ACRA 2011

Australasian Conference on Robotics and Automation 2011

Tom Drummond (General Chair) and Wai Ho Li (Program Chair)

7-9 December, 2011
Melbourne, Australia
ISBN 978-0-9807404-2-4

All full papers submitted to ACRA 2011 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 2011 at Monash University

Monash University is delighted to to host the Australasian Conference on Robotics and Automation, having last hosted the conference in 2000. We have an exceptional program of technical presentations across a wide spectrum of robotics. The submissions were subjected to a rigorous peer review process, with each full paper reviewed by at least three members of the 38 member program committee. A total of 49 full papers were accepted for presentation and publication from Australia, New Zealand, Europe and the USA. Five papers have also been shortlisted for the Best Student Paper prize. Judging will take place during the conference and will be based on the written paper and presentation. The winner will be announced at the conference banquet.

As with ACRA 2011, the proceedings will be made available to the conference attendees on a USB memory stick. As with previous years the ACRA proceedings are freely published online at the ARAA website to promote wide dissemination of the research and this results in high citations of papers.

In addition to the schedule of technical papers, the programme also includes the Annual General Meeting for the ARAA, lab tours of the Department of Electrical and Computer Systems Engineering at Monash University including robotics and computer vision demonstrations and multiple social events. There will be plenty of opportunities for Australasian and International robotics researchers to learn, share and network. We look forward to three days of interesting presentations and insightful discussions.

The ACRA 2011 Organising Committee,

Tom Drummond (General Chair)
Wai Ho Li (Program Chair)
Lindsay Kleeman (Local Chair)
Andy Russell (Local Chair)

Organisation

Sponsoring Organisations

Australian Robotics and Automation Association Inc.
Monash University

General Chair

Tom Drummond
Monash University

Program Chair

Wai Ho Li
Monash University

Local Chairs

Andy Russell and Lindsay Kleeman
Monash University

Programme Committee

David Ball
Nick Barnes
John Billingsley
Graham Brooker
Dale Carnegie
XiaoQi Chen
Peter Corke
Gamini Dissanayake
Matthew Dunbabin
Roy Featherstone
Robert Fitch
Matthew Garratt
Ben Upcroft
Jose Guivant
Quang Ha
Shoudong Huang
Jay Katupitiya
Sarath Kodagoda
Dikai Liu
Christopher Hollitt
Tien-Fu Lu
Wen Lik Dennis Lui
Bruce MacDonald
Robert Mahony
Gordon Wyeth
Will Browne
Michael Milford
Karol Miller
Jaime Valls Miro
Maurice Pagnucco
Thierry Peynot
Jonathan Roberts
Damien Browne
Mandyam Srinivasan
Karl Stol
James Underwood
Ljubo Vlacic
Stefan Williams

Table of Contents

Multiple Sensor Based Terrain Classification
Shifeng Wang(University of Technoloty, Sydney), Sarath Kodagoda(University of Technoloty, Sydney), Zhan Wang(University of Technoloty, Sydney), Gamini Dissanayake(University of Technoloty, Sydney),

RGB-D Sensing

**Best student paper**
Visual Localisation of a Robot with an external RGBD Sensor

Winston M. S. Yii(Monash University), Nalika Damayanthi(Monash University), Tom Drummond(Monash University), Wai Ho Li(Monash University),
Movie
Streaming Kinect Data for Robot Teleoperation
Stephen Cossell(UNSW), Mark Whitty(UNSW), Jose Guivant(UNSW),
Outdoor Ride: Data Fusion of a 3D Kinect Camera installed in a Bicycle.
Alicia Robledo(UNSW), Stephen Cossell(UNSW), Jose Guivant(UNSW),
Fast Indoor Scene Classification Using 3D Point Clouds
Lei Shi(University of Technology, Sydney), Sarath Kodagoda(University of Technology, Sydney), Ravindra Ranasinghe(University of Technology, Sydney),
A lightweight approach to 6-DOF plane-based egomotion estimation using inverse depth
Titus Jia Jie Tang(Monash University), Wen Lik Dennis Lui(Monash University), Wai Ho Li(Monash University),
Movie

