[robotics-worldwide] Call for Participation: RSS 2011 Workshop on Guaranteeing Motion Safety for Robots

Kostas Bekris bekris at cse.unr.edu
Tue Jun 14 13:46:12 PDT 2011


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RSS 2011 Workshop: Guaranteeing Motion Safety for Robots
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Date and Format: Full day workshop (9:00 to 17:00) on Monday, June 27, 2011
Location: USC Campus, Grace Ford Salvatori Building, room 109
Website: http://safety2011.inrialpes.fr/

Workshop Description
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In the near future, it is expected that robotic systems will share the 
human living and working spaces: service robots and cybernetic transport 
systems are examples of two primary application areas. The technology is 
now mature; we have already witnessed autonomous mobile robots guiding 
people in museums and automated cars driving on the road network. While 
moving (especially at high speed), automated vehicles, mobile 
manipulators and humanoid robots can be potentially dangerous should a 
collision occur. Before letting such robotic systems transport or share 
space with people in a truly autonomous way, it is critical to assert 
and characterize their motion safety, i.e., their guaranteed ability to 
avoid collision.

Roboticists have long been aware of the motion safety issue; there is a 
rich literature on collision avoidance schemes. However, motion safety 
in the real world, especially for systems with interesting dynamics, 
remains an open problem. Demonstrating that a robotic system is working 
properly on a limited set of experiments is not enough. If autonomous 
robotic systems are ever to be deployed among human beings on a large 
scale, there is a need to characterize the level of motion safety that 
can be achieved and/or to specify the conditions under which it can be 
guaranteed.

The purpose of this workshop is to disseminate recent research advances 
in guaranteed motion safety for robotic systems operating in challenging 
situations, such as dynamic and uncertain environments and high-speed 
robotic systems. Overall, the focus of the workshop is on motion safety 
in dynamic environments; topics include the following:

Collision avoidance for mobile robots, manipulator arms or humanoids.
Multi-robot / reciprocal collision avoidance.
Multi-robot coordination, e.g. air or shipping traffic control.
Safe reactive motion planning / dynamic replanning approaches.
Safe motion for robotic systems with kinematic or dynamic constraints.
Control theoretic approaches to motion safety.
Deterministic and probabilistic approaches to motion safety.
Deadlock and livelock avoidance in safe multi-robot coordination.

The workshop is a follow up to the workshop Guaranteeing Safe Navigation 
in Dynamic Environments that was successfully held during the 2010 Int. 
Conf. on Robotics and Automation (ICRA). It focuses on papers based on 
sound theoretical frameworks that specifically address motion safety in 
a formal way.

Contributors:
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Matthias Althoff, Carnegie Mellon University, Pittsburgh (US)
Worst-Case Deviations of Planned Trajectories for High-Speed Mobile Robots

Kostas Bekris, University of Nevada Reno (US)
Reactive and Planning-based approaches for Safe Motion Coordination

Animesh Chakravarthy, Wichita State University (US), and Debasish Ghose, 
Indian Institute of Science, Bangalore (IN).
Quadric Surface-Based Collision Avoidance Strategies for Motion Safety 
in 3-D Environments

Noel du Toit and Joel Burdick, California Institute of Technology, 
Pasadena (US)
Efficient, yet safe, robot motion planning in dynamic, uncertain 
environments

Thierry Fraichard, INRIA Grenoble Rhone-Alpes (FR)
Provably Safe Navigation for Mobile Robots with Limited Field-of-Views 
in Dynamic Environments

Kamal Gupta and Bruno L’Esperance, Simon Fraser University (CA)
Analyzing Safety for Mobile Robots in Partially Known Dynamic Indoor 
Environments

Jonathan How, Massachusetts Institute of Technology (US)
Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns

Sertac Karaman and Emilio Frazzoli, Massachusetts Institute of 
Technology (US)
Provably-correct Sampling-based Algorithms for Motion Planning Problems 
with Complex Task Specifications

Kristi Morgansen, University of Washington (US)
Bio-inspired reactive deconfliction and stabilization

Claire Tomlin, University of California Berkeley (US)
Guaranteeing Safety in Modern High-Performance Autonomous Systems

Holger Taeubig, Bremen University (DE)
Guaranteed Safety: a Collision Avoidance Algorithm Designed for 
Provability and Computer-Aided Verification

Prof. Zvi Shiller, Ariel University Center (IL)
Adaptive Time Horizon for On-Line Obstacle Avoidance in Dynamic Environments


Organization
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Thierry Fraichard, INRIA Grenoble Rhone-Alpes (FR)
Kostas Bekris, University of Nevada, Reno (US)
Jur van den Berg, University of Utah (US)



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