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Distributed Robotics

Robotics Journal Club - Fall 2005 archives

Contact: Daniela Rus or Paulina Varshavskaya

Mailing List: robotics-journal-club at csail dot mit dot edu                           subscribe

current journal club page

 

summer 2005 archives                                                                suggested reading list

spring 2005 archives                                                                  

summer and fall 2004 archives 

 

Monday, September 26, 2005 at 1pm in 32-397   
G. Chirikjian and J. Burdick, The Kinematics of Hyper-Redundant Locomotion,
IEEE Transactions on Robotics and Automation, 11 (6), pp. 781-793, 1995 [ pdf ]

Presenter: Marty Vona 

Monday, October 3, 2005 at 1pm in 32-397   
Alberto Cerpa, Jennifer L. Wong, Louane Kuang, Miodrag Potkonjak, and Deborah Estrin, Statistical Models of Lossy Links and Networks [ offsite pdf ]. Temporal Properties of Low Power Wireless Links: Modeling and Implications on Multi-Hop Routing [ offsite pdf ]

Presenter: Ajay Deshpande 

Monday, October 17, 2005 at 1pm in 32-397   
G. A. S. Pereira, V. Kumar, and M. F. M. Campos, Formation Control with Configuration Space Constraints, Proceedings of the International Conference on Intelligent Robots and Systems 2003 [ offsite pdf ]
G. Grudic, V. Kumar and L. Ungar, Using Policy Gradient Reinforcement Learning on Autonomous Robot Controllers, Proceedings of the International Conference on Intelligent Robots and Systems 2003 [ offsite pdf ]

Presenter: Johnny Russ 

Monday, October 24, 2005 at 1pm in 32-397   
Balch, T., F. Dellaert, A. Feldman, A. Guillory, C. Isbell, Z. Khan, A.
Stein, H. Wilde, How A.I. and Multi-Robot Systems Research Will
Accelerate Our Understanding of Social Animal Behavior, Proceedings of
the IEEE, Accepted for publication, 2005. [ pdf ]
Egerstedt, M., T. Balch, F. Dellaert, F. Delmotte, Z. Khan, What Are the
Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs,
Proc. IEEE ICRA, Barcelona, Spain, April 2005. [ pdf ]

Presenter: Mac Schwager 

Monday, October 31, 2005 at 1pm in 32-397   
Westervelt, E. R., Morris, B. and Farrell, K. D. Sample-Based HZD Control for Robustness and Slope Invariance of Planar Passive Bipedal Gaits, Submitted to the International Conference on Robotics and Automation, Sept. 16 2005 [ pdf ]

Presenter: Katie Byl 

Monday, November 7, 2005 at 1pm in 32-397   
Jared Glover will give a talk on Stochastic Procrustean Shape Analysis for Robust Models of Dynamic Environments

Abstract:  Many object recognition and tracking algorithms rely on large sets of local features (e.g. corners, edges, SIFT features) to perform accurate tracking and classification in the presence of occlusions, sensor noise, differing lighting conditions, etc. However, such algorithms typically do not tell us anything about the underlying "shape" of the object. Alternatively, algorithms to accurately estimate the shape of an object (snakes, splines, convex hulls, etc.) typically cannot be used for robust object recognition and tracking. In this talk, I will describe a method for combining local feature detection with multivariate
statistical shape analysis to achieve a probabilistic model of shape, which can be used for robust state estimation in dynamic environments.

Some good references on Procrustean Shape Analysis:

I. Dryden, and K. Mardia. Statistical Shape Analysis. John Wiley and Sons, 1998.
C. Small. The Statistical Theory of Shape. Springer, 1996.
http://www.york.ac.uk/res/fme/resources/morphologika/helpfiles/shapespace.html
http://www.maths.nott.ac.uk/statsdiv/research/shape.html
I. Dryden, and K. Mardia. Multivariate Shape Analysis. In Sankhya: The Indian Journal of Statistics, 1993 [ offsite pdf

Monday, November 14, 2005 at 1pm location TBA   
Fumiya Iiada, visiting from Zurich, will give a talk on quadruped dynamics, control, and cognition.

Presenter: Fumiya Iiada 

Monday, November 21, 2005 at 1pm in 32-397   
L.J. Guibas. Sensing, Tracking, and Reasoning with Relations. IEEE Signal Processing Magazine, Volume: 19 Issue: 2, Mar 2002. [ offsite pdf ]

Presenter: Carrick Detweiler 

Monday, November 28, 2005    no meeting   

Monday, December 5, 2005 at 1pm in 32-397   
J. Bishop, S. Burden, E. Klavins, R. Kreisberg, W. Malone, N. Napp, and T. Nguyen.
Self-organizing programmable parts. In IROS 2005. [ offsite pdf

Presenter: Keith Kotay 

Monday, December 12, 2005 at 1pm in 32-397   
N. Leonard, D. Paley, F. Lekien, R. Sepulchre and D. Fratantoni.
Collective Motion, Sensor Networks and Ocean Sampling. Submitted to Proceedings of the IEEE, Special Issue on Networked Control Systems, 2005. [ offsite pdf ]

Presenter: Iuliu Vasilescu 

Monday, December 19, 2005 at 1pm in 32-397   
 Körding, K.P. and Wolpert, D. (2004), "Bayesian Integration in Sensorimotor
Learning," Nature 427:244-247. [ offsite pdf ]

Presenter:  Konrad Körding

Last modified: 02/17/2006 02:06 PM