Human Robot Interaction and Assistive Robotics

A Real-time FPGA-based Vision System for a Bionic Eye
Horace Josh(Monash University), Benedict Yong(Monash University), Lindsay Kleeman(Monash University),
Movie
Multimodal Interaction System for a Household Assistive Robot
Zhi Li(Monash University), Ray Jarvis(Monash University),
Assistive Rehabilitation Robotic Glove
Eloise Matheson(Australian Centre for Field Robotics), Graham Brooker(Australian Centre for Field Robotics),
End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot
Chandan Datta(University of Auckland), Hong Yul Yang(University of Auckland), Priyesh Tiwari(University of Auckland), I. Han Kuo(University of Auckland), Bruce A. MacDonald(University of Auckland),
Intelligent Precision Control for Haptic Microrobotic Cell Injection System
Ali Ghanbari(University of Canterbury), XiaoQi Chen(University of Canterbury), Wenhui Wang(University of Canterbury),

Control of Unmanned Aerial Vehicles

Control of Hover for a Micro-Air-Vehicle using a Visual Snapshot
Matthew A. Garratt([email protected]), Andrew J. Lambert([email protected]), Hamid Teimoori Sangani([email protected]),
A Time-Domain Grey-Box System Identification Procedure for Scale-Model Helicopters
Wei Yuan(UNSW), Jay Katupitiya(UNSW),
A Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
Richard James Donald Moore(University of Queensland), Saul Thurrowgood(University of Queensland), Dean Soccol(University of Queensland), Daniel Bland(University of Queensland), Mandyam V. Srinivasan(University of Queensland),
Movie
Virtual Odometer for a Quadrotor Micro Aerial Vehicle
Dinuka Abeywardena(University of Technology, Sydney), Sarath Kodagoda(University of Technology, Sydney), Rohan Munasinghe(University of Moratuwa, Sri Lanka), Gamini Dissanayake(University of Technology, Sydney),

Control and Mechanisms

Design of an Integrated Electronic Speed Controller for Compact Robotic Vehicles
Benjamin Tefay(University of Queensland), Bazle Eizad(University of Queensland), Peter Crosthwaite(University of Queensland), Surya Singh(University of Queensland), Adam Postula(University of Queensland),
Investigating the use of Magneto-Rheological Fluid in an Active Compliant Actuator for a Stroke Rehabilitation System
Abigail Rajendran(Victoria University Wellington), Christopher Hollitt(Victoria University Wellington), Will N. Browne(Victoria University Wellington),
Controlled Drift: An Investigation into the Controllability of Underwater Vehicles with Minimal Actuation
Ryan N. Smith(Queensland University of Technology), Matthew Dunbabin(CSIRO ICT Centre, QCAT),
Learning Multidimensional Joint Control of a Robot using Receding Horizon Locally Weighted Regression
Christopher Lehnert(QUT), Gordon Wyeth(QUT),
Modeling, simulation and control of an electric diwheel
Benjamin Davis(The University of Adelaide), Benjamin Cazzolato(The University of Adelaide), Jonathon Harvey(The University of Adelaide), Chris Dyer(The University of Adelaide), Kane Fulton(The University of Adelaide), Evan Schumann(The University of Adelaide), Tao Zhu(The University of Adelaide), Zebb Prime(The University of Adelaide), Samuel Hart(The University of Adelaide), Erin Pearce(The University of Adelaide), Jonathon Atterton(The University of Adelaide),
Movie

