ACRA 2000

Australian Conference on Robotics and Automation 2000

Ray Jarvis & Lindsay Kleeman (Conference Chairs)

August 30 – September 1, 2000
Melbourne, Australia
ISBN 0732621410

All full papers submitted to ACRA 2000 will undergo a peer-review process. Each manuscript will be reviewed by at least two reviewers who will give detailed comments. If the submission is accepted, the authors will submit a revised (“camera-ready”) version that takes into account this feedback. The review process is managed by the program chair of the conference.

All papers are reviewed using a single-blind review process: authors declare their names and affiliations in the manuscript for the reviewers to see, but reviewers do not know each other’s identities, nor do the authors receive information about who has reviewed their manuscript.

Welcome to ACRA 2000

ACRA 2000 is different from previous National Robotics Conferences held in Australia in at least three ways. First, there has been a deliberate timing and location plan to have the PRICAI (Pacific Rim International Conference on Artificial Intelligence) 2000 conference and ACRA 2000 run together in recognition of the overlap .between the two represented research communities. Delegates to either conference will be able to mingle in the tea and lunch breaks. Secondly, Robocup 2000 is being held in Melbourne in the same week as ACRA 2000 and PRIeAI 2000 giving delegates to either conference the opportunity to follow the competition, with the finals expected on Sunday, 3rd of September. Finally, the set of papers selected for presentation at ACRA 2000 illustrate an incredible diversity of application domains and includes research on aircraft, submersibles, road vehicles and construction machines; also represented are a great variety of sensing modalities, including vision, tactile sensing, ultrasonics and radar. This richness of the field as represented in our conference should be celebrated, since it points to a promising future for related applications which have a place in all modem technologically mature societies. Let’s hope that some ofthese can be realised in Australia rather than migrating overseas looking for commercialisation opportunities.

All papers except the invited keynote presentations have been fully peer reviewed either as full papers or in extended abstract fonn as indicated in the contents.

Particular thanks to the staff of the Monash Conference Management Office for their support in organising this conference.

Ray Jarvis
Program Chair

Organisation

Sponsoring Organisations

Australian Robotics and Automation Association Inc.
Monash University

Co-Chairs

Ray Jarvis
Lindsay Kleeman

Programme Committee

Ray Jarvis (Chairman) Lindsay Kleeman (Vice-chairman) Andy Russel
David Suter Andrew Price

Table of Contents

Abstract of Keynote Speakers

Monte Carlo Aglforithms for Mobile Robot Navigation
Sebastian Thrun CARNEGIE MELLON UNIVERSITY
Towards Soft and Intelligent Humanoid
Hirochika Inoue UNIVERSITY OF TOKYO
State of Play in RoboCup Soccer
Hiroaki Kitano SONY RESEARCH LAB

Mobile Robots

Autonomous Battery Recharging for Indoor Mobile Robots
S. Oh, A. Zelinsky, K. Taylor AUS
An Exploration Algorithm for Autonomous Mobile Robots
G. Baker, A. Howard AUS
Motion Control for Fast Mobile Robots: A Trajectory-based Approach – (extended abstract review)
A. Howard, A. Blair, D. Walter, E. Kazmierczak AUS
Probabilistic 2D Mapping of Unstructured Environments – (extended abstract review)
J. Leal, S. Scheding, G. Dissanayake AUS
Sensor Fusion and Map Building for Underwater Navigation – (extended abstract review)
S.Majumder, S. Scheding, H. Durrant-Whyte AUS

Humanoid

Automatic Extraction of Lip Feature Points
R. Goecke, J. B. Millar, A. Zelinsky, J. Robert-Ribes AUS
A 3D Head Tracker for an Automatic Lipreading System
G. Loy, E-J. Holden, R. Owens AUS
A ‘Centre of Disparity’ Based Robotic Gaze and Grasp Reflex Mechanism – (extended abstract review)
R. Jarvis AUS

Aerial

System Design for a Small Autonomous Helicopter – (extended abstract review)
J. Roberts, P. Sikka, L. Overs AUS
Height Estimation for an Autonomous Helicopter – (extended abstract review)
P.I. Corke, P. Sikka, J. Roberts AUS
A Millimetre Wave Radar Sensor for Autonomous Navigation & Landing – (extended abstract review)
G. Brooker, T. Carter AUS
Flight Control Using an Artificial Neural Network
G. Wyeth, G. Buskey, J. Roberts AUS

