SSRR 2015

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics

Purdue University, West Lafayette, Indiana, USA
October 18-20, 2015

SSRR 2015 Program
Sunday October 18, 2015
10:00-10:45 Registration
10:45-11:00 Welcome
11:00-12:30 Session 1 Tracking, Estimation, and Localization (Session Chair: Nina Mahmoudian)
  Monocular Visual-Inertial Fusion with Online Initialization and Camera-IMU Calibration Zhenfei Yang and Shaojie Shen
Gaussian Processes with input-dependent noise variance for wireless signal strength-based localization Renato Miyagusuku, Atsushi Yamashita and Hajime Asama
An Information Theoretic Source Seeking Strategy for Plume Tracking in 3D Turbulent Fields Hadi Hajieghrary, Alex Fabregat TomLas and M. Ani Hsieh
Appearance-based Person Identification Algorithm to Search for Persons using a Flying Robot Toru Yonezawa, Eijirou Takeuchi, Kazunori Ohno and Satoshi Tadokoro
Finding and Tracking Targets in the Wild: Algorithms and Field Deployments Volkan Isler, Narges Noori, Patrick Plonski, Alessandro Renzaglia, Pratap Tokekar and Joshua Vander Hook
Using Fiducials in 3D Map Evaluation Soren Schwertfeger and Andreas Birk
12:30-14:00 Lunch
14:00-15:45 Session 2 Sensing and Perception (Session Chair: Kamilo Melo)
  Classification of Outdoor 3D Lidar Data Based on Unsupervised Gaussian Mixture Models Artur Maligo and Simon Lacroix
Environmental Sensing using Millimeter Wave Sensor for Extreme Conditions Shakeel Muhammad, Kazunori Ohno, Daniele Nardi and Satoshi Tadokoro
Where to Place Cameras on a Snake Robot: Focus on Camera Trajectory and Motion Blur Mehmet Mutlu, Kamilo Melo, Massimo Vespignani, Alexandre Bernardino and Auke Jan Ijspeert
Human-Voice Enhancement based on Online RPCA for a Hose-shaped Rescue Robot with a Microphone Array Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii and Hiroshi G. Okuno
Improving the Interpretation of Thermal Images with the aid of Emissivity's Angular Dependency Bjorn Zeise, Sebastian P. Kleinschmidt and Bernardo Wagner
Sensor Fault Diagnosis of GPS/INS Tightly Coupled Navigation System based on State Chi-square Test and Improved Simplified Fuzzy ARTMAP Neural Network Chang Liu and Honglun Wang
People in the Weeds: Pedestrian Detection Goes Off-road Trenton Tabor, Zachary Pezzementi, Carlos Vallespi and Carl Wellington
15:45-16:00 Coffee Break
16:00-17:00 Plenary Human-Robot Teams for Disaster Response: A Report From The DARPA Robotics Challenge Taskin Padir, Northeastern University
Monday October 19, 2015
9:00-10:30 Session 3 Mechanisms and Mobility (Session Chair: Robin Murphy)
  Friction Binding Study and Remedy Design for Tethered Search and Rescue Robots Andrew Specian and Mark Yim
Compliant snake robot locomotion on horizontal pipes Massimo Vespignani, Kamilo Melo, Mehmet Mutlu and Auke Ijspeert
Research on Autonomous Stairs Climbing for the Shape-shifting Robot Bin Li, Jian Chang and Lincang Zhu
Modularity for Maximum Mobility and Manipulation: Control of a Reconfigurable Legged Robot with Series-Elastic Actuators Simon Kalouche, David Rollinson and Howie Choset
A Man-Packable Unmanned Surface Vehicle for Radiation Localization and Forensics Grant Wilde, Robin Murphy, Dylan Shell and Craig Marianno
Shape-Constrained Whole-Body Adaptivity Matthew Travers, Chaohui Gong and Howie Choset
10:30-11:00 Coffee Break
11:00-12:00 Plenary Human-in-the-Loop Coordination with Robot Systems Holly Yanco, University of Massachusetts Lowell
12:00-13:30 Lunch
13:30-15:00 Session 4 Disaster Response (Session Chair: Julie Adams)
  Robotic Power Distribution System for Post-Disaster Operations Barzin Moridian, Nina Mahmoudian, Wayne W. Weaver and Rush D. Robinett
  Human-System Interaction for Bomb Squad Applications: Preliminary Experiments with Low Cost Cameras in Real World Deployment Raymond Sheh and David Mees
  A Supervisory Control Method for Multi-Robot Task Allocation in Urban Search and Rescue Yugang Liu, Maurizio Ficocelli and Goldie Nejat
  Human Roles for Robot Augmented First Response Curtis Humphrey and Julie A Adams
  The Benefits of Robot Deception in Search and Rescue: Computational Approach for Deceptive Action Selection via Case-based Reasoning Jaeeun Shim and Ronald Arkin
  CAT 360 - Canine Augmented Technology 360-Degree Video System Ben Waismark, Alexander Ferworn and Mike Scanlan
15:00-15:30 Session 5 Late Breaking Reports Teaser Talks (Session Chair: M. Ani Hsieh)
  Introduction (2 min) Teaser talks are 4 min each.
  Preliminary Analysis of Reconstructions from Aerial Images of Disaster Props Traci A. Sarmiento, Brittany A. Duncan, and Robin R. Murphy
  Proposal of Inspection and Rescue Tasks for Tunnel Disasters - Task Development of Japan Virtual Robotics Challenge - M. Okugawa, K. Oogane, M. Shimizu, Y. Ohtsubo, T. Kimura, T. Takahashi and S. Tadokoro
  Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP Site Guangying Jiang, Richard Voyles, Kenneth Sebesta, and Helen Greiner
  Towards a Long-Term Water Monitoring with Continuous and Real-Time Autonomous System

