Program Overview

Dec 13-16
SIMPAR 2016 in San Francisco

Saturday, Dec 17
SIMPAR and WAFR attendees are invited to join technical tours of robotics labs at UC Berkeley and Stanford University. Tickets are available for transportation between Hotel Vitale, Stanford, and Berkeley for a fee of $70, including lunch. Transportation tickets and the complete tour schedule can be seen by following the link below.

Technical tour schedule and tickets

Sunday, 12/18

8:00-8:30 Registration
8:30-9:45 Session 1
Perception and Localization
9:45-10:45 Plenary: Erik Demaine
10:45-11:15 Coffee Break
11:15-12:30 Session 2
Novel Applications and HRI
12:30-1:30 Lunch
1:30-2:45 Session 3
Sensor-based Tasks
2:45-3:15 Coffee Break
3:15-4:45 Session 4
Planning under Uncertainty
4:45-5:30 Break
5:30-7:00 Reception:
Space Between Gallery

Monday, 12/19

8:30-9:45 Session 5
Dynamics and Locomotion
9:45-10:45 Plenary: Lydia Kavraki
10:45-11:15 Coffee Break
11:15-12:30 Session 6
12:30-1:30 Lunch
1:30-3:00 Session 7
Exact and Approximate Planning
3:00-3:30 Coffee Break
3:30-4:30 Plenary: John Canny
4:30-5:30 Open Problem Session
5:30-5:45 Chairs Remarks
6:00-9:00 Banquet:
Exploratorium Central Gallery

Tuesday, 12/20

8:30-9:45 Session 8
Planning Methods and Tools
9:45-10:45 Plenary: Dan Halperin
10:45-11:15 Coffee Break
11:15-12:30 Session 9
Robot Learning
12:30-1:30 Lunch
1:30-2:45 Session 10
Robust Manipulation and Assembly
2:45-3:15 Coffee Break
3:15-4:45 Session 11
Multi-robot Systems

Keynote Speakers

Erik Demaine

Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms

Lydia Kavraki

20 Years of Sampling Robot Motion

John Canny

A Guided Tour of Computer Vision, Robotics, Algebra, and HCI

Dan Halperin

From Piano Movers to Piano Printers: Computing and Using Minkowski Sums

Detailed Technical Program

Sunday, Dec. 18

* Best paper award nominee




Session 1: Perception and Localization

8:30 Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization
R Arun Srivatsan and Howie Choset
8:45 Designing Sparse Near-D-Optimal Pose-Graph SLAM Problems: A Graph-Theoretic Approach
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang and Gamini Dissanayake
9:00 Batch Misalignment Calibration of Multiple Three-Axis Sensors
Gabriel Elkaim
9:15 High-Accuracy Preintegration for Visual Inertial Navigation
Kevin Eckenhoff, Patrick Geneva and Guoquan Huang
9:30 SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group *
David Rosen, Luca Carlone, Afonso Bandeira and John Leonard

Plenary: Erik Demaine

Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms

Coffee Break


Session 2: Novel Applications and HRI

11:15 Autonomous Visual Rendering Using Physical Motion
Ahalya Prabhakar, Anastasia Mavrommati, Jarvis Schultz and Todd Murphey
11:30 Cloud-based Motion Plan Computation for Power-Constrained Robots
Jeffrey Ichnowski, Jan Prins and Ron Alterovitz
11:45 Combining System Design and Path Planning
Laurent Denarie, Kevin Molloy, Marc Vaisset, Thierry Simeon and Juan Cortes
12:00 Language-Guided Sampling-based Planning using Temporal Relaxation
Francisco Penedo Alvarez, Cristian-Ioan Vasile and Calin Belta
12:15 Generating Plans that Predict Themselves
Jaime Fisac, Chang Liu, Jessica Hamrick, Shankar Sastry, J. Karl Hedrick, Thomas Griffiths and Anca Dragan



Session 3: Sensor-based Tasks

1:30 Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds *
Omur Arslan and Daniel E. Koditschek
1:45 You cannot save all the pandas: impossibility results for privacy-preserving tracking
Yulin Zhang and Dylan Shell
2:00 Approximation Algorithms for Tours of Height-varying View Cones
Patrick A Plonski and Volkan Isler
2:15 Competitive two team target search game with communication jamming
Michael Otte, Michael Kuhlman and Donald Sofge
2:30 Beyond the planning potpourri: reasoning about label transformations on procrustean graphs
Shervin Ghasemlou, Fatemeh Zahra Saberifar, Jason O'Kane and Dylan Shell

Coffee Break


Session 4: Planning Under Uncertainty

3:15 Importance Sampling for Online Planning under Uncertainty *
Yuanfu Luo, Haoyu Bai, David Hsu and Wee Sun Lee
3:30 Reactive Motion Planning in Uncertain Environments via Mutual Information Policies
Ryan MacDonald and Stephen L. Smith
3:45 Linearization in Motion Planning under Uncertainty
Marcus Hoerger, Hanna Kurniawati, Alberto Elfes and Tirthankar Bandyopadhyay
4:00 Motion Planning for Active Data Association and Localization in Non-Gaussian Belief Spaces
Saurav Agarwal, Amirhossein Tamjidi and Suman Chakravorty
4:15 Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps
Peter R. Florence, John Carter and Russ Tedrake
4:30 Risk-Aware Graph Search with Dynamic Edge Cost Discovery
Ryan Skeele, Jen Jen Chung and Geoff Hollinger