Sensing

Tactile Vision – Development of a Wearable Prosthesis for the Blind – (extended abstract review)
M. Gonda, R. Jarvis AUS
A Robot Scorpion Using Ground Vibrations for Navigation
A. Wallander, R. A. Russell AUS, K. Hyyppae SWEDEN
A Sonar Sensor with Random Double Pulse Coding
A. Heale, L Kleeman AUS
Using Volatile Chemicals to Help Locate Targets in Complex Environments
R. A. Russell, L. Kleeman, S. Kennedy AUS
Object Recognition by a ‘Smart’ Tactile Sensor
R. A. Russell AUS

Underwater

A State Estimation System for an Autonomous Underwater Vehicle
J. Cvetanovski, S. Abdallah, T. Brindmead, D. Wettergreen, A. Zelinsky AUS
Development of Autonomous Underwater Vehicle towards Visual Servo Control
G, Silpa-Anan, S. Abdallah AUS, D. Wettergreen AUS
Robust Camera Calibration for an Autonomous Underwater Vehicle
M. Bryant, D. Wettergreen, S. Abdallah, A.Zelinsky AUS

Miscellaneous

Object Recognition Via Attributed Graph Matching
I. Hofman, R Jarvis AUS
Exploration of the Internet Controlled ‘Rent-a-Factory’ Concept
L. Bate, C. Cook AUS
Development of a Large Scale, Tool-Development-Manipultor for Construction Applications
J. O’Brien AUS
An Experimental Tele-Operated Robotic System
P. Lim, S. Sharma, W Friedrich NEW ZEALAND

Vision

Fast, Robust Colour Vision for the Monash Humanoid
A Price, G. Taylor, L. Kleeman AUS
Reinforcement Learning for Visual Servoing of a Mobile Robot
G. Gaskett, L. Fletcher, A. Zelinsky AUS
Tracking with Hybrid-Drive Active Vision
O. Sutherland, S. Rougeaux, S. Abdallah, A. Zelinsky AUS
A Novel Mechanism for Stereo Active Vision
H. Truong, S. Abdallah, S. Rougeaux, A. Zelinsky AUS
Localisation Using Automatically Selected Landmarks from Panoramic Images
S. Thompson, T. Matsui, A. Zelinsky AUS

Vehicles

Intelligent Sensor Based Road Vehicle Driver Assistance
R. Jarvis AUS
Automated Volume Estimation of Haul-Truck Loads – (extended abstract review)
E. Duff AUS
Obstacle Detection for a Mining Vehicle Using a 2D Laser – (extended abstract review)
J. M. Roberts, P. Corke AUS

Control

Stability Control in an Actively-Balanced Bipedal Robot
G. Mann AUS
A Comparative Study of Variable Structure and Model Reference Adaptive Control for Hydraulic Servo Systems
A. Bonchis, D. G. Rye, P. I. Corke AUS
Theory and Experiment of Decentralized Nonlinear and Adaptive Control of Robot Arms
M. Liu AUS
Friction Torques Estimation and Compensation for Robot Arms
N. H. Quach, M. Liu AUS
Distributed Digital Control of a Robot Arm
G. Wyeth, J. Kennedy, J. Lillywhite AUS

