5th International Symposium on 
Distributed Autonomous Robotic Systems


DARS 2000 Final Program

General Information

Conference dates and location:

DARS 2000 will be held October 4-6, 2000, at the Knoxville Hilton, in Knoxville, Tennessee, USA.

Conference Banquet:

The conference banquet (a typical "Southern barbeque meal") will be held on Thursday, October 5th, at the Museum of Appalachia, in Norris, Tennessee. This museum is a "living mountain village" spanning 70 acres. Dozens of authentic log structures include a chapel, schoolhouse, cabins, and barns. The Appalachian Hall of Fame showcases those whose lives exemplify the diversity of the Appalachian culture. Entertainment after the banquet will be provided by a traditional Appalachian bluegrass band and singers. Transportation to the conference banquet will be provided. The cost of the banquet is included in the registration fee, except for students.

Technical Tour to Oak Ridge National Laboratory's Robotics Facilities:

On Friday afternoon, October 6, a technical tour of the robotics facilities at Oak Ridge National Laboratory (ORNL) will be provided. Due to security restrictions at ORNL, advance sign-up for the tour is mandatory. U.S. citizens must register for the tour by Wednesday, October 4. The deadline for foreign nationals has passed (it was September 1, 2000). Please print out the ORNL Tour Registration Form and fax to 1-865-574-0405 to sign up for the tour. A valid, current photo ID is required for all individuals for admission to the ORNL site. There is no cost for the tour.

Multi-robot demonstrations:

A limited amount of space will be available on Wednesday, October 4, for researchers interested in exhibiting and demonstrating their research hardware and results in multi-robot cooperation. These exhibits are limited to researchers actively investigating issues of distributed autonomous robotic systems, and are not open to general vendors of robots and/or related equipment. To signup for robot demonstration space, please email Lynne Parker at parkerle@ornl.gov by Thursday, September 28.


DARS 2000 Session Schedule "At a Glance"

Tues., Oct. 3

Wed., Oct. 4

Thurs., Oct. 5

Fri., Oct. 6

 

07:30 Continential Breakfast and Registration

07:30 Continential Breakfast and Registration

07:30 Continential Breakfast and Registration

 

08:30 Welcome remarks, Keynote address

08:30 Technical sessions

08:30 Technical sessions

 

09:45 Coffee Break

10:10 Coffee Break

10:30 Coffee Break

 

10:15 Technical sessions

10:40 Technical sessions

11:00 Technical sessions

12:00 Lunch

12:20 Lunch

12:20 Lunch

 

13:15 Technical sessions

13:30 Technical sessions

13:30 Panel discussion

 

15:15 Coffee Break

15:10 Coffee break

15:00 Buses depart for tour of ORNL robotics facilities

 

15:45 Technical sessions

15:40 Technical sessions

 

17:00 — 19:00 Registration

17:05 Poster advertisements

17:15 Buses depart for Museum of Appalachia, Conference Banquet

 
 

18:30 - 20:30 Welcome reception, Posters and robot demonstrations

 

18:30 (approx.) Return to hotel

   

21:30 (approx.) Return to hotel

 


DARS 2000 Detailed Session Schedule

 

Tuesday, October 3

17:00 - 19:00 Registration

 

 

Wednesday, October 4

07:30 Continental Breakfast and Registration

08:30 Welcome Speeches

Jacob Barhen, Oak Ridge National Laboratory, USA

George Bekey, University of Southern California, USA

08:45 Keynote Address

Pradeep Khosla, Carnegie Mellon University, USA

09:45 Coffee Break

10:15 Session W1 (10:15 — 11:55): Architectures and Development Environments

Session chair: Francois Michaud

Control Architecture for an Underwater Robot Society
M. VAINIO, P. APPELQVIST, A. HALME, Finland

Ayllu: Distributed Port-arbitrated Behavior-based Control
B. B. WERGER, USA

An Architecture for Reactive Cooperation of Mobile Distributed Robots
O. SIMONIN, A. LIEGEOIS, P. RONGIER, France

A Framework for Distributed Simulation of Multirobot Systems: The VLAB Experience
S. CARPIN, C. FERRARI, E. PAGELLO, Italy

Robots that Cooperatively Enhance Their Plans
S. BOTELHO, R. ALAMI, France

12:00 Lunch

13:15 Session W2 (13:15 — 14:15): Biological Inspirations

Session chair: Eiichi Yoshida

Blazing a Trail: Insect-inspired Resource Transportation by a Robot Team
R. VAUGHAN, K. STOY, G. S. SUKHATME, M. J. MATARIC, USA

