Table of Contents

Australasian Conference on Robotics and Automation 2017

ISBN: 978-0-9807404-8-6 ISSN: 1448-2053

Sensing and Control


Steep Terrain Ascension Controller for Hexapod Robots

Alberto Elfes, Navinda Kottege, Thomas Molnar, Ryan Steindl, Fletcher Talbot
mp4

Active Task Design in Adaptive Control of Redundant Robotic Systems

Wenjie Lu, Dikai Liu

A New Manipulability Measure for the Control of CRAM: A Cable-driven Remote Access Manipulator

Ali Haydar Goktogan, Wilhelm Johan Marais

Loop Shaping Design Procedure for Quadrotor Control with Weights Designed by Resolving a Constrained Non-linear Optimization Problem

Jonathan Currie, Joseph Thomas, David Wilson

Student Award(s) Nominee Papers


Quasi-Static Balance of a Bioinspired Robotic-Seagull Ornithopter Perching on a Wire

Yuxin Pan , Ali Haydar Goktogan

Energy-Optimal Kinodynamic Planning for Underwater Gliders in Flow Fields

James Ju Heon Lee, Chanyeol Yoo, Raewyn Hall, Stuart Anstee, Robert Fitch

Simultaneous Optical Flow and Segmentation (SOFAS) using Dynamic Vision Sensor

Timo Stoffregen, Lindsay Kleeman
mp4

Modular Deep Q Networks for Sim-to-real Transfer of Visuo-motor Policies

Fangyi Zhang , Jürgen Leitner , Michael Milford , Peter Corke
mp4

Human Robot Interaction and Systems


Augmented Telepresence for Remote Inspection with Legged Robots

Benjamin Tam, Navinda Kottege, Branislav Kusy
mp4

UoA Robot Manager Framework V2

Seung Ho Lee, Kijong Han, Min Ho Lee, Lukas Vogel, Jong Yoon Lim, Bruce A. MacDonald, Ho Seok Ahn

Effect of External Force and Bimanual Operation on Upper Limb Pose during Human-Robot Collaboration

Richardo Khonasty, Marc Carmichael, Dikai Liu, Stefano Aldini

Upper Body Pose Estimation Utilizing Kinematic Constraints from Physical Human-Robot Interaction

Richardo Khonasty, Marc Carmichael, Dikai Liu, Kenneth J. Waldron

Heart Simulator: A Periodic Pump to Simulate the Cardiac Motion in an Aortic Test-rig

Siyuan Chen , Viet Hung Doan , Liang Zhao

Human User Impressions of Damping Methods for Singularity Handling in Human-Robot Collaboration

Marc G. Carmichael, Stefano Aldini, Dikai Liu

Machine Learning


Learning to Navigate by Growing Deep Networks

Thushan Ganegedara, Lionel Ott, Fabio Ramos
mp4

Auxiliary Tasks To Improve Trip Hazard Affordance Detection On Construction Sites

Sean McMahon, Tong Shen, Niko Sünderhauf, Ian Reid, Chunhua Shen, Michael  Milford

Row Following in Pergola Structured Orchards by a Monocular Camera Using a Fully Convolutional Neural Network

Jamie Bell, Bruce A. MacDonald, Ho Seok Ahn

SLAM


Efficient Active SLAM based on Submap Joining

Yongbo Chen , Shoudong Huang , Robert Fitch , Jianqiao Yu

Sparse Point-Plane SLAM

Mehdi Hosseinzadeh,  Yasir Latif, Ian Reid
mp4

Robust Dense Optical Flow with Uncertainty for Monocular Pose-Graph SLAM

Yonhon Ng, Jonghyuk Kim, Hongdong Li

Vector Distance Function Based Map Representation for Robot Localisation

Janindu Arukgoda, Ravindra Ranasinghe, Lakshitha Dantanarayana, Gamini Dissanayake, Tomonari Furukawa

Perception


Motion States Inference through 3D Shoulder Gait Analysis and Hierarchical Hidden Markov Models

Julien Collart,  Robert Fitch, Alen Alempijevic

Using Planar Point Correspondence to Calibrate Camera Arrays for Light Field Acquisition

Ashley W. Stewart, Donald G. Dansereau
mp4

Fusing Lidar and Semantic Image Information in Octree Maps

Julie Stephany Berrio Perez,  James Robert Ward, Stewart Worrall, Wei Zhou, Eduardo Nebot
mp4

Robotic Vision


Extending Parallax Parameterised Bundle Adjustment to Stereo

Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake

Straightening Sequence-Search for Appearance-Invariant Place Recognition using Robust Motion Estimation

Sourav Garg, Michael Milford

Image Rejection and Match Verification to Improve Surface-Based Localization

James Mount, Michael Milford
mp4

Enhancing Underground Visual Place Recognition with Shannon Entropy Saliency

Fan Zeng, Adam Jacobson, David Smith, Nigel Boswell, Thierry Peynot, Michael J. Milford

Path Planning


Path planning for autonomous bulldozers

Masami Hirayama, Jose Guivant, Jayantha Katupitiya, Mark Whitty

A Distributed Search Algorithm for Multiple Robots with Collision Avoidance

Xiaotian Yang

The collision avoidance control algorithm of the UAV formation flight

Jialong Zhang

Insect Level Intelligence is Sufficient to Move Furniture

Bimal Prakash Sharma, Frederic Maire
mp4

Sensing and Control


Contactless Position Sensing and Control of Pneumatic Cylinders using a Hall Effect Sensor Array

Tim Hojnik, Paul Flick, Jonathan Roberts

Optimal Sensing Geometry for Pseudorange and Bearing-Elevation Observations

Jonghyuk Kim, Weikun Chen

Design and Control of CRAM: A Highly Articulated Cable-driven Remote Access Manipulator for Confined Space Inspection

Wilhelm Johan Marais, Ali Haydar Goktogan

Robust Heterogeneous Multi-Robot Task Allocation for Low-Intelligence Agents

Nick Sullivan, Steven Grainger, Ben Cazzolato

A Survey on Inverse Dynamics Solvers for Cable-Driven Parallel Robots

Yin Pok Chan,  Jonathan Eden, Darwin La, Denny Oetomo
Reasoning about natural language phrases for semantic goal driven exploration
Ben Talbot, Ruth Schulz, Ben Upcroft, Gordon Wyeth
A Real-Time Vision-Based method to overlay Medical Imaging Data onto a moving patient
Matthew Lanaro, Jonathan Roberts, Peter Corke
mp4

ISBN: 978-0-9807404-8-6 ISSN: 1448-2053