Index of Authors

Author Papers
Abdallah, S A State Estimation System for an Autonomous Underwater Vehicle,
Development of Autonomous Underwater Vehicle towards Visual Servo Control,
Robust Camera Calibration for an Autonomous Underwater Vehicle,
Tracking with Hybrid-Drive Active Vision,
A Novel Mechanism for Stereo Active Vision
Baker, G An Exploration Algorithm for Autonomous Mobile Robots
Bate, L Exploration of the Internet Controlled ‘Rent-a-Factory’ Concept
Blair, A Motion Control for Fast Mobile Robots: A Trajectory-based Approach
Bonchis, A A Comparative Study of Variable Structure and Model Reference Adaptive Control for Hydraulic Servo Systems
Brindmead, T A State Estimation System for an Autonomous Underwater Vehicle
Brooker, G A Millimetre Wave Radar Sensor for Autonomous Navigation & Landing
Bryant, M Robust Camera Calibration for an Autonomous Underwater Vehicle
Buskey, G Flight Control Using an Artificial Neural Network
Carter, T A Millimetre Wave Radar Sensor for Autonomous Navigation & Landing
Cook, C Exploration of the Internet Controlled ‘Rent-a-Factory’ Concept
Corke, P A Comparative Study of Variable Structure and Model Reference Adaptive Control for Hydraulic Servo Systems,
Height Estimation for an Autonomous Helicopter,
Obstacle Detection for a Mining Vehicle Using a 2D Laser
Cvetanovski, J A State Estimation System for an Autonomous Underwater Vehicle
Dissanayake, G Probabilistic 2D Mapping of Unstructured Environments
Duff, E Automated Volume Estimation of Haul-Truck Loads
Durrant-Whyte, H Sensor Fusion and Map Building for Underwater Navigation
Fletcher, L Reinforcement Learning for Visual Servoing of a Mobile Robot
Friedrich, W An Experimental Tele-Operated Robotic System
Gaskett, C Reinforcement Learning for Visual Servoing of a Mobile Robot
Goecke, R Automatic Extraction of Lip Feature Points
Gonda, M Tactile Vision – Development of a Wearable Prosthesis for the Blind
Heale, A A Sonar Sensor with Random Double Pulse Coding
Hofman, I Object Recognition Via Attributed Graph Matching
Holden, E-J A 3D Head Tracker for an Automatic Lipreading System
Howard, A An Exploration Algorithm for Autonomous Mobile Robots,
Motion Control for Fast Mobile Robots: A Trajectory-based Approach
Hyyppae, K A Robot Scorpion Using Ground Vibrations for Navigation
Jarvis, R A ‘Centre of Disparity’ Based Robotic Gaze and Grasp Reflex Mechanism,
Intelligent Sensor Based Road Vehicle Driver Assistance,
Object Recognition Via Attributed Graph Matching,
Tactile Vision – Development of a Wearable Prosthesis for the Blind
Kazmierczak, E Motion Control for Fast Mobile Robots: A Trajectory-based Approach
Kennedy, J Distributed Digital Control of a Robot Arm
Kennedy, S Using Volatile Chemicals to Help Locate Targets in Complex Environments
Kleeman, L A Sonar Sensor with Random Double Pulse Coding,
Fast, Robust Colour Vision for the Monash Humanoid,
Using Volatile Chemicals to Help Locate Targets in Complex Environments
Leal, J Probabilistic 2D Mapping of Unstructured Environments
Lillywhite, J Distributed Digital Control of a Robot Arm
Lim, P An Experimental Tele-Operated Robotic System
Liu, M Friction Torques Estimation and Compensation for Robot Arms,
Theory and Experiment of Decentralized Nonlinear and Adaptive Control of Robot Arms
Loy, G A 3D Head Tracker for an Automatic Lipreading System
Majumder, S Sensor Fusion and Map Building for Underwater Navigation
Mann, G Stability Control in an Actively-Balanced Bipedal Robot
Matsui, T Localisation Using Automatically Selected Landmarks from Panoramic Images
Millar, J B Automatic Extraction of Lip Feature Points
O’Brien, J Development of a Large Scale, Tool-Development-Manipultor for Construction Applications
Oh, S Autonomous Battery Recharging for Indoor Mobile Robots
Overs, L System Design for a Small Autonomous Helicopter
Owens, R A 3D Head Tracker for an Automatic Lipreading System
Price, A Fast, Robust Colour Vision for the Monash Humanoid
Quach, N H Friction Torques Estimation and Compensation for Robot Arms
Robert-Ribes, J Automatic Extraction of Lip Feature Points
Roberts, J Flight Control Using an Artificial Neural Network,
Height Estimation for an Autonomous Helicopter,
Obstacle Detection for a Mining Vehicle Using a 2D Laser,
System Design for a Small Autonomous Helicopter
Rougeaux, S A Novel Mechanism for Stereo Active Vision,
Tracking with Hybrid-Drive Active Vision
Russell, R A A Robot Scorpion Using Ground Vibrations for Navigation,
Object Recognition by a ‘Smart’ Tactile Sensor,
Using Volatile Chemicals to Help Locate Targets in Complex Environments
Rye, D C A Comparative Study of Variable Structure and Model Reference Adaptive Control for Hydraulic Servo Systems
Scheding, S Probabilistic 2D Mapping of Unstructured Environments,
Sensor Fusion and Map Building for Underwater Navigation
Sharma, S An Experimental Tele-Operated Robotic System
Sikka, P Height Estimation for an Autonomous Helicopter,
System Design for a Small Autonomous Helicopter
Silpa-Anan, C Development of Autonomous Underwater Vehicle towards Visual Servo Control
Sutherland, O Tracking with Hybrid-Drive Active Vision
Taylor, G Fast, Robust Colour Vision for the Monash Humanoid
Taylor, K Autonomous Battery Recharging for Indoor Mobile Robots
Thompson, s Localisation Using Automatically Selected Landmarks from Panoramic Images
Truong, H A Novel Mechanism for Stereo Active Vision
Wallander, A A Robot Scorpion Using Ground Vibrations for Navigation
Walter, D Motion Control for Fast Mobile Robots: A Trajectory-based Approach
Wettergreen, D A State Estimation System for an Autonomous Underwater Vehicle,
Development of Autonomous Underwater Vehicle towards Visual Servo Control,
Robust Camera Calibration for an Autonomous Underwater Vehicle
Wyeth, G Distributed Digital Control of a Robot Arm,
Flight Control Using an Artificial Neural Network
Zelinsky, A A Novel Mechanism for Stereo Active Vision,
A State Estimation System for an Autonomous Underwater Vehicle,
Automatic Extraction of Lip Feature Points,
Autonomous Battery Recharging for Indoor Mobile Robots,
Localisation Using Automatically Selected Landmarks from Panoramic Images,
Reinforcement Learning for Visual Servoing of a Mobile Robot,
Robust Camera Calibration for an Autonomous Underwater Vehicle,
Tracking with Hybrid-Drive Active Vision

