[robotics-worldwide] [meetings] CfP - Deadline Extended: ICRA2018 Workshop on The interplay between optimal estimation for improved action and optimal action for improved estimation

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[robotics-worldwide] [meetings] CfP - Deadline Extended: ICRA2018 Workshop on The interplay between optimal estimation for improved action and optimal action for improved estimation

Paolo Robuffo Giordano-2

Due to several requests, we have extended the submission deadline of the
ICRA workshop

The interplay between optimal estimation for improved action and optimal
action for improved estimation

to  *March 22nd, 2018*.


The interplay between optimal estimation for improved action and optimal
action for improved estimation

May 25th, 2018

ICRA 2018 in Brisbane, Australia


- *Extended* Submission Deadline: March 22nd, 2018
- Acceptance Notification: April 15th, 2018

Extended abstract (3 pages max) following the IEEE RAS paper template
for addressing one of the workshop topics.
An accompanying video is optional and can also be provided as a weblink
(e.g., youtube).

All contributions must be sent as a pdf file to

[hidden email]

Accepted contributions will be allocated a spotlight talk + poster

The perception-action loop is arguably one of the defining features of
robotics: a robot needs to move for realizing a task, and its choice for
a motion plan depends on its internal knowledge of the ‘world’. However,
onboard sensors can typically only provide partial information about the
world and, therefore, some level of reconstruction/inference/estimation
is needed online for recovering any information not directly available
from the raw sensor readings.

One of the aspects that makes the action-perception loop scientifically
very interesting (and challenging) is the tight coupling between action
and perception performance: in order to successfully realize a task, the
robot requires an accurate world model (which can include internal state
estimation, parameter self-calibration, reconstruction of the
surrounding environment, and so on). However, the chosen motion and
actions can also have a strong influence on the accuracy of the
estimated world model, with some motions/actions more informative than
other ones. Therefore, there exists a need of finding a balance between
choosing motion/action plans that are ‘optimal’ for the sake of world
modeling but, at the same time, are also effective in accomplishing the
tasks of interest.

The aim of this workshop is to propose a round table for presenting and
discussing the most recent and advanced solutions to the problem of
optimal action/perception coupling (sometimes also denoted as active
sensing), especially in the light of modern numerical methods (e.g.,
numerical optimal control, reinforcement learning) that have allowed in
recent years to successfully attack complex optimal action/perception
problems. The workshop will discuss practical applications of active
sensing in a number of different robotic scenarios, including mobile
robots, multi-robot systems and humanoids.

The workshop topics cover, but are not limited to:

- Active estimation, exploration, perception, sensing
- Coupling between perception and control
- Task-aware optimal/active sensing (possibly under control/energy/time
- Observers for nonlinear systems and observability metrics
- Cooperative and distributed estimation
- Dense/direct methods for active sensing
- Active SLAM
- Optimal sensor placement for control improvement
- Numerical methods for online/reactive replanning in the context of
active sensing
- Robotic demonstrators, real-world applications, field tests


- Prof. Oliver Brock

- Prof. Volkan Ilser

- Prof. David Hsu

- Prof. Kristi Morgansen

- Prof. Todd D. Murphey

- Prof. Davide Scaramuzza

- Prof. Gaurav S. Sukhatme

- Prof. Stephan A. Weiss

Evaluation of the submitted contributions will be performed by a board
of internationally recognized experts in the field that will appear on
the workshop website.

The program will include both invited talks and contributions from an
open call for papers. Please, refer to the workshop website
for updates on the program.

This workshop is supported by the:

- IEEE RAS Technical Committee on Multi-Robot Systems
- IEEE RAS Technical Committee on Aerial Robotics and Unmanned Aerial
- IEEE RAS Technical Committee on Algorithms for Planning and Control of
Robot Motion

- Paolo Robuffo Giordano (CNRS, IRISA/INRIA, France)
- Paolo Salaris (INRIA, France)
- Riccardo Spica (Stanford)

Dr. Paolo Robuffo Giordano

Centre National de la Recherche Scientifique (CNRS)
Rainbow Team, Irisa and Inria Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes cedex, France
Tel: +33 (0)2 99842545
Fax: +33 (0)2 99847171
Email: [hidden email]
Website: https://urldefense.proofpoint.com/v2/url?u=https-3A__team.inria.fr_rainbow_team_prg_&d=DwIDaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=evthXHPPjwhCO0n62K_bOz4iVazlfCmHQILUJpXC2NQ&s=wJdBMeQ2gqaXAMXA_rPXdGSLkAbP8hMU3GJWMKie7QU&e=
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