Computer Vision

A system for reliable text recognition in an industrial environment
Evelyne G. Markey(CSIRO), Ashley D. Tews(CSIRO),
Movie
Feature Segmentation for Object Recognition Using Robot Manipulation
Oleg Sushkov(University of New South Wales), Claude Sammut(University of New South Wales),
Movie
Covert Behaviour Detection in a Collaborative Surveillance System
Punarjay Chakravarty(NICTA), David Rawlinson(NICTA), Ray Jarvis(Monash University),
Movie
Image-Based Visual Servoing for the Super-Orbital Re-Entry of Hayabusa Spacecraft
Razmi Khan(University of Queensland), Troy Eichmann(University of Queensland), David Buttsworth(University of Southern Queensland), Ben Upcroft(University of Queensland),
Experimental VGR for 3D Object Tracking and Contour Following
Chee Kit Wong(Industrial Research Limited), Patrick P.K. Lim(Industrial Research Limited),
Movie

Bio-inspired Robots and Novel Mechanisms

A Rat in the Browser
Scott Heath(The University of Queensland), Angus Cummings(The University of Queensland), Janet Wiles(The University of Queensland), David Ball(The University of Queensland),
eBug – An Open Robotics Platform for Teaching and Research
Nicholas D’Ademo(Monash University), Wen Lik Dennis Lui(Monash University), Wai Ho Li(Monash University), Y. Ahmet Sekercioglu(Monash University), Tom Drummond(Monash University),
Movie
Disturbance and Failure Classification in Walking Robots
Gustavo Schleyer(Monash University), R. Andrew Russell(Monash University),
An agile burrowing robot for underground chemical source location
R. Andrew Russell(Monash University),
Coordinate arbitrary Magnetic Field Control System for driving an Externally Powered and Geared Endoscopy Capsule Motor
Gavin Kane(Karlsruhe Institute for Technology), Henrik Keller(Karlsruhe Institute for Technology), Heinz Woern(Karlsruhe Institute for Technology), Joerg Raczkowsky(Karlsruhe Institute for Technology),

