Computation on Parametric Curves with Applications in
Localization and Grasping ..................................... 329
Yan-Bin Jia
A Near-Quadratic Algorithm for Fence Design ................... 347
Pankaj K. Agarwal, Robert-Paul Berretty,
Anne D. Collins
Session VI
Simultaneous Mapping and Localization with Sparse Extended
Information Filters: Theory and Initial Results ............... 363
Sebastian Thrun, Daphne Roller, Zoubin Ghahramani,
Hugh Durrant-Whyte, Andrew Y. Ng
Expected Shortest Paths for Landmark-Based
Robot Navigation .............................................. 381
Amy J. Briggs, Carrick Detweiler, Daniel Scharstein,
Alexander Vandenberg-Rodes
Sensor-Based Coverage: Incremental Construction of
Cellular Decompositions ....................................... 399
Ercan U. Acar, Howie Choset
Online Scan Coverage of Grid Environments by a
Mobile Robot .................................................. 417
Yoav Gabriely, Elon Rimon
Session VII
Distributed Motion Planning for 3D Modular Robots with
Unit-Compressible Modules ..................................... 435
Zack Butler, Daniela Rus
Distributed Manipulation with Rolling Contact ................. 453
Mark Bedillion, William Messner
Computing Equilibria on Superpositions of
Logarithmic-Radial Potential Fields ........................... 469
Hyungpil Moon, Jonathan Luntz
Feedback Control for Distributed Manipulation ................. 487
Todd D. Murphey, Joel W. Burdick
Session VIII
Fast Penetration Depth Estimation Using Rasterization
Hardware and Hierarchical Refinement .......................... 505
Young J. Kim, Ming C. Lin, Dinesh Manocha
Generalizing Demonstrated Manipulation Tasks .................. 523
Nancy S. Pollard, Jessica K. Hodgins
Constraint-Based Motion Planning Using
Voronoi Diagrams .............................................. 541
Maxim Garber, Ming C. Lin
Trajectory Planning for Kinematically Controllable
Underactuated Mechanical Systems .............................. 559
Prasun Choudhury, Kevin M. Lynch
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