IROS 2019 2019 shall include plenary and keynote talks, technical sessions, workshops and tutorials,

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  • IROS 2019

    2019 IEEE/RSJ International Conference

    on Intelligent Robots and Systems

    Conference Digest

    November 4 – 8, 2019 The Venetian Macao

    Macau, China

    www.iros2019.org

  • IEEE/RSJ IROS 2019 PROCEEDINGS

    IEEE Catalog Number: CFP19IRO-ART

    ISBN: 978-1-7281-4004-9 IEEE Catalog Number (USB): CFP19IRO-USB ISBN (USB): 978-1-7281-4003-2

    Copyright and Reprint Permission:

    Copyright and Reprint Permission: Abstracting is permitted with credit to the

    source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid

    through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For reprint or republication permission, email to IEEE Copyrights Manager at pubs- permissions@ieee.org. All rights reserved. Copyright ©2019 by IEEE.

    The Institute of Electrical and Electronics Engineers, Inc.

    IROS 2019 Conference App

    IROS 2019 Conference program and proceedings are available on the InfoVaya platform accessible from a desktop or mobile device.

    To access the program and papers though the app and/or the Infovaya platform at

    https://events.infovaya.com/event?id=48, please log-in or register using the

    email address used for the conference registration.

  • Table of Contents

    1. Welcome Message ------------------------------------------------------------------ 2 2. Program at a Glance ---------------------------------------------------------------- 3 3. Floor Maps --------------------------------------------------------------------------- 10 4. Sponsors ------------------------------------------------------------------------------ 14 5. Organizing Committee ------------------------------------------------------------- 19 6. IROS Advisory Council ------------------------------------------------------------- 21 7. Senior Program Committee ------------------------------------------------------ 23 8. IROS Conference Paper Review Board ----------------------------------------- 24 9. RA-Letters Editorial Board -------------------------------------------------------- 28 10. General Information --------------------------------------------------------------- 31 11. About Macau ------------------------------------------------------------------------- 33 12. Transportation ----------------------------------------------------------------------- 34 13. Nearby Dining Options ------------------------------------------------------------ 37 14. Social Events ------------------------------------------------------------------------- 39 15. Plenary Talks ------------------------------------------------------------------------- 42 16. Pioneer’s Talks ----------------------------------------------------------------------- 46 17. Keynote Talks ------------------------------------------------------------------------ 47 18. Industrial CEO Summit Forum --------------------------------------------------- 59 19. Government Forum ---------------------------------------------------------------- 61 20. Industrial Forum -------------------------------------------------------------------- 63 21. Cutting Edge Forums --------------------------------------------------------------- 65 22. Special Forum ------------------------------------------------------------------------ 67 23. Competitions ------------------------------------------------------------------------- 69 24. Conference Awards ---------------------------------------------------------------- 71 25. Workshops and Tutorials --------------------------------------------------------- 75 26. Technical Visit --------------------------------------------------------------------- 103 27. Exhibition --------------------------------------------------------------------------- 104 28. Sessions Workshops and Tutorials, Monday and Friday, Nov 4 and Nov 8 .. 109 Technical Sessions, Tuesday, Nov 5 ............................................... 119 Technical Sessions, Wednesday, Nov 6 .......................................... 191 Technical Sessions, Thursday, Nov 7 .............................................. 281 29. Author Index ---------------------------------------------------------------------- 341

  • 2

    1. Welcome Message

    Welcome to Macau. We are honored to host the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). We hope that you enjoy the technical excellence and innovation on display at IROS 2019.

    For the first time, IROS is being held in Macau, which is a city that has clearly set its sights to become the world’s leading conference, resort, and shopping destination. We are pleased to provide you with a forum to present and discuss state-of-the-art

    concepts for novel research results, original perspectives on future developments, and innovative applications relevant to intelligent robots and smart machines. IROS 2019 shall include plenary and keynote talks, technical sessions, workshops and

    tutorials, forums, pioneers’ talks, and exhibits to enrich fruitful discussions among conference attendees.

    For this year’s conference, we received 2,513 papers, 180 late breaking results

    posters, and 44 workshop and tutorial submissions, with authors from 53 countries and regions. The final program shall include 1,127 papers for oral presentation, 148 late breaking news posters, and 41 workshops and tutorials.

