ACRA 2005

Australasian Conference on Robotics and Automation

Claude Sammut (ed)

December 5 – 7, 2005
Sydney, Australia
ISBN 0-9587583-7-9

All full papers submitted to ACRA 2005 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 2005.

The 2005 Australian Conference on Robotics and Automation (ACRA 2005) was held at the University of New South Wales in Sydney. ACRA 2005 continues a tradition of bringing together the Australian robotics community in an annual event to discuss and to celebrate progress in robotics research.

Australia is home to a vibrant and internationally prominent community of robotics researchers. As the national conference, ACRA brings together the best of this community in an informal setting to present and to discuss new and current work. The conference particularly encourages the interaction of research students and developing academics with the more established community. ACRA continues to play an essential role in introducing and fostering new research talent and in advancing the future profile of Australia as an international leader in robotics.

We are pleased to have, as our invited speaker, Professor Henrik I Christensen, the director of the Centre for Autonomous Systems at the Royal Institute of Technology, Stockholm.

We have endeavoured to ensure a balanced programme: maintaining a high standard of quality, while being inclusive of the up and coming students and junior researchers in the Australasian robotics community. The Programme Committee accepted 50 full papers for presentation and publication after a review process in which full manuscripts were reviewed by at least two committee members. The accepted papers were drawn from 61 papers submitted in total. In keeping with recent trends, the primary medium for the proceedings is CD-ROM, and we will be maintaining the proceedings online at the ARAA website.

In addition to the technical paper programme, the programme includes a number of interesting live robotics demonstrations, the Annual General Meeting for the ARAA, and plenty of social opportunities for Australasian and international robotics researchers to network and develop cross-institutional links.

We hope you enjoy your time at the conference and we thank all authors, reviewers and participants for their contributions.

Claude Sammut
ACRA Chair
Sydney, December 2005

on behalf of the Programme Committee


Sponsoring Organisations

Australian Robotics and Automation Association Inc.
The ARC Centre of Excellence for Autonomous Systems
The University of New South Wales


Claude Sammut

Programme Committee

David Austin
Nick Barnes
Glen Bright
Peter Cheeseman
Gamini Dissanayake
Reg Dunlop
Werner Friedrich
Ray Jarvis
Bernhard Hengst
Margaret Jeffries
Waleed Kadous
Bruce MacDonald
Robert Mahony
Phillip McKerrow
Maurice Pagnucco
Jonathan Roberts
Salah Sukkarieh
David Stirling
Jaime Valls Miro
Stefan Williams
Gordon Wyeth

Table of Contents

Invited talk

Beyond Geometric Mapping
Henrik I Christensen

Architectures and Programming

On specifying reactivity in robotics
Geoffrey Biggs & Bruce MacDonald
Player 2.0: Toward a Practical Robot Programming Framework
Toby H. J. Collet, Bruce A. MacDonald & Brian Gerkey
DDXVIDEO: A Lightweight Video Framework for Autonomous Robotic Platforms
Elliot Duff
Framework for the Long-Term Operation of a Mobile Robot via the Internet
Shervin Emami, Gordon Wyeth, Michael J. Milford, David P. Prasser
Development of an Integrated Robotic Programming Environment
Luke Gumbley and Bruce A MacDonald


Predicting Grasp Inertia with a Geometric Model
Gideon Kowadlo, Jason Friedman & Tamar Flash
Passivity-based Control of Robot Manipulators Sub ject to Constraints
Khoi B Ngo & Robert Mahony
Automated Vehicle Stability Control for Articulated Vehicles
Bradley Stevenson & Peter Ridley
Fuzzy Associative Memory for Humanoid Robot Joint Control
Doug Turk, Damien Kee, Chris Myatt & Gordon Wyeth
Motion Analysis for Decentralized Control of N-Module Hyper-Redundant Manipulators
Timothy Vittor & Richard Willgoss


Active Object Discovery for Communicating with Humans
Claire D’Este & Claude Sammut
Applying ISOMAP to the Learning of Hyperspectral Image
X. Rosalind Wang, Suresh Kumar, Tobias Kaupp, Ben Upcroft and Hugh Durrant-Whyte

Localisation and Data Fusion

UAV Localisation & Control Through Computer Vision
William Bath & Jonathan Paxman
Tightly Coupled INS/GPS with Bias Estimation for UAV Applications
Michael George & Salah Sukkarieh
3D Sensing Framework for Outdoor Navigation
Roman Katz, Narek Melkumyan, Jose Guivant, Tim Bailey & Eduardo Nebot
Decentralised Data Fusion with Particles
Lee-Ling Ong, Ben Upcroft, Matthew Ridley, Tim Bailey, Salah Sukkarieh & Hugh Durrant-Whyte
Adaptive Sensing for Localisation of an Autonomous Underwater Vehicle
Paul Rigby & Stefan B. Williams
A Monocular Vision Based Localizer
Zhengzhi Zhang and K. R. S. Kodagoda