Towards an Autonomous Water Monitoring System with an Unmanned Aerial and Surface Vehicle Team
Jun Han Bae, Eric T. Matson, and Byung-Cheol Min
  CORE: A Dataset of Critical Objects for Response to Emergency Ahmed A. Ambarak, John Steele, and Hao Zhang
  Winner of the Best euRathlon SSRR Autonomy Award given by TC on SSRR and the Best euRatholon MRS Multi-Robot Coordinaton Award given by TC on MRS (6 min) Team ICARUS by Daniel Serrano Lopez
15:30-17:00 Coffee Break + LBR Poster Presentations and Demos
18:00-21:30 Conference Awards and Banquet (Buses depart at 6:00pm from PMU)  
Tuesday October 20, 2015
9:00-10:30 Session 6 Motion and Path Planning (Session Chair: Frank (Shaojie) Shen)
  Autonomous landing of rotary-wing aerial vehicles by image-based visual servoing in GPS-denied environments Rafik Mebarki, Vincenzo Lippiello and Bruno Siciliano
Hybrid Motions by a Quadruped Tracked Mobile Robot Toyomi Fujita, Taiga Sasaki and Yuichi Tsuchiya
Coordinated Path Planning for Fixed-wing UAS Conducting Persistent Surveillance Missions James Keller, Dinesh Thakur, Maxim Likhachev, Jean Gallier and Vijay Kumar
Autonomous MAV Navigation in Complex GNSS-denied 3D Environments Matthias Nieuwenhuisen, David Droeschel, Marius Beul and Sven Behnke
Interacting multiple model-based human motion prediction for motion planning of companion robots Donghan Lee, Chang Liu and J.Karl Hedrick
Navigation Around an Unknown Obstacle for Autonomous Surface Vehicles Using a Forward-Facing Sonar Patrick Plonski, Joshua Vander Hook, Cheng Peng, Narges Noori and Volkan Isler
10:30-11:00 Coffee Break
11:00-12:00 Plenary Safer Surgeries Through Smaller, Softer, Image-Guided Robots Robert Webster III, Vanderbilt University
12:00-13:30 Lunch
13:30-15:15 Session 7 Mechanism Design and Modeling (Session Chair: Jim Keller)
  A 2-D Tread Mechanism for Hybridization in USAR Robotics Josh Lane and Richard Voyles
Modeling and Design of Tether Powered Multicopter Seiga Kiribayashi, Jun Ashizawa and Keiji Nagatani
Modeling of Dive Maneuvers in Flapping Wing Unmanned Aerial Vehicles Luke Roberts, Hugh Bruck and Satyandra Gupta
The MIT Super Mini Cheetah: A small, low-cost quadrupedal robot for dynamic locomotion Will Bosworth, Sangbae Kim and Hogan Neville
HADES: An Underground Mine Disaster Scouting Robot Lance Molyneaux, Dale Carnegie and Chris Chitty
LORCA: A High Performance USV with Applications to Surveillance and Monitoring Joachim Grenestedt, Jack Keller, Scott Larson, John Spletzer and Tyler Trephan
Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion Karl Weinmeister, Peter Eckert, Hartmut Witte and Auke Ijspeert
15:15-15:30 Coffee Break
15:30-17:00 Lab Tours and Exercises
17:00-19:00 Closing Reception  

© SSRR 2015