
		23 - 27 April 2012 Baltimore Convention Center Baltimore, Maryland United States

Conference 8387
Unmanned Systems Technology XIV

Conference Program Track: Unmanned, Robotic, and Layered Systems (View Daily Schedule of Program Track)

Available in print as Proceedings of SPIE Volume 8387

Dates: Wednesday-Friday 25 - 27 April 2012

Conference Chairs

Robert E. Karlsen, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Douglas W. Gage, XPM Technologies; Charles M. Shoemaker, U.S. Army CERDEC; Grant R. Gerhart, U. S. Army Tank Automotive Research Development and Engineering Ctr. -Retired

Program Committee

Stephen Balakirsky, National Institute of Standards and Technology; Johann Borenstein, Univ. of Michigan; Jonathan A. Bornstein, U.S. Army Research Lab.; Jared Giesbrecht, Defence Research and Development Canada, Suffield (Canada); Rajiv V. Dubey, Univ. of South Florida; Hobart Ray Everett, Space and Naval Warfare Systems Ctr. Pacific; Gene A. Klager, U.S. Army Night Vision & Electronic Sensors Directorate; James H. Lever, U.S. Army Engineer Research and Development Ctr.; Larry H. Matthies, Jet Propulsion Lab.; Paul L. Muench, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Hoa G. Nguyen, Space and Naval Warfare Systems Command; James L. Overholt, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Mike Perschbacher, RovnoTech; Marc Raibert, Boston Dynamics; Klaus-Juergen Schilling, Julius-Maximilians-Univ. W�rzburg (Germany); Nahid N. Sidki, SAIC; Harpreet Singh, Wayne State Univ.; Anthony Stentz, Carnegie Mellon Univ.; David L. Stone, Mechatron Consulting; Venkataraman Sundareswaran, Teledyne Scientific Co.; Brian H. Wilcox, Jet Propulsion Lab.; Gary Witus, Turing Associates, Inc.; Brian M. Yamauchi, iRobot Corp.

Show All Abstracts

Wednesday 25 April
Session 1: Multi-Robot Control: Joint Session with Conference 8405 Date: Wednesday 25 April Time: 8:00 AM - 10:00 AM Session Chairs: Raja Suresh, General Dynamics Advanced Information Systems; Grant R. Gerhart, U. S. Army Tank Automotive Research Development and Engineering Ctr. -Retired
A layered control architecture for single-operator control of heterogeneous unmanned system teams Paper 8387-1 Author(s):
No abstract available


Coordinating with humans by adjustable-autonomy for multirobot pursuit (CHAMP) Paper 8387-2 Author(s):
No abstract available


The reconnaissance and autonomy for small robots (RASR): MAGIC 2010 challenge Paper 8387-3 Author(s):
No abstract available


Teleoperation control of collaborative multifunctional robotic swarms for multitask, multitarget scenarios (Canceled) Paper 8387-4 Author(s): Yushing Cheung, Stevens Institute of Technology (United States); Jae Chung, Ketula Patel, U.S. Army Armament Research, Development and Engineering Ctr. (United States)
Show Abstract


A feedback-trained, autonomous control system for heterogeneous search-and-rescue applications Paper 8387-5 Author(s):
No abstract available


Spatial grasp technology and its application to distributed robotized systems (Canceled) Paper 8387-6 Author(s): Peter S. Sapaty, National Academy of Sciences of Ukraine (Ukraine)
Show Abstract


Session 2: Navigation and Mobility I Date: Wednesday 25 April Time: 10:30 AM - 11:50 AM Session Chairs: Robert E. Karlsen, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Brian M. Yamauchi, iRobot Corp.
Autonomous 3D exploration and mapping with unmanned ground robots Paper 8387-7 Author(s):
No abstract available


Fast online learning of control regime transitions for adaptive robotic mobility Paper 8387-8 Author(s):
No abstract available


Safe operations of unmanned systems for reconnaissance in complex environments (SOURCE): a year later Paper 8387-9 Author(s):
No abstract available