Multi-Agent Systems

A Flexible Human-Robot Team Framework for Information Gathering Missions
Shaun Brown, Jake Toh and Salah Sukkarieh
Using political science voting models to determine weightings in multi-objective decision problems
Andrea Abel & Salah Sukkarieh
Controlling formations of multiple mobile robots with inter-robot collision avoidance
H.M. Ha, A.D. Nguyen & Q.P. Ha
Quantitative Modeling of Multi-Agent Systems
Jason Held & Salah Sukkarieh
Multiple Robot Path Planning Strategies for Bush Fire Fighting
Ray Jarvis & Kai Wing Tang
Control of Contour Formations of Autonomous Vehicles by General Curve Evolution Theory
Shahab Kalantar, Uwe R. Zimmer

Planning and Reasoning

Non-monotonic Reasoning for Localisation in RoboCup
David Billington, Vlad Estivill-Castro, Rene Hexel & Andrew Rock
Pursuit Games in Obstacle Strewn Fields Using Distance Transforms
Ray Jarvis & Mohamed Marzouqi
Integration of Planning and Control in Robotic Formations
V.T. Ngo, A.D. Nguyen & Q.P. Ha
Path planning for a Parking Assistance System: Implementation and Experimentation
C. Pradalier, S. Vaussier & P. Corke


Advanced Airflow Modelling Using Naive Physics for Odour Localisation
Gideon Kowadlo & R. Andrew Russell
Congregation Behaviour in a Robot Swarm Using Pheromone Communication
Anies Hannawati Purnamadjaja & R. Andrew Russell
Robot Communication via Substrate Vibrations
Ari Silvola & R. Andrew Russell
Experiments on the Audio Frequency Response of Shape Memory Alloy Actuators
Yee Harn Teh & Roy Featherstone
Face Recognition with CTFM Sonar
Kok Kai Yoong & Phillip McKerrow


Bearing-Only SLAM for an Airborne Vehicle
Mitch Bryson & Salah Sukkarieh
Uncertainty Analysis of a Landmark Initialization Method for Simultaneous Localization and Mapping
Henry Huang, Frederic Maire & Narongdech Keeratipranon
Towards Robust Airborne SLAM in Unknown Wind Environments
Jonghyuk Kim & Salah Sukkarieh
Experience Mapping: Producing Spatially Continuous Environment Representations using RatSLAM
Michael Milford, David Prasser & Gordon Wyeth

Systems and Automation

CASTER: A Robot for Urban Search and Rescue
Mohammed Waleed Kadous, Raymond Ka-Man Sheh & Claude Sammut
Part Tracking, Routing and Scheduling of Products for Mass Customization
Priyen Naidu, Glen Bright & O Diegel
Small-scale Aeroelastic Rotor Simulation, Design and Fabrication
Paul Pounds & Robert Mahony
Fish-Bird: Human-Robot Interaction in a Contemporary Arts Setting
David Rye, Mari Velonaki, Stefan Williams and Steven Scheding
Autonomous Pesticide Spraying Robot for use in a Greenhouse
Philip J. Sammons, Tomonari Furukawa & Andrew Bulgin


Face and Pose Recognition for Robotic Surveillance
Karl B. J. Axnick & Ray Jarvis
Toward Robust Image Detection of Crown-of-Thorns Starfish for Autonomous Population Monitoring
Ryan Clement, Matthew Dunbabin & Gordon Wyeth
Texture and Distinctness Analysis for Natural Feature Extraction
Kai-Ming Kiang, Richard Willgoss & Alan Blair
RDRVision – Learning vision recognition with Ripple Down Rules
Kim Cuong Pham & Claude Sammut
Fast Global Reflectional Symmetry Detection for Robotic Grasping and Visual Tracking
Wai Ho Li, Alan M. Zhang & Lindsay Kleeman
Fast Posture and Ob ject Recognition using Symmetries
Nathan Lovell
Obstacle Detection using Optical Flow
Toby Low & Gordon Wyeth
Panoramic Horizon Recognition
David Rawlinson & Ray Jarvis
Is the Sun Too Bright in Queensland? An Approach to Robust Outdoor Colour Beacon Detection
Ashley Tews, Jonathan Robert, Jonathan Roberts & Kane Usher

