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Computational Intelligence in Robotics and Automation, IEEE International Symposium on (1997)
Monterey, CA
June 10, 1997 to June 11, 1997
ISBN: 0-8186-8138-1
TABLE OF CONTENTS

Preface (PDF)

pp. x
Plenary Talk I
Plenary Talk II
Session Th1-1: Learning and Control of Motions

A Model of Cerebellar Learning for Control of Arm Movements Using Muscle Synergies (Abstract)

Nathan Sitkoff , University of Massachusetts
Andrew G. Barto , University of Massachusetts
Andrew H. Fagg , University of Massachusetts
James C. Houk , Northwestern University School of Medicine
pp. 6

Multiscale motion planning (Abstract)

S. Uzzaman , Intelligent Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
A. Meystel , Intelligent Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
J. Albus , Intelligent Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
pp. 19
Session Th2-1: Navigational Map Construction and Localization

Continuous Localization in Changing Environments (Abstract)

William Adams , Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory
Kevin Graves , United States Naval Academy
Alan Schultz , Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory
pp. 28

Neural Model of a Grid-Based Map for Robot Sonar (Abstract)

Michael Recce , University College London
Kenneth D. Harris , University College London
pp. 34

Neural Network Learning of Variable Grid-Based Maps for the Autonomous Navigation of Robots (Abstract)

Jose del R. Millan , Joint Research Centre, European Commission
Angelo Arleo , Universita degli Studi
pp. 40
Session Th1-2: Learning for Sensor-Based Manipulation

Learning the Perceptual Control Manifold for Sensor-Based Robot Path Planning (Abstract)

Michael Zeller , University of Illinois at Urbana-Champaign
Rajeev Sharma , Pennsylvania State University
Klaus Schulten , University of Illinois at Urbana-Champaign
pp. 48

Learning Strategies for Sensor-Based Manipulation Tasks (Abstract)

Angel P. del Pobil , Jaume-I University, Campus Penyeta Roja
Enric Cervera , Jaume-I University, Campus Penyeta Roja
pp. 54

Motion planning for a robotic system with structured intelligence (Abstract)

K. Shimojima , Dept. of Mech. Eng., Osaka Inst. of Technol., Japan
T. Fukuda , Dept. of Mech. Eng., Osaka Inst. of Technol., Japan
T. Arakawa , Dept. of Mech. Eng., Osaka Inst. of Technol., Japan
N. Kubota , Dept. of Mech. Eng., Osaka Inst. of Technol., Japan
pp. 60
Session Th2-2: Intelligent Control for Navigation

A New Approach to Design Fuzzy Controllers for Mobile Robots Navigation (Abstract)

François Charpillet , CRIN/CNRS & INRIA-Lorraine
Jean-Paul Haton , CRIN/CNRS & INRIA-Lorraine
Olivier Aycard , CRIN/CNRS & INRIA-Lorraine
pp. 68

MoNiF: a Modular Neuro-Fuzzy Controller for Race Car Navigation (Abstract)

Nils Lassiter , University of California - San Diego, CA 92093-0407
Mohan M. Trivedi , University of California - San Diego, CA 92093-0407
Ruggero Scorcioni , University of California - San Diego, CA 92093-0407
Kim C. Ng , University of California - San Diego, CA 92093-0407
pp. 74
Session Th1-3: Biologically Inspired Robotics (Invited)

Adaptation of orienting behavior: from the barn owl to a robotic system (Abstract)

J. Wray , Neurosci. Inst., San Diego, CA, USA
M. Rucci , Neurosci. Inst., San Diego, CA, USA
G.M. Edelman , Neurosci. Inst., San Diego, CA, USA
pp. 91

A Cerebellar Approach to Adaptive Locomotion for Legged Robots (Abstract)

George A. Bekey , University of Southern California
Joel Hoff , University of Southern California
pp. 94
Session Th2-3: Path Planning

Parallel path planning with temporal parametrization (Abstract)

F.J. Blanco , Dept. Comput. & Autom., Salamanca Univ., Spai
E. Sanz , Dept. Comput. & Autom., Salamanca Univ., Spai
V. Moreno , Dept. Comput. & Autom., Salamanca Univ., Spai
pp. 102

Elastic string based global path planning using neural networks (Abstract)

G. Kardaras , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
S. Lee , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 108

Solving the find-path problem: a complete and less complex approach using the BIE methodology (Abstract)

I. Mantegh , Robotics & Autom. Lab., Toronto Univ., Ont., Canada
A.A. Goldenberg , Robotics & Autom. Lab., Toronto Univ., Ont., Canada
M.R.M. Jenkin , Robotics & Autom. Lab., Toronto Univ., Ont., Canada
pp. 115
Session Th1-4: Learning and Control for Locomotion

Prior Structure for On-line Learning (Abstract)