A Sonar Sensor with Random Double Pulse Coding,
Fast, Robust Colour Vision for the Monash Humanoid,
Using Volatile Chemicals to Help Locate Targets in Complex Environments Leal, J Probabilistic 2D Mapping of Unstructured Environments Lillywhite, J Distributed Digital Control of a Robot Arm Lim, P An Experimental Tele-Operated Robotic System Liu, M Friction Torques Estimation and Compensation for Robot Arms,
Theory and Experiment of Decentralized Nonlinear and Adaptive Control of Robot Arms Loy, G A 3D Head Tracker for an Automatic Lipreading System Majumder, S Sensor Fusion and Map Building for Underwater Navigation Mann, G Stability Control in an Actively-Balanced Bipedal Robot Matsui, T Localisation Using Automatically Selected Landmarks from Panoramic Images Millar, J B Automatic Extraction of Lip Feature Points O’Brien, J Development of a Large Scale, Tool-Development-Manipultor for Construction Applications Oh, S Autonomous Battery Recharging for Indoor Mobile Robots Overs, L System Design for a Small Autonomous Helicopter Owens, R A 3D Head Tracker for an Automatic Lipreading System Price, A Fast, Robust Colour Vision for the Monash Humanoid Quach, N H Friction Torques Estimation and Compensation for Robot Arms Robert-Ribes, J Automatic Extraction of Lip Feature Points Roberts, J Flight Control Using an Artificial Neural Network,
Height Estimation for an Autonomous Helicopter,
Obstacle Detection for a Mining Vehicle Using a 2D Laser,
System Design for a Small Autonomous Helicopter Rougeaux, S A Novel Mechanism for Stereo Active Vision,
Tracking with Hybrid-Drive Active Vision Russell, R A A Robot Scorpion Using Ground Vibrations for Navigation,
Object Recognition by a ‘Smart’ Tactile Sensor,
Using Volatile Chemicals to Help Locate Targets in Complex Environments Rye, D C A Comparative Study of Variable Structure and Model Reference Adaptive Control for Hydraulic Servo Systems Scheding, S Probabilistic 2D Mapping of Unstructured Environments,
Sensor Fusion and Map Building for Underwater Navigation Sharma, S An Experimental Tele-Operated Robotic System Sikka, P Height Estimation for an Autonomous Helicopter,
System Design for a Small Autonomous Helicopter Silpa-Anan, C Development of Autonomous Underwater Vehicle towards Visual Servo Control Sutherland, O Tracking with Hybrid-Drive Active Vision Taylor, G Fast, Robust Colour Vision for the Monash Humanoid Taylor, K Autonomous Battery Recharging for Indoor Mobile Robots Thompson, s Localisation Using Automatically Selected Landmarks from Panoramic Images Truong, H A Novel Mechanism for Stereo Active Vision Wallander, A A Robot Scorpion Using Ground Vibrations for Navigation Walter, D Motion Control for Fast Mobile Robots: A Trajectory-based Approach Wettergreen, D A State Estimation System for an Autonomous Underwater Vehicle,
Development of Autonomous Underwater Vehicle towards Visual Servo Control,
Robust Camera Calibration for an Autonomous Underwater Vehicle Wyeth, G Distributed Digital Control of a Robot Arm,
Flight Control Using an Artificial Neural Network Zelinsky, A A Novel Mechanism for Stereo Active Vision,
A State Estimation System for an Autonomous Underwater Vehicle,
Automatic Extraction of Lip Feature Points,
Autonomous Battery Recharging for Indoor Mobile Robots,
Localisation Using Automatically Selected Landmarks from Panoramic Images,
Reinforcement Learning for Visual Servoing of a Mobile Robot,
Robust Camera Calibration for an Autonomous Underwater Vehicle,
Tracking with Hybrid-Drive Active Vision