2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Provides an abstract for each of the presentations in the conference proceedings. View full abstract»

RoboCup@Work is a new RoboCup competition that targets the use of robots in work-related scenarios. The RoboCup@Work scenarios target difficult, mostly unsolved problems in robotics, artificial intelligence, and advanced computer science, in particular in perception, path planning and motion planning, mobile manipulation, planning and scheduling, learning and adaptivity, and probabilistic modeling... View full abstract»

Summary form only given. Provides a schedule of Thursday's conference events and a listing of which papers were presented in each session. View full abstract»

Summary form only given. Provides a schedule of Tuesday's conference events and a listing of which papers were presented in each session. View full abstract»

Summary form only given. Provides a schedule of Wednesday's conference events and a listing of which papers were presented in each session. View full abstract»

Summary form only given. Provides a short abstract and author biographies for each of the tthree conference keynote speaches. View full abstract»

Summary form only given. Provides an abstract for each of the four keynote presentations: Embedded Ethics and Robotic Deception: Implications for Security by Professor Ronald C. Arkin of Mobile Robot Laboratory, Georgia Institute of Technology, USA; Secured Robot Identity and Mechatronic Security by Professor Wael Adi of Technical University of Braunschweig, Germany; Policy Based Authorisation by ... View full abstract»

Alternating gliding and active propulsion is a potentially energy saving strategy for small-scale flight. With the goal of finding optimal wing shapes for flapping-gliding robots we evaluate the quasi-steady aerodynamic performance of four butterfly species (Monarch (Danaus plexippus), the Orange Aeroplane (Pantoporia consimilis), the Glasswing (Acraea andromacha) and the Four-barred Swordtail (Pr... View full abstract»

This paper introduces a novel climbing robot with high maneuverability for inspection of ferromagnetic 3D human made structures. The robot takes advantage of novelties which allows an excellent maneuverability on the structure and can adapt to flat and non-flat structures. In this paper we present the conceptual and detailed design of the robot, the implementation and two tests: laboratory tests o... View full abstract»

In this contribution we present an approach to compute object confidences for stereo-vision-based object tracking schemes. Meaningful object confidences help to reduce false alarm rates of safety systems and improve the downstream system performance for modules such as sensor fusion and situation analysis. Several cues from stereo vision and from the tracking process are fused in a Bayesian manner... View full abstract»

Multi-target tracking in video is a challenge due to noisy video data, varying number of targets, and the data association problems. In this paper, a multi-target visual tracking system that incorporates object detection with the Gaussian mixture PHD filter is developed. The main contribution of this paper is to propose a new birth intensity online estimation method that based on the entropy distr... View full abstract»

This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master and slave systems, and a pose-based passive controller, which is required for precise operation. The ... View full abstract»

In this paper, we describe a system that enables a low-cost quadrocopter coupled with a ground-based laptop to navigate autonomously in previously unknown and GPS-denied environments. Our system consists of three components: a monocular SLAM system, an extended Kalman filter for data fusion and state estimation and a PID controller to generate steering commands. Next to a working system, the main ... View full abstract»