Index of Authors

Author Papers
Abeywardena, Dinuka
Virtual Odometer for a Quadrotor Micro Aerial Vehicle
Abuhashim, Tariq
First Airborne Trial of a UAV Based Optical Locust Tracker
Atterton, Jonathon
Modeling, simulation and control of an electric diwheel
Attia, Muhammad Esa
First Airborne Trial of a UAV Based Optical Locust Tracker
Audras, Cédric
Real-time dense appearance-based SLAM for RGB-D sensors
Ball, David
A Rat in the Browser
Barca, Jan Carlo
Generating Formations with a Template based Multi-Robot System
Bland, Daniel
A Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
Brooker, Graham
Assistive Rehabilitation Robotic GloveFirst Airborne Trial of a UAV Based Optical Locust Tracker
Browne, Will N.
Investigating the use of Magneto-Rheological Fluid in an Active Compliant Actuator for a Stroke Rehabilitation System
Buttsworth, David
Image-Based Visual Servoing for the Super-Orbital Re-Entry of Hayabusa Spacecraft
Cameron, Stephen
Using Mobile Relays in Multi-Robot Exploration
Cazzolato, Benjamin
Modeling, simulation and control of an electric diwheel
Chakravarty, Punarjay
Covert Behaviour Detection in a Collaborative Surveillance System
Chen, XiaoQi
Intelligent Precision Control for Haptic Microrobotic Cell Injection System
Chung, Jen Jen
First Airborne Trial of a UAV Based Optical Locust Tracker
Comport, Andrew Ian
Real-time dense appearance-based SLAM for RGB-D sensors
Corke, Peter
Estimation and Control for an Open-Source QuadcopterAutonomous Aerial Navigation and Tracking of Marine AnimalsPath Planning Using Surface Shape and Ground Properties
Cossell, Stephen
Streaming Kinect Data for Robot TeleoperationOutdoor Ride: Data Fusion of a 3D Kinect Camera installed in a Bicycle.
Crosthwaite, Peter
Design of an Integrated Electronic Speed Controller for Compact Robotic Vehicles
Cummings, Angus
A Rat in the Browser
D’Ademo, Nicholas
eBug – An Open Robotics Platform for Teaching and Research
Damayanthi, Nalika
Visual Localisation of a Robot with an external RGBD Sensor
Datta, Chandan
End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot
Davis, Benjamin
Modeling, simulation and control of an electric diwheel
de Hoog, Julian
Using Mobile Relays in Multi-Robot Exploration
Dickens, John
First Airborne Trial of a UAV Based Optical Locust Tracker
Dissanayake, Gamini
Robust People Tracking and SHMM learning using SHMMsVirtual Odometer for a Quadrotor Micro Aerial VehicleMultiple Sensor Based Terrain Classification
Douillard, Bertrand
An evaluation of dynamic object tracking with 3D LIDAR
Drummond, Tom
Visual Localisation of a Robot with an external RGBD SensoreBug – An Open Robotics Platform for Teaching and Research
Dunbabin, Matthew
Controlled Drift: An Investigation into the Controllability of Underwater Vehicles with Minimal Actuation
Dyer, Chris
Modeling, simulation and control of an electric diwheel
Eichmann, Troy
Image-Based Visual Servoing for the Super-Orbital Re-Entry of Hayabusa Spacecraft
Eizad, Bazle
Design of an Integrated Electronic Speed Controller for Compact Robotic Vehicles
Fernandes, Joshua
Insect Inspired Vision for Micro Aerial Vehicle Navigation
Ford, Jason J.
Fat and Thin Adaptive HMM Filters for Vision Based Detection of Moving Targets
Fulton, Kane
Modeling, simulation and control of an electric diwheel
Garratt, Matthew A.
Control of Hover for a Micro-Air-Vehicle using a Visual SnapshotMulti-Sensor Data Fusion for UAV Navigation during Landing Operations
Ghanbari, Ali
Intelligent Precision Control for Haptic Microrobotic Cell Injection System
Guivant, Jose
Outdoor Ride: Data Fusion of a 3D Kinect Camera installed in a Bicycle.Extraction and Grouping of Surface Features for 3D MappingStreaming Kinect Data for Robot Teleoperation
Hart, Samuel
Modeling, simulation and control of an electric diwheel
Harvey, Jonathon
Modeling, simulation and control of an electric diwheel
He, Hu
Towards Automatic Object Segmentation with Sequential Multiple Views
Heath, Scott
A Rat in the Browser
Hollitt, Christopher
Investigating the use of Magneto-Rheological Fluid in an Active Compliant Actuator for a Stroke Rehabilitation System
Howarth, Blair
Extraction and Grouping of Surface Features for 3D Mapping
Jarvis, Ray