Challenges to autonomous navigation in complex urban terrain Paper 8387-10 Author(s):
No abstract available


Lunch/Exhibition Break 11:50 AM - 1:00 PM
Session 3: Intelligent Behaviors Date: Wednesday 25 April Time: 1:00 PM - 3:00 PM Session Chairs: Gregory R. Hudas, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Dariusz G. Mikulski, U.S. Army Tank Automotive Research, Development and Engineering Ctr.
Comparison of information theoretic functions to moving targets Paper 8387-11 Author(s):
No abstract available


Enabling civilian applications of unmanned teams through collaboration, cooperation, and sensing Paper 8387-12 Author(s):
No abstract available


Trust methods for multi-agent consensus Paper 8387-13 Author(s):
No abstract available


Intelligent behaviors through vehicle-to-vehicle and vehicle-to-infrastructure communication Paper 8387-14 Author(s):
No abstract available


UGV navigation in wireless sensor and actuator network enviroments Paper 8387-15 Author(s):
No abstract available


Neural network-based navigation and control of unmanned aerial vehicles for detecting unintended emissions Paper 8387-16 Author(s):
No abstract available


Session 4: Human Robot Interface Date: Wednesday 25 April Time: 4:00 PM - 6:00 PM Session Chair: Jeremy P. Gray, U.S. Army Tank Automotive Research, Development and Engineering Ctr.
Designing the common controller Paper 8387-17 Author(s):
No abstract available


A monocular leader-follower system for small mobile robots Paper 8387-18 Author(s):
No abstract available


Seamless human-machine control coordination for semi-autonomous obstacle avoidance in unmanned ground vehicles Paper 8387-19 Author(s):
No abstract available


Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle Paper 8387-20 Author(s):
No abstract available


Control solutions for robots using android devices Paper 8387-21 Author(s):
No abstract available


Development and human factors analysis of an augmented reality interface for multirobot, tele-operation, and control Paper 8387-22 Author(s):
No abstract available


Thursday 26 April
Session 5: MAST: Small-Scale Autonomous Platforms: Joint Session with Conference 8373 Date: Thursday 26 April Time: 8:00 AM - 9:40 AM Session Chair: Christopher M. Kroninger, U.S. Army Research Lab. Please note room change.
Design and development of a revolutionary VTOL micro-air vehicle: the cyclocopter (Invited Paper) Paper 8373-52 Author(s):
No abstract available


Millimeter-scale, piezoMEMS-enabled autonomous systems: system feasibility and mobility (Invited Paper) Paper 8373-53 Author(s):
No abstract available


Yaw feedback control of a bio-inspired flapping wing vehicle (Invited Paper) Paper 8373-54 Author(s):
No abstract available


Maneuverability and mobility in palm-sized, legged robots (Invited Paper) Paper 8373-55 Author(s):
No abstract available


Challenges for micro-scale, flapping-wing, micro air vehicles (Invited Paper) Paper 8373-56 Author(s):
No abstract available


Session 6: MAST: Sensors for Small-Scale Autonomous Platforms: Joint Session with Conference 8373 Date: Thursday 26 April Time: 10:20 AM - 12:00 PM Session Chair: William D. Nothwang, U.S. Army Research Lab. Please note room change.
Biologically inspired, haltere, angular-rate sensors for micro-autonomous systems (Invited Paper) Paper 8373-57 Author(s):
No abstract available


Hair-based sensors for micro-autonomous systems (Invited Paper) Paper 8373-58 Author(s):
No abstract available


Gallium nitride micromechanical resonators for IR detection (Invited Paper) Paper 8373-59 Author(s):
No abstract available


Micromachined low-mass RF front-end for beam steering radar (Invited Paper) Paper 8373-60 Author(s):
No abstract available


A programmable palm-size gas analyzer for use in micro-autonomous systems (Invited Paper) Paper 8373-61 Author(s):
No abstract available