Index of Authors

Author Papers/Movies
Abel, Andrea abel.pdf
Axnick, Karl axnick.pdf
Bailey, Tim katz.pdfong.pdf
Bath, William bath.pdf
Biggs, Geoffrey biggs.pdf
Billington,David billington.pdf
Blair, Alan kiang.pdf
Bright, Glen naidu.pdf
Brown,Shaun brown.pdf
Bryson, Mitch bryson.pdf
Bulgin,Andrew sammons.pdf
Clement,Ryan clement.pdf
Collet, Toby collet.pdf
Corke, Peter pradalier.pdf
D’Este, Claire deste.pdf
Diegel, O naidu.pdf
Duff, Elliot duff.pdf
Dunbabin,Matthew clement.pdf
Durrant-Whyte,Hugh ong.pdfwang.pdf
Emami,Shervin emami.pdf
Estivill-Castro,Vlad billington.pdf
Featherstone,Roy teh.pdf
Flash, Tamar kowadlo_friedman_flash.pdf
Friedman, Jason kowadlo_friedman_flash.pdf
Furukawa,Tomonari sammons.pdf
George, Michael george.pdf
Gerkey, Brian collet.pdf
Guivant, Jose katz.pdf
Gumbley, Luke gumbley.pdf
Ha, H.M. ha.pdf
HA, Q.P ha.pdfngo_nguyen_ha.pdf
Held, Jason held.pdf
Hexel, Rene billington.pdf
Huang,Henry huang.pdf
Jarvis, Ray axnick.pdfjarvis_marzouqi.pdfjarvis_tang.pdfrawlinson.pdf
Kadous, Waleed kadous.pdf
Kalantar,Shahab kalantar.pdf
Katz, Roman katz.pdf
Kaupp,Tobias wang.pdf
Kee,Damien turk.pdf
Keeratipranon,Narongdech huang.pdf
Kiang, Kai-Ming kiang.pdf
Kim, Cuong Pham kim_sammut.pdf
Kim, Jonghyuk kim_suhkarieh.pdf
Kleeman, Lindsay li.pdf
Kodagoda, K. R. S. zhang.pdf
Kowadlo, Gideon kowadlo_friedman_flash.pdfkowadlo_russell.pdf
Kumar,Suresh wang.pdf
Li, Wai Ho li.pdf
Lovell, Nathan lovell.pdf
Low, Toby low.pdf
MacDonald, Bruce biggs.pdfcollet.pdfgumbley.pdf
Mahony,Robert ngo_mahony.pdfpounds.pdf
Maire,Frederic huang.pdf
Marzouqi,Mohamed jarvis_marzouqi.pdf
McKerrow,Phillip yoong.pdf
Melkumyan,Narek katz.pdf
Milford, Michael emami.pdfmilford.pdf
Myatt,Chris turk.pdf
Naidu,Priyen naidu.pdf
Nebot,Eduardo katz.pdf
Ngo, Khoi B ngo_mahony.pdf
Ngo, V.T. ngo_nguyen_ha.pdf
Nguyen, A.D. ha.pdfngo_nguyen_ha.pdf
Ong, Lee-Ling ong.pdf
Paxman, Jonathan bath.pdf
Pounds,Paul pounds.pdf
Pradalier, C. pradalier.pdf
Prasser, David emami.pdfmilford.pdf
Purnamadjaja, Anies Hannawati purnamadjaja.pdf
Rawlinson,David rawlinson.pdf
Ridley,Matthew ong.pdf
Ridley,Peter stevenson.pdf
Rigby,Paul rigby.pdf
Robert, Jonathan tews.pdf
Roberts,Jonathan tews.pdf
Rock,Andrew billington.pdf
Russell, R. Andrew purnamadjaja.pdfsilvola.pdf
Rye, David rye.pdf
Sammons, Philip sammons.pdf
Sammut, Claude deste.pdfkadous.pdfkim_sammut.pdf
Sheh, Raymond kadous.pdf
Silvola,Ari silvola.pdf
Stevenson,Bradley stevenson.pdf
Sukkarieh,Salah abel.pdfbrown.pdfbryson.pdfgeorge.pdfheld.pdf,kim_suhkarieh.pdfong.pdf
Scheding, Steven rye.pdf
Tang, Kai Wing jarvis_tang.pdf
Teh, Yee Harn teh.pdf
Tews,Ashley tews.pdf
Toh,Jake brown.pdf
Turk,Doug turk.pdf
Upcroft,Ben ong.pdfwang.pdf
Usher,Kane tews.pdf
Vaussier, S. pradalier.pdf
Velonaki, Mari rye.pdf
Vittor,Timothy vittor.pdf
Wang, X. Rosalind wang.pdf
Willgoss, Richard kiang.pdfvittor.pdf
Williams, Stefan rigby.pdfrye.pdf
Wyeth,Gordon clement.pdfemami.pdflow.pdfmilford.pdfturk.pdf
Yoong, Kok Kai yoong.pdf
Zhang, Alan M. li.pdf
Zhang,Zhengzhi zhang.pdf
Zimmer, Uwe kalantar.pdf