Monday, Dec. 19


Session 5: Dynamics and Locomotion

8:30 Symbolic Computation of Dynamics on Manifolds
Brian Bittner and Koushil Sreenath
8:45 A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park and Siddhartha S. Srinivasa
9:00 A General Algorithm for Time-Optimal Trajectory Generation Subject to Minimum and Maximum Constraints
Stephen Butler, Mark Moll and Lydia Kavraki
9:15 Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions
Quan Nguyen, Xingye Da, Jessy Grizzle and Koushil Sreenath
9:30 Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS
Jacob Reher, Ayonga Hereid, Shishir Kolathaya, Christian Hubicki and Aaron Ames

Plenary: Lydia Kavraki

20 Years of Sampling Robot Motion

Coffee Break


Session 6: Grasping

11:15 Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology
Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz and Ken Goldberg
11:30 Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search *
Hallel A. Bunis, Elon D. Rimon, Thomas F. Allen and Joel W. Burdick
11:45 On the Distinction between Active and Passive Reaction in Grasp Stability Analysis
Maximilian Haas Heger, Garud Iyengar and Matei Ciocarlie
12:00 Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces
Yifan Hou, Zhenzhong Jia, Aaron Johnson and Matthew Mason
12:15 Re-configuring knots to simplify manipulation
Weifu Wang and Devin Balkcom



Session 7: Exact and Approximate Planning

1:30 Continuous Pseudoinversion of a Multivariate Function: Application to Global Redundancy Resolution *
Kris Hauser
1:45 A Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning
Brian Paden and Emilio Frazzoli
2:00 Asymptotically optimal planning under piecewise-analytic constraints
William Vega-Brown and Nicholas Roy
2:15 Decidability of Semi-Holonomic Prehensile Task and Motion Planning
Ashwin Deshpande, Tomas Lozano-Perez and Leslie Kaelbling
2:30 Exact and Approximation Algorithms for Time-Window TSP and Prize Collecting Problem
Su Jia, Jie Gao, Joseph Mitchell and Lu Zhao
2:45 Resolution-Exact Planner for Thick Non-Crossing 2-Link Robots
Chee Yap, Ching-Hsiang Hsu and Zhongdi Luo

Coffee Break


Plenary: John Canny

A Guided Tour of Computer Vision, Robotics, Algebra, and HCI

Open Problem Session



Tuesday, Dec. 20


Session 8: Planning Methods and Tools

8:30 Fast and Bounded Probabilistic Collision Detection for High-DOF Robots in Dynamic Environments
Chonhyon Park, Jae Sung Park and Dinesh Manocha
8:45 Efficient nearest neighbor search for dynamical systems with nonholonomic constraints
Valerio Varricchio, Brian Alexander Paden, Dmitry Yershov and Emilio Frazzoli
9:00 Collision detection or nearest-neighbor search? On the computational bottleneck in sampling-based motion planning
Michal Kleinbort, Oren Salzman and Dan Halperin
9:15 Dynamic Region-biased Rapidly-exploring Random Trees
Jory Denny, Read Sandstrom, Andrew Bregger and Nancy Amato
9:30 Motion Planning for Reconfigurable Mobile Robots Using Hierarchical Fast Marching Trees
William Reid, Robert Fitch, Ali Haydar Goktogan and Salah Sukkarieh

Plenary: Dan Halperin

From Piano Movers to Piano Printers: Computing and Using Minkowski Sums

Coffee Break


Session 9: Robot Learning

11:15 SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards
Sanjay Krishnan, Garg, Liaw, Thananjeyan, Pokorny, Miller and Ken Goldberg
11:30 Adapting Deep Visuomotor Representations with Weak Pairwise Constraints
Eric Tzeng, Coline Devin, Judy Hoffman, Chelsea Finn, Pieter Abbeel, Sergey Levine, Kate Saenko and Trevor Darrell
11:45 Bandit-Based Model Selection for Deformable Object Manipulation
Dale McConachie and Dmitry Berenson
12:00 Matrix Completion as a Post-Processing Technique for Probabilistic Roadmaps
Joel Esposito and John Wright
12:15 Persistent Surveillance of Transient Events with Unknown Statistics
Cenk Baykal, Guy Rosman, Kyle Kotowick, Mark Donahue and Daniela Rus



Session 10: Robust Manipulation and Assembly

1:30 Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty
Calder Phillips-Grafflin and Dmitry Berenson
1:45 Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael C. Koval, David Hsu, Nancy S. Pollard and Siddhartha S. Srinivasa
2:00 On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions
Brahayam Ponton, Stefan Schaal and Ludovic Righetti
2:15 Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics
Francois Hogan and Alberto Rodriguez
2:30 Assembling and disassembling planar structures with divisible and atomic components
Yinan Zhang, Emily Whiting and Devin Balkcom

Coffee Break


Session 11: Multi-robot Systems

3:15 A BCMP Network Approach to Modeling and Controlling Autonomous Mobility-on-Demand Systems
Ramon Iglesias, Federico Rossi, Rick Zhang and Marco Pavone
3:30 Optimal Policies for Platooning and Ride Sharing in Autonomy-Enabled Transportation
Aviv Adler, David Miculescu and Sertac Karaman
3:45 Decentralised Monte Carlo Tree Search for Active Perception
Graeme Best, Timothy Patten, Oliver Cliff, Ramgopal Mettu and Robert Fitch
4:00 Decentralized Multi-Agent Navigation Planning with Braids
Christoforos Mavrogiannis and Ross Knepper
4:15 A Geometric Approach for Multi-Robot Exploration in Orthogonal Polygons
Aravind Preshant Premkumar, Kevin Yu and Pratap Tokekar
4:30 Assignment Algorithms for Variable Robot Formations
Srinivas Akella

* Best paper award nominee