Lunch/Exhibition Break 12:00 PM - 1:00 PM
Session 7: Perception Date: Thursday 26 April Time: 1:00 PM - 3:00 PM Session Chairs: Camille Monnier, Charles River Analytics, Inc.; Roland Brockers, Jet Propulsion Lab.
Large-scale experimental design for decentralized SLAM Paper 8387-23 Author(s):
No abstract available


Real-time, lidar-based place recognition using distinctive shape descriptors Paper 8387-24 Author(s):
No abstract available


Fully self-contained, vision-aided navigation and marker-free landing of a micro-air vehicle independent from external sensor inputs Paper 8387-25 Author(s):
No abstract available


Flight test evaluation of a prototype optical instrument for airborne sense-and-avoid applications Paper 8387-26 Author(s):
No abstract available


Saliency detection and model-based tracking: a two-part vision system for small-robot navigation in forested environment Paper 8387-27 Author(s):
No abstract available


Multiple object detection and tracking on the uneven terrain using multiple lidar for UGV Paper 8387-28 Author(s):
No abstract available


Session 8: Robotics CTA Date: Thursday 26 April Time: 3:30 PM - 5:50 PM Session Chair: Jonathan A. Bornstein, U.S. Army Research Lab.
Foundations of autonomy for ground robotics Paper 8387-29 Author(s):
No abstract available


High degree-of-freedom dynamic manipulation Paper 8387-30 Author(s):
No abstract available


Laboratory on legs: an architecture for adjustable morphology with legged robots Paper 8387-31 Author(s):
No abstract available


Connecting a cognitive architecture to robotic perception Paper 8387-32 Author(s):
No abstract available


Semantic perception for ground robotics Paper 8387-33 Author(s):
No abstract available


Robust mobility in human-populated environments Paper 8387-34 Author(s):
No abstract available


The importance of shared mental models and shared situation awareness for transforming robots from tools to teammates Paper 8387-35 Author(s):
No abstract available


Posters-Thursday Date: Thursday 26 April Time: 6:00 PM - 7:30 PM All symposium attendees are invited to attend the poster sessions. Come view the high-quality papers that are presented in this alternative format, and interact with the poster author who will be available for discussion. Enjoy light refreshments while networking with colleagues in your field. Attendees are required to wear their conference registration badges to the poster sessions. Authors may set-up their posters between 10:00 am and 5:00 pm the day of their poster. Posters that are not set-up by the 5:00 pm cut-off time will be considered no-shows and their manuscripts may not be published. Poster authors should be at their papers from 6:00 pm to 7:30 pm to answer questions from attendees. All posters and other materials must be removed no later than 8:00 pm. Any papers left on the boards at the close of the poster session will be considered unwanted and will be discarded. SPIE assumes no responsibility for posters left up after the end of each poster session.
Video analysis for high-speed, autonomous vehicle guidance Paper 8387-54 Author(s):
No abstract available


An enhanced inertial navigation system based on low-cost IMU and laser scanner for mobile robot Paper 8387-55 Author(s):
No abstract available


A pose estimation method for unmanned ground vehicles in GPS denied environments Paper 8387-56 Author(s):
No abstract available


Adaptive electronic camouflage using texture synthesis Paper 8387-57 Author(s):
No abstract available


Adaptive information interactive mechanism for multi-UAV visual navigation Paper 8387-58 Author(s):
No abstract available


Fuzzy logic technique for detecting communication loss in unmanned aerial vehicles Paper 8387-60 Author(s):
No abstract available


A statistical approach for performance analysis of uncertain systems Paper 8387-61 Author(s):
No abstract available


Review of multirobot taxonomy, trends, and applications for defense and space Paper 8387-62 Author(s):
No abstract available


Videometric terminal guidance method and system for UAV accuracy landing Paper 8387-63 Author(s):
No abstract available


An underwater solar energy harvesting system for monitoring and security sensor applications Paper 8387-64 Author(s):
No abstract available


Autonomous robotic systems research project: a tool to improve undergraduate engineering education Paper 8387-65 Author(s):
No abstract available