Roderic A. Grupen , University of Massachusetts
Manfred Huber , University of Massachusetts
pp. 124

Fault tolerant locomotion for walking robots (Abstract)

D.K. Pai , Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
S.K. Ralph , Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
pp. 130

Genetic Algorithms for Adaptive Motion Planning of an Autonomous Mobile Robot (Abstract)

John Smith , University of Hawaii at Manoa
Kazuo Sugihara , University of Hawaii at Manoa
pp. 138
Session Th2-4: Exploration of Environments with Sonars

A frontier-based approach for autonomous exploration (Abstract)

B. Yamauchi , Navy Center for Appl. Res. in Artificial Intelligence, Naval Res. Lab., Washington, DC, USA
pp. 146

A New Method for Object Identification in Ultrasonic Systems Using Neural Nets (Abstract)

J.P. Oria , University of Cantabria
I. Serrano , University of Cantabria
A. Lazaro , University of Cantabria
pp. 152

Probabilistic Expert Systems for Shape Recognition Applied to Ultrasonics Techniques (Abstract)

J.R. Llata , University of Cantabria
J.P. Oria , University of Cantabria
E.G. Sarabia , University of Cantabria
J. Arce , University of Cantabria
pp. 158
Session Th1-5: Intelligent Systems with Q-learning

Task decomposition and dynamic policy merging in the distributed Q-learning classifier system (Abstract)

J.S. Bay , Bradley Dept. of Electr. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
K.L. Chapman , Bradley Dept. of Electr. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
pp. 166

Region-based Q-Learning for Intelligent Robot Systems (Abstract)

J.H. Kim , Hanyang University
I.H. Suh , Hanyang University
S.R. Oh , Hanyang University
pp. 172

Q-Learning with Adaptive State Segmentation (QLASS) (Abstract)

Shinzo Kitamura , Kobe University
Hajime Murao , Kobe University
Shinzo Kitamura , Kobe UniversityQ-Learning with Adaptive State Segmentation (QLASS)
Hajime Murao , Kobe UniversityQ-Learning with Adaptive State Segmentation (QLASS)
pp. 179
Session Th2-5: Motion Planning

Varying Paths and Motion Profiles in Multiple Robot Motion Planning (Abstract)

Matteo Voltolina , The University of Padua
Carlo Ferrari , The University of Padua
Jun Ota , The University of Tokyo
Tamio Arai , The University of Tokyo
Enrico Pagello , The University of Padua
pp. 186

Mathematical formalism for the fast evaluation of the configuration space (Abstract)

V. Moreno , Dept. Comput. & Autom., Salamanca Univ., Spain
B. Curto , Dept. Comput. & Autom., Salamanca Univ., Spain
pp. 194
Keynote Speech
Plenary Talk III

Adaptation, learning and evolution for intelligent robotic system (Abstract)

N. Kubota , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
T. Fukuda , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
pp. 204
Plenary Talk IV
Session F1-1: NN-Based Function Approximation for Arm Control

Cascade neural networks with node-decoupled extended Kalman filtering (Abstract)

M.C. Nechyba , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Yangsheng Xu , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 214

Local Dimensionality Reduction for Locally Weighted Learning (Abstract)

Sethu Vijayakumar , Tokyo Institute of Technology
Stefan Schaal , Kawato Dynamic Brain Project
pp. 220

Inverse Kinematic Solution based on Lyapunov Function for Redundant and non-Redundant Robots (Abstract)

M. Drouin , Lab. PARC, Univ. P. & M.
V. Perdereau , Lab. PARC, Univ. P. & M.
A. Ramdane-Cherif , Lab. PARC, Univ. P. & M.
D. Y. Meddah , Lab. PARC, Univ. P. & M.
pp. 226
Session F2-1: Sequential Decision-Making

A Hybrid Model for Learning Sequential Navigation (Abstract)

Todd Peterson , University of Alabama, Tuscaloosa
Ron Sun , University of Alabama, Tuscaloosa
pp. 234

3D-icon based user interaction for robot programming by demonstration (Abstract)

H. Friedrich , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
H. Hofmann , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
R. Dillmann , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
pp. 240

Learning to Recognize Time Series: Combining ARMA models with memory-based learning (Abstract)

Kan Deng , The Robotics Institute, Carnegie Mellon University
Andrew W. Moore , The Robotics Institute, Carnegie Mellon University
Michael C. Nechyba , The Robotics Institute, Carnegie Mellon University
pp. 246
Session F1-2: Sensor Fusion

Logic-Based Sensor Fusion for Localization (Abstract)

Paolo Bison , Ladseb-CNR, Institute for Systems Science
Claudio Sossai , Ladseb-CNR, Institute for Systems Science
Gaetano Trainito , Ladseb-CNR, Institute for Systems Science
Gaetano Chemello , Ladseb-CNR, Institute for Systems Science
pp. 254