Artificial Emotion and Social Robotics
F. MICHAUD, P. PIRJANIAN, J. AUDET, D. LETOURNEAU, Canada

The Use of Biologically-Inspired Rules to Control a Robotic Arm
G. G. KORIENEK, A. B. BAUTISTA, T. H. HARTY, C. LEDDON, USA

14:15 Session W3 (14:15 — 15:15): Reconfigurable Robots

Session chair: David Jung

Micro Self-Reconfigurable Robotic System using Shape Memory Alloy
E. YOSHIDA, S. MURATA, S. KOKAJI, K. TOMITA, H. KUROKAWA, Japan

Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots
A. CASTANO, R. CHOKKALINGAM, P. WILL, USA

Motion Planning for a Modular Self-Reconfiguring Robotic System
C. UNSAL, H. KILICCOTE, M. PATTON, P. K. KHOSLA, USA

15:15 Coffee Break

15:45 Session W4 (15:45 — 17:05): Communication and Knowledge Sharing

Session chair: John Feddema

Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carrier System
D. KURABAYASHI, K. KONISHI, H. ASAMA, Japan

Collective Grounded Representations for Robots
L. HUGUES, France

Effects of Static and Dynamic Variety in the Character of Robots on Group Intelligence of Multi-robot System
S. ICHIKAWA, F. HARA, Japan

Communication Fault Tolerance in Distributed Robotic Systems
P. MOLNAR, J. STARKE, USA

17:05 Session W5 (17:05 — 17:35): Poster advertisements

Session chair: Stergios Roumeliotis

From Distributed Robot Perception to Human Topology: A Learning Model
N. BREDECHE, J.-D. ZUCKER, France

Reactive Sensor Networks
R. R. BROOKS, E. GRELE, W. KLIMKIEWICZ, J. MOOR, C. GRIFFIN, B. KOVAK, J. KOCH, USA

Cooperation of Multiple Robots to Solve Maze Tasks
C. R. F. COSTA, E. P. L. AUDE, Brazil

Localizing a Wireless Node in a Multi-Agent System using Kalman Filtering
P. GOEL, G. S. SUKHATME, USA

Learning Cooperation from Human-Robot Interaction
M. N. NICOLESCU, M. J. MATARIC, USA

Susceptibility of Swarm Control Algorithms to Agent Failure
D. W. PALMER, D. H. STINBERG, C. M. HANTAK. M. A. KOVACINA, S. N. CALABRESE, USA

The MICRobES Project, an Experimental Approach towards "Open Collective Robotics"
S. PICAULT, A. DROGOUL, France

Dynamic Task Selection: A Simple Structure for Multirobot system
P. TANGAMCHIT, J. M. DOLAN, P. K. KHOSLA, USA

18:30 Session W6 (18:30 — 20:30)

Posters and robot demonstrations
Welcome Reception

 

 

Thursday, October 5

07:30 Continental Breakfast and Registration

08:30 Session T1 (08:30 — 08:50): Overview

Session chair: Richard Vaughan

Current State of the Art in Distributed Autonomous Robotics
L. E. PARKER, USA

08:50 Session T2 (08:50 — 10:10): Localization

Session chair: Richard Vaughan

Distributed Multi-Robot Localization
S. I. ROUMELIOTIS, G. A. BEKEY, USA

Distance Measurement in Multi-Robot Systems based on Time Shared Scheduling
Y. ARAI, H. ASAMA, H. KAETSU, I. ENDO, Japan

Relative Position Localizing System for Multiple Autonomous Mobile Robots in Distributed Robotic System
S. PREMVUTI, W. WATTANAPORNPROM, M. O-SOT, J. WATTANAWEJWIJIT, Thailand

Development of a Multiple Mobile Robot System Controlled by a Human -- Realization of Object Command Level
A. NAKAMURA, T. ARAI, T. KIROKI, J. OTA, Japan

10:10 Coffee Break

10:40 Session T3 (10:40 — 12:20) Exploration, Mapping, and Model Acquisition

Session chair: Andres Castano

Autonomous Mobile Robots and Distributed Exploratory Missions
D. F. HOUGEN, M. D. ERICKSON, P. E. RYBSKI, S. A. STOETER, M. GINI, N. PAPANIKOLOPOULOS, USA

Terrain Model Acquisition by Mobile Robot Teams and n-Connectivity
N. S. V. RAO, USA

Graph-Based Exploration using Multiple Robots
I. M. REKLEITIS, G. DUDEK, E. E. MILIOS, USA

Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots
G. DEDEOGLU, G. S. SUKHATME, USA