Covert Behaviour Detection in a Collaborative Surveillance SystemMultimodal Interaction System for a Household Assistive Robot
Jimenez-Gonzalez, Adrian
Using Mobile Relays in Multi-Robot Exploration
Josh, Horace
A Real-time FPGA-based Vision System for a Bionic Eye
Kane, Gavin
Coordinate arbitrary Magnetic Field Control System for driving an Externally Powered and Geared Endoscopy Capsule Motor
Kassir, Abdallah
First Airborne Trial of a UAV Based Optical Locust Tracker
Katupitiya, Jayantha
Extraction and Grouping of Surface Features for 3D Mapping
Katupitiya, Jay
A Time-Domain Grey-Box System Identification Procedure for Scale-Model Helicopters
Keller, Henrik
Coordinate arbitrary Magnetic Field Control System for driving an Externally Powered and Geared Endoscopy Capsule Motor
Khan, Razmi
Image-Based Visual Servoing for the Super-Orbital Re-Entry of Hayabusa Spacecraft
Kim, Soohwan
Towards Large-scale Occupancy Map Building using Dirichlet and Gaussian Processes
Kim, Jonghyuk
Towards Large-scale Occupancy Map Building using Dirichlet and Gaussian Processes
Kleeman, Lindsay
A Real-time FPGA-based Vision System for a Bionic Eye
Kodagoda, Sarath
Virtual Odometer for a Quadrotor Micro Aerial VehicleMultiple Sensor Based Terrain ClassificationRobust People Tracking and SHMM learning using SHMMsFast Indoor Scene Classification Using 3D Point Clouds
Kuo, I. Han
End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot
Lai, John
Fat and Thin Adaptive HMM Filters for Vision Based Detection of Moving Targets
Lambert, Andrew J.
Control of Hover for a Micro-Air-Vehicle using a Visual Snapshot
Lehnert, Christopher
Learning Multidimensional Joint Control of a Robot using Receding Horizon Locally Weighted Regression
Li, Wai Ho
Visual Localisation of a Robot with an external RGBD SensorA lightweight approach to 6-DOF plane-based egomotion estimation using inverse deptheBug – An Open Robotics Platform for Teaching and Research
Li, Zhi
Multimodal Interaction System for a Household Assistive Robot
Lim, Patrick P.K.
Experimental VGR for 3D Object Tracking and Contour Following
Lui, Wen Lik Dennis
eBug – An Open Robotics Platform for Teaching and ResearchA lightweight approach to 6-DOF plane-based egomotion estimation using inverse depth
Luo, Xiang
Automatic Road Clearance Surveying with Sensor Fusion
MacDonald, Bruce A.
End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot
Markey, Evelyne G.
A system for reliable text recognition in an industrial environment
Martin, Steven
Path Planning Using Surface Shape and Ground Properties
Martinez de-Dios, J. Ramiro
Using Mobile Relays in Multi-Robot Exploration
Matheson, Eloise
Assistive Rehabilitation Robotic Glove
McKinnon, David
Feature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D EnvironmentsTowards Automatic Object Segmentation with Sequential Multiple Views
Meilland, Maxime
Real-time dense appearance-based SLAM for RGB-D sensors
Mejias, Luis
Multi-Sensor Data Fusion for UAV Navigation during Landing Operations
Milford, Michael
Towards Condition-Invariant Sequence-Based Route RecognitionFeature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D Environments
Moore, Richard James Donald
A Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
Morton, Peter
An evaluation of dynamic object tracking with 3D LIDAR
Munasinghe, Rohan
Virtual Odometer for a Quadrotor Micro Aerial Vehicle
Ollero, Anibal
Using Mobile Relays in Multi-Robot Exploration
Pearce, Erin
Modeling, simulation and control of an electric diwheel
Phan, Tuan A.
From A Simple Local Vibration Message to The Success of A Global Complex Task
Postula, Adam
Design of an Integrated Electronic Speed Controller for Compact Robotic VehiclesInsect Inspired Vision for Micro Aerial Vehicle Navigation
Prime, Zebb
Modeling, simulation and control of an electric diwheel
Raczkowsky, Joerg
Coordinate arbitrary Magnetic Field Control System for driving an Externally Powered and Geared Endoscopy Capsule Motor
Rajendran, Abigail
Investigating the use of Magneto-Rheological Fluid in an Active Compliant Actuator for a Stroke Rehabilitation System
Ranasinghe, Ravindra
Fast Indoor Scene Classification Using 3D Point Clouds
Randle, Jeremy
First Airborne Trial of a UAV Based Optical Locust Tracker
Rawlinson, David
Covert Behaviour Detection in a Collaborative Surveillance System