Combining Direct and Model-Based Perceptual Information Through Schema Theory (Abstract)

T.G. Murphy , Philips Electronics North America Corporation
D.M. Lyons , Philips Electronics North America Corporation
pp. 260

Minimal representation multisensor fusion using differential evolution (Abstract)

R. Joshi , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
A.C. Sanderson , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 266
Session F2-2: Behavioral Synthesis

Autonomous Navigation using an Adaptive Hierarchy of Multiple Fuzzy-Behaviors (Abstract)

Edward Tunstel , Jet Propulsion Laboratory
Tanya Lippincott , University of New Mexico
Harrison Danny , University of New Mexico
Mo Jamshidi , University of New Mexico
pp. 276

Learning and Stabilization of Altruistic Behaviors in Multi-Agent System (Abstract)

Antonio Murciano , Universidad Complutense
Javier Zamora , Universidad Complutense
José del R. Millán , Joint Research Centre, European Commission
pp. 287
Special Lecture II
Session F1-3: Evolutionary Computation

Incorporating A-Priori Expert Knowledge in Genetic Algorithms (Abstract)

Mohammad-Reza Akbarzadeh-Totonchi , University of New Mexico, Albuquerque
Mohammad Jamshidi , University of New Mexico, Albuquerque
pp. 300

Evolution Strategy with Competing Subpopulations (Abstract)

M.M.A. Hashem , Department of Mechanical Engineering Saga University
K. Watanabe , Department of Mechanical Engineering Saga University
K. Izumi , Department of Mechanical Engineering Saga University
pp. 306

An evolutionary method for active learning of mobile robot path planning (Abstract)

Sung-Hoon Kim , Dept. of Comput. Eng., Seoul Nat. Univ., South Korea
Byoung-Tak Zhang , Dept. of Comput. Eng., Seoul Nat. Univ., South Korea
pp. 312
Session F2-3: Intelligent Control of Robots

Fuzzy Sliding Mode Control for a Robot Manipulator (Abstract)

J.F. Whidborne , King's College London
L.D. Seneviratne , King's College London
B.W. Bekit , King's College London
pp. 320

On the Tuning of the Free Parameters of a New Adaptive Robot Control Based on Geometric Principles of Hamiltonian Mechanics (Abstract)

J.K: Tar , Banki Donat Polytechnic
J.F. Bito , Banki Donat Polytechnic
O.M. Kaynak , Bogazici University
I.J. Rudas , Banki Donat Polytechnic
pp. 326

Intelligence Computing for Direct Human-Robot Communication Using Natural Language and Cognitive Graphics (Abstract)

L.V. Litvintseva , The University of Electro-Communications
K. Yamafuji , The University of Electro-Communications
T. Tanaka , The University of Electro-Communications
V.S. Ulyanov , The University of Electro-Communications
pp. 332
Session F1-4: Robot Dynamics and Control

Self-Optimizing Control: Application to Smart Exercise Machines (Abstract)

Perry Y. Li , University of Minnesota
Roberto Horowitz , University of California at Berkeley
pp. 347

Live-Constraint-Based Control for Contact Transitions (Abstract)

Xiaoping Yun , Naval Postgraduate School
Randy Ellis , Queen's University
Nilanjan Sarkar , University of Hawaii
pp. 353
Session F2-4: Visual Recognition of Shapes and Targets

Measurement of Parts Deformation and Misalignment by Using a Visual Sensing System (Abstract)

J. Y. Kim , Department of Mechanical Engineering, KAIST
S. Kim , Production Engineering Center, Samsung Electronics Co., Ltd.
H. S. Cho , Department of Mechanical Engineering, KAIST
pp. 362

Determining the skeletal description of sparse shapes (Abstract)

N.P. Papanikolopoulos , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
V. Cherkassky , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
R. Singh , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
pp. 368
Session F1-5: Robot Skills

Integrative Architecture of the Autonomous Hand-Eye Robot JANUS (Abstract)

Gernot Richter , GMD -- German National Research Center for Information Technology
Frank Smieja , GMD -- German National Research Center for Information Technology
Uwe Beyer , GMD -- German National Research Center for Information Technology
pp. 382
Session F2-5: Vision-Based Tracking

Vision-based Line Tracking and Navigation in Structured Environments (Abstract)

S. Caselli , University of Parma - Italy
A. Calafiore , University of Parma - Italy
G. Beccari , University of Parma - Italy
F. Zanichelli , University of Parma - Italy
pp. 406

On Localization of Objects in the Wavelet Domain (Abstract)

Lynne Grewe , California State University Monterey Bay
R. R. Brooks , California State University Monterey Bay
pp. 412

Author Index (PDF)

pp. 419
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