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Program
Keynote (14:00 - 15:00)
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Prof. Davide
Scaramuzza
University of Zurich
Robotics and Perception
Group
Vision-Controlled Micro Aerial Vehicles: from
"calm" navigation to "aggressive" maneuvers
In the last two years, we have
heard a lot of news about drones, small autonomous flying vehicles.
Flying robots have numerous advantages over ground vehicles: they can
get access to environments where humans cannot get access to and,
furthermore, they have much more agility than any other ground
vehicle. Unfortunately, their dynamics makes them extremely difficult
to control and this is particularly true in GPS-denied environments.
In this talk, I will present challenges and results for both ground
vehicles and flying robots, from localization in GPS-denied
environments to motion estimation. I will show several experiments and
real-world applications where these systems perform successfully and
those where their applications is still limited by the current
technology.
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Time |
Paper |
PDF |
15:00 - 15:45 |
Micro-Aerial Vehicle Swarms |
15:00 - 15:15
| Adaptive Planning for Deployment of Micro-Aerial Sensor
Swarms. Aveek Purohit (Carnegie Mellon University), Stefano Carpin
(University of California Merced), Pei Zhang (Carnegie Mellon
University)
| PDF
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15:15 - 15:30
| On Developing User Interfaces for Piloting Unmanned
Systems. James Edmondson (Carnegie Mellon University), Gene Cahill
(Carnegie Mellon University), Anthony Rowe (Carnegie Mellon
University)
| PDF
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15:30 - 15:45
| Unmanned Aerial Vehicle based flash flood monitoring using
Lagrangian trackers. Mohammed Abdulaal (Mechanical Engineering,
KAUST), Mohammed Algarni (Mechanical Engineering, KAUST), Atif Shamim
(Electrical Engineering, KAUST),Christian Claudel (Electrical
Engineering, KAUST)
| PDF
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15:45 - 16:15 Coffee Break
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16:15 - 17:15 |
Cyber-Physical Systems Challenges |
16:15 - 16:30
| Design and Implementation of a Heterogeneous, Power Efficient
Wireless Sensor Network for Smart Toys. Fiona Edwards Murphy
(University College Cork, Ireland), Michele Magno (Integrated Systems
Laboratory, ETH Zurich, Switzerland), Emanuel Popovici (University
College Cork, Ireland)
| PDF
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16:30 - 16:45
| Efficient Field Coverage in Mobile Sensor Networks: A CPS
Perspective. Hamid Mahboubi (Concordia University), Amir G. Aghdam
(Concordia University), Kamran Sayrafian (NIST)
| PDF
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16:45 - 17:00
| Target Coverage Heuristics Using Mobile Cameras. Azin
Neishaboori (Qatar University, Carnegie Mellon University
Qatar), Ahmed Saeed (Qatar University, Carnegie Mellon
University Qatar), Amr Mohamed (Qatar University), Khaled Harras
(Carnegie Mellon University Qatar)
| PDF
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17:00 - 17:15
| Adaptive Synchronization of Robotic Sensor Networks. Kasim
Sinan Yildirim (Ege University), Onder Gurcan (The French Alternative
Energies and Atomic Energy Commission (CEA) Systems and Technologies
Integraton Laboratory (LIST)
| PDF
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17:15 - 17:30 Break
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17:30 - 18:30 |
Coordination |
17:30 - 17:45
| RiverSwarm: Topology-Aware Distributed Planning for Obstacle
Encirclement in Connected Robotic Swarms. Pradipta Ghosh (University
of Southern California), Jie Gao (Computer Science, Stony Brook
University), Andrea Gasparri (Universita degli studi "Roma Tre"),
Bhaskar Krishnamachari (University of Southern California)
| PDF
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17:45 - 18:00
| Patrolling a Region with a Structured Swarm of Robots with
Limited Individual Capabilities. Sandor P. Fekete (TU Braunschweig),
Seoung Kyou Lee (Rice University), Alejandro Lopez-Ortiz (University
of Waterloo), Daniela Maftuleac (University of Waterloo), James
McLurkin (Rice University)
| PDF
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18:00 - 18:15
| Distributed Sensing in a Robotic Soccer Team. Stefan Niemczyk
(University of Kassel), Dominik Kirchner (University of Kassel),
Andreas Witsch (University of Kassel), Stephan Opfer (University of
Kassel), Kurt Geihs (University of Kassel)
| PDF
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18:15 - 18:30
| jSwarm: Distributed Coordination in Robot Swarms. Daniel
Graff (Technische Universitat Berlin), Jan Richling (Technische
Universitat Berlin), Matthias Werner (Chemnitz, University of
Technology)
| PDF
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Call For Papers
Recent developments in sensing and actuation
technology, along with the miniaturization of computing and
communication, have led to the development of commodity robot
technology such as hobby drones and robot toolkits. These platforms
are bringing sensing and actuation at places where traditional
technology does not reach; for example, for aerial pollution
monitoring or for disaster management in remote areas.
This novel class of cyber-physical systems (CPS)
take many of the design, implementation, and validation issues of
traditional CPSs to an extreme. Control, sensing, estimation, and
algorithms for localization, mapping, navigation, and exploration of
individual robots are needed to govern their movements. The timing
aspects of vehicle operation are key to provide run-time guarantees
about performance. The software design and implementation must lead to
provably correct execution. Noisy or inaccurate information sensed by
the robots must be properly handled to ensure an accurate
understanding of the environment.
Research efforts to address the issues above, while
related, have previously progressed independently with little
cross-fertilization across diverse disciplines such as robotics,
real-time systems, signal processing, and software development. The
goal of this workshop is to create a platform where researchers from
different communities can get together to better understand the latest
developments in these related fields as well as to establish
connections for future interdisciplinary work. The workshop intends to
provide a platform to enable such cross-fertilization, to ultimately
speed up the development of the field and to foster rich
interdisciplinary work in the future. Particularly, co-location with
the Cyber-Physical Systems week will be an
asset in this regard. CPSWEEK is the premiere CPS event that brings
together five top conferences from complementary areas such as
Embedded Systems, Real-time Systems, Sensor Networks, Hybrid Systems,
and Networked Systems.
To build the needed interdisciplinary work
ultimately necessary to the development of the field, the workshop
seeks technical contributions describing original, previously
unpublished results in all topics related to the design of robotic sensor
networks, including works across two or more of the following topic
areas:
- Programming of robot swarms
- Low-power communication in robot networks
- Sensing coverage using robotic swarms
- Task allocation
- Distributed sensing
- Coordination in robotic swarms
- Verification and validation
- Distributed planning and navigation
- Novel applications
- Experience reports
Submission Guidelines We invite to submit short papers in
PDF format, of at most 4 pages in length including figures, tables,
and references, in two-column format, and using a minimum of 10-pt
font. The following templates provide a paper format already compliant
with these requirements:
Latex
Word (after 2003)
Word 2003 compatible
Submission site: http://rsn14.sv.cmu.edu/
Deadlines
Submission deadline: Feb 14, 2014. Feb 21, 2014. (extended)
Notifications : Mar 5, 2014.
Workshop : Apr 14, 2014, at 2pm.
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Workshop Organizers
Karthik Dantu, University at Buffalo
Luca Mottola, Politecnico di Milano and SICS Swedish ICT
Pei Zhang, Carnegie Mellon University
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Program Committee
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