Ren, Xiang Thomas
Automatic Road Clearance Surveying with Sensor Fusion
Rives, Patrick
Real-time dense appearance-based SLAM for RGB-D sensors
Robledo, Alicia
Outdoor Ride: Data Fusion of a 3D Kinect Camera installed in a Bicycle.
Rus, Daniela
Autonomous Aerial Navigation and Tracking of Marine Animals
Russell, R. Andrew
Disturbance and Failure Classification in Walking RobotsAn agile burrowing robot for underground chemical source locationFrom A Simple Local Vibration Message to The Success of A Global Complex Task
Sa, Inkyu
Estimation and Control for an Open-Source Quadcopter
Sammut, Claude
Feature Segmentation for Object Recognition Using Robot Manipulation
Schleyer, Gustavo
Disturbance and Failure Classification in Walking Robots
Schumann, Evan
Modeling, simulation and control of an electric diwheel
Sehestedt, Stephan
Robust People Tracking and SHMM learning using SHMMs
Sekercioglu, Y. Ahmet
Generating Formations with a Template based Multi-Robot SystemeBug – An Open Robotics Platform for Teaching and Research
Selby, Wil
Autonomous Aerial Navigation and Tracking of Marine Animals
Shi, Lei
Fast Indoor Scene Classification Using 3D Point Clouds
Singh, Surya
Design of an Integrated Electronic Speed Controller for Compact Robotic Vehicles
Smith, Ryan N.
Controlled Drift: An Investigation into the Controllability of Underwater Vehicles with Minimal Actuation
Soccol, Dean
A Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
Srinivasan, Mandyam V.
Insect Inspired Vision for Micro Aerial Vehicle NavigationA Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
Sukkarieh, Salah
First Airborne Trial of a UAV Based Optical Locust Tracker
Sushkov, Oleg
Feature Segmentation for Object Recognition Using Robot Manipulation
Tahir, Nazifa
First Airborne Trial of a UAV Based Optical Locust Tracker
Tang, Titus Jia Jie
A lightweight approach to 6-DOF plane-based egomotion estimation using inverse depth
Tefay, Benjamin
Design of an Integrated Electronic Speed Controller for Compact Robotic Vehicles
Teimoori Sangani, Hamid
Control of Hover for a Micro-Air-Vehicle using a Visual Snapshot
Tews, Ashley D.
A system for reliable text recognition in an industrial environment
Thurrowgood, Saul
Insect Inspired Vision for Micro Aerial Vehicle NavigationA Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
Tiwari, Priyesh
End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot
Underwood, James
An evaluation of dynamic object tracking with 3D LIDAR
Upcroft, Ben
Feature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D EnvironmentsTowards Automatic Object Segmentation with Sequential Multiple ViewsImage-Based Visual Servoing for the Super-Orbital Re-Entry of Hayabusa Spacecraft
Wainwright, Alexander L.
Fat and Thin Adaptive HMM Filters for Vision Based Detection of Moving Targets
Wang, Zhan
Multiple Sensor Based Terrain Classification
Wang, Jianguo Jack
Automatic Road Clearance Surveying with Sensor Fusion
Wang, Shifeng
Multiple Sensor Based Terrain Classification
Wang, Wenhui
Intelligent Precision Control for Haptic Microrobotic Cell Injection System
Warren, Michael
Feature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D Environments
Whitty, Mark
Streaming Kinect Data for Robot TeleoperationExtraction and Grouping of Surface Features for 3D Mapping
Wiles, Janet
A Rat in the Browser
Woern, Heinz
Coordinate arbitrary Magnetic Field Control System for driving an Externally Powered and Geared Endoscopy Capsule Motor
Wong, Chee Kit
Experimental VGR for 3D Object Tracking and Contour Following
Wyeth, Gordon
Feature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D EnvironmentsLearning Multidimensional Joint Control of a Robot using Receding Horizon Locally Weighted Regression
Xu, Zhe
First Airborne Trial of a UAV Based Optical Locust Tracker
Yang, Hong Yul
End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot
Yang, Xilin
Multi-Sensor Data Fusion for UAV Navigation during Landing Operations
Yii, Winston M. S.
Visual Localisation of a Robot with an external RGBD Sensor
Yong, Benedict
A Real-time FPGA-based Vision System for a Bionic Eye
Yuan, Wei
A Time-Domain Grey-Box System Identification Procedure for Scale-Model Helicopters
Zhu, Tao
Modeling, simulation and control of an electric diwheel