Program at a glance
Format
Oral presentations: Speakers will present 15min followed by 5min Q&A. Please bring your own laptop for the presentation or send the slides as PDF or Powerpoint by Sept 10 to fsr@ethz.ch.
Interactive presentations: Speakers will give a 5min highlight presentation (strict timing) with no Q&A. The highlight talk session will be followed by an interactive session (1h) where the eight speakers present their work interactively on a TV screen. To ensure a smooth transition, all authors are requested to send the slides in PDF or Powerpoint by Sept 10 to fsr@ethz.ch. For the interactive session, please bring your own laptop.
Program overview
Download the program overview here
Find all needed information regarding venues, sights and the detailed schedule in the Travel Kit.
All papers are available as PDF in the table below. All papers have been published in a springer book which is online available or can be ordered
Tuesday: September 12th 2017
| Time | Activity | Location |
|---|---|---|
| 15.00 - 17.00 | Check-in and Registration | GEP-/Alumni Pavillon (MM C78.1) |
| 17.00 - 22.00 | Welcome Reception | GEP-/Alumni Pavillon (MM C78.1) |
Wednesday: September 13th 2017
| Time | Activity | Note | Location | |
|---|---|---|---|---|
| 07.30 - 08.30 | Morning Locomotion (optional) | Abel Gawel | Meeting at Haldenegg | |
| 08.00 - 10.00 | Registration | HG F 26.5 | ||
| 08.30 - 09.00 | Breakfast | Foyer (HG F-floor) | ||
| 09.00 - 09.45 | Keynote Sensefly | Jean-Christophe Zufferey | Audi Max (HG F 30) | |
| Control | ||||
| 09.50 - 10.10 | Foresight: Remote Sensing For Autonomous Vehicles Using a Small Unmanned Aerial Vehicle | PDF_67 | Alexander Waller, Brandon Araki, Raphael Chang, Javier Alonso-Mora and Daniela Rus. | Audi Max (HG F 30) |
| 10.10 - 10.30 | Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints | PDF_50 | Heshan Fernando, Joshua Marshall, Håkan Almqvist, Johan Larsson. | Audi Max (HG F 30) |
| 10.30 - 11.00 | Coffee break | HG F-floor / Foyer | ||
| Highlight Talks 1 | ||||
| 11.00 - 11.05 | Safe Self-Collision Avoidance for Versatile Robots based on Bounded Potentials | PDF_21 | David Gonon, Dominic Jud, Péter Fankhauser and Marco Hutter. | Audi Max (HG F 30) |
| 11.05 - 11.10 | Finding Better Wide Baseline Stereo Solutions using Feature Quality | PDF_45 | Stephen Nuske and Jay Patravali. | Audi Max (HG F 30) |
| 11.10 - 11.15 | Fast and Power-efficient Embedded Software Implementation of Digital Image Stabilization for Low-cost Autonomous Boats | PDF_52 | Stefano Aldegheri, Domenico Bloisi, Jason Joseph Blum, Nicola Bombieri and Alessandro Farinelli. | Audi Max (HG F 30) |
| 11.15 - 11.20 | Sensing Water Properties at Precise Depths from the Air | PDF_42 | John-Paul Ore and Carrick Detweiler. | Audi Max (HG F 30) |
| 11.20 - 11.25 | Boundary Wire Mapping on Autonomous Lawn Mowers | PDF_8 | Nils Einecke, Jörg Deigmöller, Keiji Muro and Mathias Franzius. | Audi Max (HG F 30) |
| 11.25 - 11.30 | Aerial and Ground-based Collaborative Mapping: An Experimental Study | PDF_3 | Ji Zhang and Sanjiv Singh. | Audi Max (HG F 30) |
| 11.30 - 11.35 | AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles | PDF_22 | Shital Shah, Debadeepta Dey, Chris Lovett and Ashish Kapoor. | Audi Max (HG F 30) |