Friday 27 April
Session 9: Articulation and Manipulation Date: Friday 27 April Time: 8:00 AM - 10:00 AM Session Chairs: Paul L. Muench, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Mike Perschbacher, RovnoTech
Enhanced operator perception through 3D vision and haptic feedback Paper 8387-36 Author(s):
No abstract available


Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant, autonomous door-opening kit for unmanned ground vehicles Paper 8387-37 Author(s):
No abstract available


Advanced dual-haptic manipulator system for CIED Paper 8387-38 Author(s):
No abstract available


Game theory applied to legged robotics: a variant of the dolichobrachistochrone problem Paper 8387-39 Author(s):
No abstract available


Detecting and learning of geometrically relevant features for legged locomotion Paper 8387-40 Author(s):
No abstract available


Improving UGV teleoperation performance using novel visualization techniques and manual interfaces Paper 8387-41 Author(s):
No abstract available


Session 10: Navigation and Mobility II Date: Friday 27 April Time: 10:30 AM - 11:50 AM Session Chairs: Robert E. Karlsen, U.S. Army Tank Automotive Research, Development and Engineering Ctr.; Brian M. Yamauchi, iRobot Corp.
Autonomous exploration and mapping of unknown environments Paper 8387-42 Author(s):
No abstract available


Development and test results of autonomous behaviors for urban environment exploration Paper 8387-43 Author(s):
No abstract available


Development of an info-gap-based path planner to enable non-deterministic, low-observability mobile sensor nodes Paper 8387-44 Author(s):
No abstract available


Energy conservation for UGVs executing coverage tasks Paper 8387-45 Author(s):
No abstract available


Lunch Break 11:50 AM - 1:00 PM
Session 11: Special Topics Date: Friday 27 April Time: 1:00 PM - 3:20 PM Session Chairs: Douglas W. Gage, XPM Technologies; Charles M. Shoemaker, General Dynamics Robotic Systems
Enabling unmanned capabilities in the tactical-wheeled vehicle fleet of the future Paper 8387-46 Author(s):
No abstract available


ROBODEXS: multirobot deployment and extraction system Paper 8387-47 Author(s):
No abstract available


Dealing with unreliable and long latency communications in tactical and space robotic applications Paper 8387-48 Author(s):
No abstract available


Mesh networking optimized for robotic teleoperation Paper 8387-49 Author(s):
No abstract available


Getting it right the first time: predicted performance guarantees from the analysis of emergent behavior in autonomous and semi-autonomous systems Paper 8387-50 Author(s):
No abstract available


Characteristics of a maritime-interdiction-operations, unmanned ground vehicle Paper 8387-51 Author(s):
No abstract available


Design of a transformative spherical mobile robot (Canceled) Paper 8387-52 Author(s): Kang Hou, Hanxu Sun, Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Show Abstract

Conference 8387Unmanned Systems Technology XIV

Session 1: Multi-Robot Control: Joint Session with Conference 8405

A layered control architecture for single-operator control of heterogeneous unmanned system teams

Coordinating with humans by adjustable-autonomy for multirobot pursuit (CHAMP)

The reconnaissance and autonomy for small robots (RASR): MAGIC 2010 challenge

Teleoperation control of collaborative multifunctional robotic swarms for multitask, multitarget scenarios (Canceled)

A feedback-trained, autonomous control system for heterogeneous search-and-rescue applications

Spatial grasp technology and its application to distributed robotized systems (Canceled)

Session 2: Navigation and Mobility I

Autonomous 3D exploration and mapping with unmanned ground robots

Fast online learning of control regime transitions for adaptive robotic mobility

Safe operations of unmanned systems for reconnaissance in complex environments (SOURCE): a year later

Challenges to autonomous navigation in complex urban terrain

Session 3: Intelligent Behaviors

Comparison of information theoretic functions to moving targets

Enabling civilian applications of unmanned teams through collaboration, cooperation, and sensing

Trust methods for multi-agent consensus

Intelligent behaviors through vehicle-to-vehicle and vehicle-to-infrastructure communication