Comparing Distributed Exploration Strategies with Simulated and Real Autonomous Robots
A. T. HAYES, A. MARTINOLI, R. M . GOODMAN, USA

12:20 Lunch

13:30 Session T4 (13:30 — 15:10): Cooperative Object Transport

Session chair: Frank Schneider

Object Transport Using Multiple Mobile Robots With Pin Joint Endeffectors
C. K. HUMBERSTONE, K. B. SMITH, USA

Distributed Motion Generation for Two Omni-Directional Robots Carrying a Ladder
Y. ASAHIRO, E. C-H. CHANG, A. MALI, S. NAGAFUJI, I. SUZUKI, M. YAMASHITA, Japan

A Control Method of a Multiple Non-holonomic Robot System for Cooperative Object Transport
Z. WANG, Y. KIMURA, T. TAKAHASHI, E. NAKANO, Japan

Structural Characteristics of Intelligence and Embodiment in Two-Mobile Robots System
T. SAWADA, A. SUGAI, S. ICHIKAWA, F. HARA, Japan

Experimental Manufacturing of Object Transfer System "Magic Carpet" Consisting of Actuator Array with Autonomous Decentralized Control
H. OYOBE, R. MARUTANI, Y. HORI, Japan

15:10 Coffee Break

15:40 Session T5 (15:40 — 16:40) Distributed Sensing

Session chair: Nageswara Rao

Distributed Sensing and Data Collection via Broken Ad Hoc Wireless Connected Networks of Mobile Robots
A. WINFIELD, UK

Experiments and Results in Multimodal, Distributed, Robotic Perception
A. KASINSKI, P. SKRZYPCZYNSKI, Poland

Cooperative Sentry Vehicles and Differential GPS Leapfrog
J. FEDDEMA, C. LEWIS, R. LAFARGE, USA

17:15 Buses depart for Museum of Appalachia — Conference Banquet (return approx. 21:30)

 

 

Friday, October 6

07:30 Continental Breakfast and Registration

08:30 Session F1 (08:30 — 10:30): Multi-Robot Motion Coordination and Tracking

Session chair: Richard Brooks

Motion Coordination in Formations of Multiple Mobile Robots Using a Potential Field Approach
F. E. SCHNEIDER, D. WILDERMUTH, H.-L. WOLF, Germany

Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots
R. T. VAUGHAN, G. S. SUKHATME, F. J. MESA-MARTINEZ, J. F. MONTGOMERY, USA

Dynamic Robot-Target Assignment -- Dependence of Recovering from Breakdowns on the Speed of the Selection Process
T. KAGA, J. STARKE, P. MOLNAR, M. SCHANZ, T. FUKUDA, Japan

Fuzzy Control of Distance and Motion Tracking Applied to Cooperative Autonomous Robots
M. R. HITCHINGS, LJ. B. VLACIC, Z. O’SULLIVAN, Australia

Broadcast of Local Eligibility for Multi-Target Observation
B. B. WERGER, M. J. MATARIC, USA

A Communication-Free Behavior for Docking Mobile Robots
B. W. MINTEN, R. R. MURPHY, J. HYAMS, M. MICIRE, USA

10:30 Coffee Break

11:00 Session F2 (11:00 — 12:20) Multi-Robot Learning

Session chair: Mika Vainio

On Behavior Classification in Adversarial Environments
P. RILEY, M. VELOSO, USA

Learning-Based Task Allocation in Decentralized Multirobot System
P. TANGAMCHIT, J. M. DOLAN, P. K. KHOSLA, USA

Multi-Robot Learning in a Cooperative Observation Task
L. E. PARKER, C. TOUZET, USA

Ultra-Fast Neural Network Training for Robot Learning from Uncertain Data
J. BARHEN, V. PROTOPOPESCU, USA

12:20 Lunch

13:30 Session F3 (13:30 — 14:45): Closing Panel Discussion: Open Challenges in Cooperative Robotics Research

Panelists: Rachid Alami, LAAS, France
George Bekey, University of Southern California, USA
Toshio Fukuda, Nagoya University, Japan
Douglas Gage, Defense Advanced Research Projects Agency, USA

Moderator:

Lynne Parker, Oak Ridge National Laboratory, USA

15:00 Buses leave for tour of robotics facilities at Oak Ridge National Laboratory (return approximately 18:30)


For further information, please contact:

Dr. Lynne Parker
Center for Engineering Science Advanced Research
Oak Ridge National Laboratory

Phone: +1 (865) 241-4959
Fax: +1 (865) 574-0405
Email:
ParkerLE@ornl.gov


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DARS 2000 ORNL 1999-2000