| 11.35 - 11.40 | An Analysis of Degraded Communication Channels in Human-Robot Teaming and Implications for Dynamic Autonomy Allocation | PDF_60 | Michael Young, Mahdieh Nejati, Ahmetcan Erdogan and Brenna Argall. | Audi Max (HG F 30) |
| 11.40 - 12.30 | Interactive Session of all 5 min talks | HG F-Floor Room: 26.5 / 26.3 / 26.1 |
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| 12.30 - 14.00 | Lunch Coffee | Mensa GEP-/Alumni Pavillon (MM C78.1) |
||
| Mapping | ||||
| 14.00 - 14.20 | Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain | PDF_11 | Patrick McGarey, David Yoon, Tim Tang, Francois Pomerleau, Tim Barfoot | Audi Max (HG F 30) |
| 14.20 - 14.40 | Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection | PDF_30 | Jaime Valls Miro, Dave Hunt, Nalika Ulapane, Michael Behrens | Audi Max (HG F 30) |
| 14.40 - 15.00 | Real-time Sematic Mapping for Autonomous Off-Road-Navigation | PDF_59 | Daniel Maturana, Po-Wei Chou, Masashi Uenoyama | Audi Max (HG F 30) |
| 15.14 - 15.30 15.34 - 15.50 | Departure by ETH Link (shuttel bus) to ETH campus Hönggerberg | Bus Station ETH Link (Main Building) | ||
| 15.40 - 16.00 | TOUR upper floor HIB including videos of how the roof was built |  | HIB |
|
| Hardware Talks | ||||
| 16.00 - 16.15 | Dynamic System Identification, and Control for a cost-effective open-source VTOL MAV | PDF_6 | Inkyu Sa, Mina Kamel, Raghav Khanna, Marija Popovic, Juan Nieto and Roland Siegwart. | HIB |
| 16.15 - 16.30 | Autonomous Aerial Inspection using Visual-Inertial Robust Localization and Mapping | PDF_32 | Lucas Teixeira, Ignacio Alzugaray and Margarita Chli. | HIB |
| 16.30 - 16.45 | Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC | PDF_40 | Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann and Marco Hutter. | HIB |
| 16.45 - 16.55 | Towards a Generic Solution for Inspection of Industrial Sites | PDF_44 | Marco Hutter, Remo Diethelm, Samuel Bachmann, Péter Fankhauser, Christian Gehring, Vassilios Tsounis, Andreas Lauber, Fabian Guenther, Marko Bjelonic, Linus Isler, Hendrik Kolvenbach, Konrad Meyer and Mark Hoepflinger. | HIB |
| 16.55 - 17.00 | Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots | PDF_20 | Hendrik Kolvenbach and Marco Hutter. | HIB |
| 17.00 - 18.30 | Various hardware demonstrations | Hönggerberg | ||
| 18.45 - 19.15 | Presentation on NCCR Digital Fabrication | HIB | ||
| Dinner | BBQ Dinner hosted by ABB and NCCR Digital Fabrication |  |  | HIB |
| 19.00 - 22.00 | BBQ and ongoing demonstrations | HIB | ||
| 21.00 / 22.00 | ETH Link - Transfer back to ETH Main Building | Bus Station ETH Hönggerberg | ||
Thursday: September 14th 2017
| Time | Activity | Note | Location | |
|---|---|---|---|---|
| 07.30 - 08.30 | Morning Locomotion (optional) | Timo Hinzmann | Meeting at Haldenegg | |
| 08.30 - 09.00 | Breakfast | Foyer (HG F 30) | ||
| 09.00 - 09.45 | Keynote FieldRobotics | Salah Sukkarieh | Audi Max (HG F 30) | |
| Systems and Tools | ||||
| 09.50 - 10.10 | Design and Development of Explosion-proof Tracked Vehicle for Inspection of Offshore Oil Plant | PDF_9 | Keiji Nagatani, Daisuke Endo, Atsushi Watanabe, Eiji Koyanagi | Audi Max (HG F 30) |
| 10.10 - 10.30 | Field Experiments in Robotic Subsurface Science and Long Duration Autonomy | PDF_75 | Srinivasan Vijayarangan, David Kohanbash, Greydon Foil, Kris Zacny, Nathalie Cabrol, David Wettergreen | Audi Max (HG F 30) |
| 10.30 - 11.00 | Coffee break | Foyer (HG F 30) | ||
| Highlight Talks 2 | Audi Max (HG F 30) | |||
