Instructor: Jason O'Kane
Tuesdays and Thursdays, 3:30-4:45pm, 2A19 Swearingen
The format will mix lectures by the instructor and student-led discussions of important or interesting published research papers in the field.
| Number | Paper | Reading | Presenter | Date | Slides |
| 1 | Localization with limited sensing. J. M. O'Kane and S. M. LaValle. IEEE Transactions on Robotics, 23(4):704-716, August 2007. [pdf] | 11.5.4 | Josh van Buren | Sep 16 | [ppt] |
| 2 |
Parts Orienting with Shape Uncertainty.
S. Akella and M. T. Mason.
ICRA 1998.
[pdf]
Parts Orienting with Partial Sensor Information. S. Akella and M. T. Mason. ICRA 1998. [pdf] |
Bill Arndt | Sep 18 | ||
| No Class | Sep 23 | ||||
| 3 | Passive mobile robot localization within a fixed beacon field. C. Detweiler, J. Leonard, D. Rus and S. Teller, WAFR 2006. [pdf] | Michael Kroll | Sep 25 | [ppt] | |
| 4 | Near-optimal search in continuous domains. S. Ieong, N. Lambert, Y. Shoahm, and R. Brafman. AAAI 2007. [pdf] | Jeremiah Shepherd | Sep 30 | [ppt] | |
| 5 | Landmark-Based Robot Navigation. A. Lazanas and J.-C. Latombe. Algorithmica 13(5):472-501, 1995. [pdf] | 12.5.1 | Shaun Gause | Oct 2 | [ppt] |
| 6 | Planning Time-Minimal Safe Paths amidst Unpredictably Moving Obstacles. J. van den Berg and Mark Overmars. IJRR, to appear. 2008. [pdf] | Kimberly Yonce | Oct 7 | [ppt] | |
| Fall Break | Oct 9 | ||||
| 7 |
A Framework for Planning Feedback Motion Strategies Based on a
Random Neighborhood Graph.
L. Yang and S. LaValle.
ICRA 2000.
[pdf]
An Improved Random Neighborhood Graph Approach. L. Yang and S. LaValle. ICRA 2002. [pdf] |
8.5.1 | Yuliya Olmo | Oct 14 | [ppt] |
| 8 | A Visibility-Based Pursuit-Evasion Problem. L. J. Guibas, J.-C. Latombe, S. M. LaValle, D. Lin, and R. Motwani. International Journal of Computational Geometry and Applications 9(5):471-494, 1999. [pdf] | 12.4 | Matthew Hielsberg | Oct 16 | [ppt] |
| 12 | Maintaining Visibility of a Moving Target at a Fixed Distance: The Case of Bounded Observer Speed. R. Murrieta, A. Sarmiento, S. Bhattacharya, and S. A. Hutchinson. ICRA 2004. [pdf] | 12.4 | Chase Gray | Oct 21 | [ppt] |
| 10 | On the value of ignorance: Balancing tracking and privacy using a two-bit sensor. J. M. O'Kane. WAFR 2008. [pdf] | Ryan Yandle | Oct 23 | [ppt] | |
| 11 | Tracking Hidden Agents Through Shadow Information Spaces. J. Yu and S. M. LaValle. ICRA 2008. [pdf] | Laura Baucom | Oct 28 | [ppt] | |
| 9 | Stealth Tracking of an Unpredictable Target among Obstacles. T. Bandyopadhyay, Y. Li, M. H. Ang Jr., and D. Hsu. WAFR 2004. [pdf] | Jeff Barton | Oct 30 | [ppt] | |
| Election Day | Nov 4 | ||||
| 13 |
Robotic Exploration as Graph Construction
G. Dudek, M. Jenkin, E. Milios, and D. Wilkes.
IEEE Transactions on Robotics and Automation, 7(6):859-865. 1991.
[pdf]
Topological Mapping with Weak Sensory Data. G. Dudek and D. Marinakis. AAAI 2007. [pdf] |
James O'Reilly | Nov 6 | [ppt] | |
| 14 | Topological Mapping with Sensing-Limited Robots. W. Huang and K. R. Beevers. WAFR 2004. [pdf] | Boris Kurktchiev | Nov 11 | [ppt] | |
| 15 | Topological Mapping through Distributed, Passive Sensors. D. Marinakis and G. Dudek. IJCAI 2007. [pdf] | Mikhail Simin | Nov 13 | [ppt] | |
| 16 | Distance-optimal navigation in an unknown environment without sensing distances. B. Tovar, R Murrieta, and S. M. LaValle. IEEE Transactions on Robotics, 23(3):506-518, June 2007. [pdf] | 12.3.4 | Chuan Qin | Nov 18 | [ppt] |
| 17 | Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry. S. Suri, E. Vicari, and P. Widmayer. [pdf] | Giola Bottai | Nov 20 | [ppt] | |
| 19 | Simple Robots in Polygonal Environments: A Hierarchy. J. Brunner, M. Mihalak, S. Suri, E. Vicari, and P. Widmayer. Algorithmic Aspects of Wireless Sensor Networks. 2008. [pdf] | Jingsong Wang | Nov 25 | [ppt] | |
| Thanksgiving Break | Nov 27 | ||||
| Wrap up | Dec 2 | ||||
| Wrap up | Dec 4 | ||||
Not Selected
| An Exploration of Sensorless Manipulation. M. A. Erdmann and M. T. Mason. IEEE Journal of Robotics and Automation, 4(4):369-379. 1988. [pdf] | 12.5.2 |
| Randomized Algorithms for Minimum Distance Localization. M. Rao, G. Dudek, and S. Whitesides. WAFR 2004. [pdf] | 12.2.2 |
| Randomization for Robot Tasks: Using Dynamic Programming in the Space of Knowledge States. M. Erdmann. Algorithmica 10:248-291. 1993. [pdf] | |
| TangentBug: A Range-Sensor-Based Navigation Algorithm. I. Kamon, E. Rimon, and E. Rivlin. IJRR 17(9):934-953. 1998. [pdf] | 12.3.3 |
| On Comparing the Power of Robots. J. M. O'Kane and S. M. LaValle. IJRR, 27(1):5-23, January 2008. [pdf] | 11.2 |