5th International Symposium on
Distributed Autonomous Robotic Systems
5th International Symposium
on
Distributed Autonomous Robotic Systems
DARS 2000 Final Program
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"
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Tues., Oct. 3 |
Wed., Oct. 4 |
Thurs., Oct. 5 |
Fri., Oct. 6 |
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07:30 Continential Breakfast and Registration |
07:30 Continential Breakfast and Registration |
07:30 Continential Breakfast and Registration |
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08:30 Welcome remarks, Keynote address |
08:30 Technical sessions |
08:30 Technical sessions |
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09:45 Coffee Break |
10:10 Coffee Break |
10:30 Coffee Break |
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10:15 Technical sessions |
10:40 Technical sessions |
11:00 Technical sessions |
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12:00 Lunch |
12:20 Lunch |
12:20 Lunch |
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13:15 Technical sessions |
13:30 Technical sessions |
13:30 Panel discussion |
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15:15 Coffee Break |
15:10 Coffee break |
15:00 Buses depart for tour of ORNL robotics facilities |
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15:45 Technical sessions |
15:40 Technical sessions |
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17:00 — 19:00 Registration |
17:05 Poster advertisements |
17:15 Buses depart for Museum of Appalachia, Conference Banquet |
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18:30 - 20:30 Welcome reception, Posters and robot demonstrations |
18:30 (approx.) Return to hotel |
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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
Ayllu: Distributed Port-arbitrated Behavior-based Control
An Architecture for Reactive Cooperation of Mobile Distributed Robots
A Framework for Distributed Simulation of Multirobot Systems: The VLAB Experience
Robots that Cooperatively Enhance Their Plans
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
Artificial Emotion and Social Robotics
The Use of Biologically-Inspired Rules to Control a Robotic Arm
14:15 Session W3 (14:15 — 15:15): Reconfigurable Robots Session chair: David Jung Micro Self-Reconfigurable Robotic System using Shape Memory Alloy
Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots
Motion Planning for a Modular Self-Reconfiguring Robotic System
M. VAINIO, P. APPELQVIST, A. HALME, Finland
B. B. WERGER, USA
O. SIMONIN, A. LIEGEOIS, P. RONGIER, France
S. CARPIN, C. FERRARI, E. PAGELLO, Italy
S. BOTELHO, R. ALAMI, France
R. VAUGHAN, K. STOY, G. S. SUKHATME, M. J. MATARIC, USA
F. MICHAUD, P. PIRJANIAN, J. AUDET, D. LETOURNEAU, Canada
G. G. KORIENEK, A. B. BAUTISTA, T. H. HARTY, C. LEDDON, USA
E. YOSHIDA, S. MURATA, S. KOKAJI, K. TOMITA, H. KUROKAWA, Japan
A. CASTANO, R. CHOKKALINGAM, P. WILL, USA
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)
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
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
Moderator:
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
Phone: +1 (865) 241-4959
Center for Engineering Science Advanced Research
Oak Ridge National Laboratory
Fax: +1 (865) 574-0405
Email:
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