| 11.00 - 11.05 | Trajectory Optimization for Dynamic Grasping in Space using Adhesive Grippers | PDF_76 | Roshena MacPherson, Benjamin Hockman, Andrew Bylard, Matthew A. Estrada, Mark R. Cutkosky, and Marco Pavone. | Audi Max (HG F 30) |
| 11.05 - 11.10 | High-throughput Robotic Phenotyping of Energy Sorghum Crops | PDF_47 | Srinivasan Vijayarangan, Paloma Sodhi, Prathamesh Kini, James Bourne, Simon Du, Hanqi Sun, Barnabas Poczos, Dimitrios Apostolopoulos and David Wettergreen. | Audi Max (HG F 30) |
| 11.10 - 11.15 | Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets | PDF_73 | Fadri Furrer, Marius Fehr, Tonci Novkovic, Igor Gilitschenski and Roland Siegwart. | Audi Max (HG F 30) |
| 11.15 - 11.20 | Autonomous and Safe Inspection of an Industrial Warehouse by a Multi-rotor MAV | PDF_17 | Alexandre Eudes, Julien Marzat, Martial Sanfourche, Julien Moras and Sylvain Bertrand. | Audi Max (HG F 30) |
| 11.20 - 11.25 | A Submap Joining Based RGB-D SLAM Algorithm using Planes as Features | PDF_26 | Jun Wang, Jingwei Song, Liang Zhao and Shoudong Huang. | Audi Max (HG F 30) |
| 11.25 - 11.30 | Informed Asymptotically Near-Optimal Planning for Field Robots with Dynamics | PDF_64 | Zakary Littlefield and Kostas Bekris. | Audi Max (HG F 30) |
| 11.30 - 11.35 | Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine | PDF_24 | Seiga Kiribayashi, Kaede Yakushigawa and Keiji Nagatani. | Audi Max (HG F 30) |
| 11.35 - 11.40 | LEAF: Using Semantic Based Experience to Prevent Task Failures | PDF_5 | Nathan Ramoly, Hela Sfar, Amel Bouzeghoub and Béatrice Finance. | Audi Max (HG F 30) |
| 11.40 - 12.30 | Interactive Session of all 5min talks | HG F-Floor Room: 26.5 / 26.3 / 26.1 |
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| 12.30 - 13.30 | Lunch & Coffee | Mensa GEP-/Alumni Pavillon (MM C78.1) |
||
| Machine Learning | ||||
| 13.30 - 13.50 | Online Multi-Modal Learning and Adaptive Informative Tragjectory Planning for Autonomous Exploration | PDF_28 | Akash Arora, Michael Furlong, Robert Fitch, Terry Fong, Salah Sukkarieh, Richard Elphic | Audi Max (HG F 30) |
| 13.50 - 14.10 | Season-Invariant Semantic Segmentation with A Deep Multimodel Network | PDF_23 | Dong Ki Kim, Daniel Maturana, Masashi Uenoyama, Sebastian Scherer | Audi Max (HG F 30) |
| 14.10 - 14.40 | A Deep Learning Pipeline for High-throughput Measurement of Plant Stalk Count and Stalk Width | PDF_69 | Harjatin Baweja, Tanvir Parhar, Omeed Mirbod, Stephen Nuske | Audi Max (HG F 30) |
| 15.00 - 16.00 | Transfer from ETH to Vitznau* | Excursion to beautiful mount Rigi | Bus Station ETH Main Building | |
| 16.15 - 16.50 | Cogwheel railway from Vitznau to Rigi Kulm | Train station Vitznau | ||
| 16.50 - 18.30 | Hike to Rigi Staffel and enjoy the beautiful scenery | Rigi | ||
| 18.00 - 19.00 | Welcome drink | Event Hall, Rigi | ||
| 19.00 - 19.30 | Welcome Presentation by Maxon Motor followed by Art and Robotics | Aparna Rao | Event Hall, Rigi | |
| 19.30 - 21.30 | Dinner hosted by Maxon Motor |  |
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| 21.30 - 22.00 | Cogwheel railway to Goldau | |||
| 22.00 - 23.00 | Bustransfer back to Zurich, ETH Main Building | Train Station Goldau | ||
*trip to the famous mountain Rigi including dinner on the top. The event is included in the registration fee. (In case you are accompanied there is the possibility to buy an additional ticket).