    We hereby express genuine appreciation to the Macau government and various

    sponsors for their support. We are likewise grateful to all individuals who have contributed in advancing the objectives and goals of this conference. Lastly, we offer our heartfelt appreciation to the authors, conference participants, and

    volunteers for the success of this event.

    Once again, we welcome you to one of the major tourist attractions in Asia and in the world. Macau’s unique history and locations definitely offer visitors with

    unforgettable experiences and memories. We are confident that we can provide all attendees with considerable opportunities to experience the exceptional and harmonious diversity of Macau while participating in our prestigious conference.

    Dong Sun

    City University of Hong Kong, China

    General Chair

    Fumihito Arai

    Nagoya University, Japan

    Program Chair

  • 3

    2. Program at a Glance

    1

    M on

    da y,  N ov

     4 Tu

    es da

    y,  N ov

     5 W ed

    ne sd ay , N

    ov  6

    Th ur sd ay , N

    ov  7

    Fr id ay , N

    ov  8

    W O RK

    SH O PS

     &  

    TU TO

    RI AL

    S CO

    N FE RE

    N CE

    CO N FE RE

    N CE

    CO N FE RE

    N CE

    W O RK

    SH O PS

     &  

    TU TO

    RI AL

    S

    9: 00

     – 18

    :0 0

    W or ks ho

    ps  

    &  T ut or ia ls

    (L 1  &  L G)

    9:00 – 18:00 Robot Competitions (L3)

    8: 30

     – 9: 00

    O pe

    ni ng

     C er em

    on y (L 3)

    8:30 – 18:00 Exhibition (L1) & Robot Competitions (L3)

    9: 00

     – 10

    :0 0

    Ke yn

    ot e  Ta

    lk s V

    II  – XI I

    (L 3)

    9:00 – 18:00 Exhibition (L1)

    9:00 – 12:00 Robot Competitions (L3)

    9: 00

     – 10

    :3 0

    Pl en

    ar y  Ta

    lk s I II  &  IV

    (L 3)

    9:00 – 17:00 Exhibition (L1)

    9: 00

     – 18

    :0 0

    W or ks ho

    ps  

    &  T ut or ia ls

    (L 1  &  L G)

    9: 00

     – 17

    :0 0

    Sp ec ia l F or um

    (L G)

    9: 00

     – 10

    :3 0

    Pl en

    ar y  Ta

    lk s I  &  II

    (L 3)

    10 :0 0  – 10

    :3 0

    Co ffe

    e  Br ea

    k 10

    :3 0  – 11

    :0 0

    Co ffe

    e  Br ea

    k 10

    :3 0  – 12

    :0 0

    Te ch ni ca l S es si on

    s (L 1  &  L G)

    Pi on

    ee r‘s

     T al ks

    (L 3)

    In du

    st ria

    l F or um

    (L 3)

    10 :3 0  – 11

    :0 0

    Co ffe

    e  Br ea

    k

    11 :0 0  – 12

    :3 0

    Te ch ni ca l S es si on

    s  &

    Cu tt in g  Ed

    ge  F or um

    (L 1  &  L G)

    11 :0 0  – 12

    :3 0

    Te ch ni ca l S es si on

    s  Cu

    tt in g  Ed

    ge  F or um

    (L 1  &  L G)

    12 :0 0  – 13

    :0 0

    Lu nc h  &  P os te r S

    es si on

     (L 1)

    12 :3 0  – 13

    :3 0

    Lu nc h  &  P os te r S

    es si on

     (L 1)

    12 :4 0  – 14

    :3 0

    Aw ar ds  L un

    ch eo

    n (L 3)

    13 :0 0  – 14

    :3 0

    Te ch ni ca l S es si on

    s  &

    Cu tt in g  Ed

    ge  F or um

    (L 1  &  L G)

    13 :3 0  – 14

    :3 0

    Ke yn

    ot e  Ta

    lk s I  – VI

    (L 3)

    14 :4 5  – 16

    :1 5

    Te ch ni ca l 

    Se ss io ns

    (L 1  &  L G)

    In du

    st ria

    l F or um