UGV navigation in wireless sensor and actuator network enviroments

Neural network-based navigation and control of unmanned aerial vehicles for detecting unintended emissions

Session 4: Human Robot Interface

Designing the common controller

A monocular leader-follower system for small mobile robots

Seamless human-machine control coordination for semi-autonomous obstacle avoidance in unmanned ground vehicles

Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle

Control solutions for robots using android devices

Development and human factors analysis of an augmented reality interface for multirobot, tele-operation, and control

Session 5: MAST: Small-Scale Autonomous Platforms: Joint Session with Conference 8373

Design and development of a revolutionary VTOL micro-air vehicle: the cyclocopter (Invited Paper)

Millimeter-scale, piezoMEMS-enabled autonomous systems: system feasibility and mobility (Invited Paper)

Yaw feedback control of a bio-inspired flapping wing vehicle (Invited Paper)

Maneuverability and mobility in palm-sized, legged robots (Invited Paper)

Challenges for micro-scale, flapping-wing, micro air vehicles (Invited Paper)

Session 6: MAST: Sensors for Small-Scale Autonomous Platforms: Joint Session with Conference 8373

Biologically inspired, haltere, angular-rate sensors for micro-autonomous systems (Invited Paper)

Hair-based sensors for micro-autonomous systems (Invited Paper)

Gallium nitride micromechanical resonators for IR detection (Invited Paper)

Micromachined low-mass RF front-end for beam steering radar (Invited Paper)

A programmable palm-size gas analyzer for use in micro-autonomous systems (Invited Paper)

Session 7: Perception

Large-scale experimental design for decentralized SLAM

Real-time, lidar-based place recognition using distinctive shape descriptors

Fully self-contained, vision-aided navigation and marker-free landing of a micro-air vehicle independent from external sensor inputs

Flight test evaluation of a prototype optical instrument for airborne sense-and-avoid applications

Saliency detection and model-based tracking: a two-part vision system for small-robot navigation in forested environment

Multiple object detection and tracking on the uneven terrain using multiple lidar for UGV

Session 8: Robotics CTA

Foundations of autonomy for ground robotics

High degree-of-freedom dynamic manipulation

Laboratory on legs: an architecture for adjustable morphology with legged robots

Connecting a cognitive architecture to robotic perception

Semantic perception for ground robotics

Robust mobility in human-populated environments

The importance of shared mental models and shared situation awareness for transforming robots from tools to teammates

Posters-Thursday

Video analysis for high-speed, autonomous vehicle guidance

An enhanced inertial navigation system based on low-cost IMU and laser scanner for mobile robot

A pose estimation method for unmanned ground vehicles in GPS denied environments

Adaptive electronic camouflage using texture synthesis

Adaptive information interactive mechanism for multi-UAV visual navigation

Fuzzy logic technique for detecting communication loss in unmanned aerial vehicles

A statistical approach for performance analysis of uncertain systems

Review of multirobot taxonomy, trends, and applications for defense and space

Videometric terminal guidance method and system for UAV accuracy landing

An underwater solar energy harvesting system for monitoring and security sensor applications

Autonomous robotic systems research project: a tool to improve undergraduate engineering education

Session 9: Articulation and Manipulation

Enhanced operator perception through 3D vision and haptic feedback

Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant, autonomous door-opening kit for unmanned ground vehicles

Advanced dual-haptic manipulator system for CIED

Game theory applied to legged robotics: a variant of the dolichobrachistochrone problem

Detecting and learning of geometrically relevant features for legged locomotion

Improving UGV teleoperation performance using novel visualization techniques and manual interfaces

Session 10: Navigation and Mobility II

Autonomous exploration and mapping of unknown environments

Development and test results of autonomous behaviors for urban environment exploration

Development of an info-gap-based path planner to enable non-deterministic, low-observability mobile sensor nodes

Energy conservation for UGVs executing coverage tasks

Session 11: Special Topics

Enabling unmanned capabilities in the tactical-wheeled vehicle fleet of the future

Conference 8387
Unmanned Systems Technology XIV