Friday: September 15th 2017
| Time | Activity | Note | Location | |
|---|---|---|---|---|
| 07.30 - 08.30 | Morning Locomotion (optional) | Mark Pfeiffer | Meeting at Haldenegg | |
| 08.30 - 09.00 | Breakfast | Foyer (HG F30) | ||
| 09.00 - 09.45 | Keynote NASA | Terry Fong | Audi Max (HG F30) | |
| Systems and Observation | ||||
| 09.50 - 10.10 | Controlling Ocean One | PDF_71 | Gerald Brantner and Oussama Khatib | Audi Max (HG F30) |
| 10.10 - 10.30 | Field Report: UAV-based Volcano Observation System for Debris Flow Evacuation Alarm | PDF_10 | Keiji Nagatani, Ryosuke Yajima, Seiga Kiribayashi, Tomoaki Izu, Hiromichi Kanai, Jun Minagawa and Yuji Moriyama | Audi Max (HG F30) |
| 10.30 - 11.00 | Coffee break | Foyer (HG F30) | ||
| Highlight Talks 3 | Audi Max (HG F30) | |||
| 11.00 - 11.05 | Generation of Turning Motion for Tracked Vehicles using Reaction Force of Stairs’ Handrail | PDF_16 | Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki and Satoshi Tadokoro. | Audi Max (HG F30) |
| 11.05 - 11.10 | Improved Tau-Guidance and Vision-aided Navigation for Robust Autonomous Landing of UAVs | PDF_61 | Amedeo Rodi Vetrella, Inkyu Sa, Marija Popovic, Raghav Khanna, Juan Nieto, Giancarmine Fasano, Domenico Accardo and Roland Siegwart. | Audi Max (HG F30) |
| 11.10 - 11.15 | Cooperative UAVs as tools for Aerial Inspection of the Aging Infrastructure | PDF_15 | Sina Sharif Mansouri, Christoforos Kanellakis, Dariusz Kominiak and George Nikolakopoulos. | Audi Max (HG F30) |
| 11.15 - 11.20 | Learning Models for Predictive Adaptation in State Lattices | PDF_56 | Michael Napoli, Harel Biggie and Thomas Howard. | Audi Max (HG F30) |
| 11.20 - 11.25 | Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Fixed-Wing UAVs | PDF_36 | Timo Hinzmann and Roland Siegwart. | Audi Max (HG F30) |
| 11.25 - 11.30 | Local Path Optimizer for an Autonomous Truck in a Harbor Scenario | PDF_51 | Jennifer David, Rafael Valencia, Roland Philippsen and Karl Iagnemma. | Audi Max (HG F30) |
| 11.30 - 11.35 | Human-Robot Teaming: Concepts and Components for Design | PDF_57 | Lanssie Ma, Terry Fong, Mark J. Micire, Yun Kyung Kim and Karen Feigh. | Audi Max (HG F30) |
| 11.35 - 11.40 | State Estimation and Localization for ROV-Based Reactor Pressure Vessel Inspection | PDF_72 | Timothy Lee and Nathan Michael. | Audi Max (HG F30) |
| 11.40 - 12.30 | Interactive Session of all 5 min talks | HG F-floor Room: 26.5 / 26.3 / 26.1 |
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| 12.30 - 14.00 | Lunch Coffee | Mensa GEP Alumni-Pavillon |
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| Navigation and Planning | ||||
| 14.00 - 14.20 | I Can See For Miles and Miles: An Extended Field Test of Visual Teach & Repeat 2.0 | PDF_12 | Michael Paton, Kirk MacTavish, Laszlo-Peter Berczi, Sebastian Kai van Es and Timothy Barfoot. | Audi Max (HG F30) |
| 14.20 - 14.40 | Dynamically Feasible Motion Planning For Micro Air Vehicles using an Egocylinder | PDF_58 | Anthony Fragoso, Cevahir Cigla, Roland Brockers and Larry Matthies. | Audi Max (HG F30) |
| 14.40 - 15.00 | Strategic Autonomy for Reducing Risk of Sun-Synchronous Lunar Polar Exploration | PDF_66 | Nathan Otten, David Wettergreen and William Whittaker. | Audi Max (HG F30) |
| 15.00 - 15.20 | Towards visual Teach & Repeat for GPS-Denied Flight of a Fixed-Wing UAV | PDF_18 | Michael Warren, Michael Paton, Kirk MacTavish, Angela Schoelling and Tim Barfoot. | Audi Max (HG F30) |
| 15.20 - 15.30 | Closing - Goodbye | Marco Hutter, Roland Siegwart | Audi Max (HG F30) | |
| 15.30 - 18.00 | Farewell drinks hosted by WYSS Zurich |  | GEP Alumni-Pavillon | |
| 18.00 - 22.00 | Optional evening in the city | |||