Preparation of Papers for ICONIC 2014 1,2First Author, 1Next Author & 2Last Author*

1 Author’s Affiliation, e-mail address2Author’s Affiliation

Abstract. This template is a Word 2010 version of paper template for International Conference of Indonesian Intellectual Community (ICONIC). The authors who intend to submit manuscripts to ICONIC are recommended to use this template directly: Please remove the unnecessary text in this template and replace it by the text originated by the authors. For abstract, the requirements are as follows: 9 pt Times New Roman fonts for body of the text with one spacing between lines, and 12 pt spacing for the next heading. The following requirements are mandatory in the abstract: the summary, the motivation, and the results. Minimum length is 200 words and maximum length is 400 words.

Keywords: Use 9 pt; lower case; italic; Times New Roman; write alphabetically in 4-6 words

NOMENCLATURE (if necessary)

WMR : Wheeled Mobile Robotρi : Distance between the i-th robot to the goal.ℜ : Real space

A. INTRODUCTIONThe section title uses 11 pt, bold, Times New Roman, title

case with 6 pt spacing to the body text. Use 10 pt, Times New Roman for body of the text, with single spacing between lines, no spacing between paragraph and 12 pt spacing for the next heading.1 To set the style, simply use this template and follow the instructions on section B.

B. IMPORTANT REQUIREMENTS

1. ParagraphsThe paragraphs in body text use 1.29 ch. left tab. Please

start each paragraph from the left tab stop.

2. Mathematical FormulationFor equation, there are four tab stops: 2 ch. left tab stop, 4

ch. left tab stop, 8 ch. left tab stop, and 22.5 ch. right tab stop. The first left stop is used to start a long equation. The third left stop for a short equation. Each equation must be numbered consecutively starting with (1) from the 22.5 ch. tab stop. The following example can be adopted.

x2+ y2=z2

(1)

Please define the definition of each symbol after their first appearance in the paper. Do not use the same symbol for different meanings. If necessary, use subscript and superscript for differentiating any two entities with close definitions.

a. Definitions, Properties, Assumptions, Theorems, Propositions, and LemmasIf the authors need to define a terminology, state an

assumption, or describe some properties, please make a new

1 For typing footnote, simply choose Insert Footnote on the menu bar, it numbered automatically.

line, and start with “Definition” (italic) followed by the number of definition (straight, not italic), as shown in the following example:

Definition 1: A path is defined as a set of points ( x , y )∈ℜ×ℜ started from initial point ( X0 ,Y 0) to a goal

point ( X g , Y g ) .Property 2: For a 3-degree Bezier curve, there are 4

control points ( X j , Y j ) , j=0 , .. . ,3 , which characterize the position of each point on the curve. Two of them are specific:

1). The first control point, i.e., j = 0, is the start point.2). The last control point, i.e., j = 3, is the goal point.3). The remaining control points determine the shape of

the curve. Assumption 3: System (1) is linear. If the authors intend to state a theorem, proposition, or

lemma, the format is the same with that in the case of definition, property, and assumption, but a proof must be provided. The following examples can be adopted.

Theory 4: Suppose that Assumption 3 is hold, therefore the control law (5) drives the system (1) asymptotically stable.

Proof: The theory can be proved as follows….Note that the number of definitions, properties, theorems,

propositions, and lemmas is increased without considering which entity uses the number. For instance, in a paper, the sequence of them from the beginning of the paper is: Definition 1, Lemma 2, Proposition 3, Theorem 4, Assumptions 5, Proposition 6, etc.

b. Pseudo-codePseudo-code is in particular needed by authors for showing

an algorithm. The style of pseudo-code is described as follows.Algorithm 1: Name of Process

1: Process level 12: Process level 13: For condition 1 then4: Process level 25: For condition 2 then6: Process level 37: If condition 3 then8: Process level 4

9: Else If condition 4 then10: Process level 411: Else12: Process level 413: End If14: End For15: While condition 5 do16: Process level 317: End while18: End for

Please do not write C/C++, Java, Python, or any programming language codes in pseudo-code. Please use general pseudo-code expression to explain an algorithm.

c. Figures and TablesFigures must be placed at the bottom or top of the related

pages. If the authors intend to place the figures at the bottom of page, the other figures must be placed at the bottom of page as well. All figures and tables should be centered and numbered consecutively. Please follow the examples of figure and table below.

Table 1. Summary of physical parameters.

No Segments Length(km)

Elevation(meter)

1 A-B 25 302 B-C 75.15 103 C-D 44.75 504 D-E 72.5 105 E-F 21.25 10

Fig. 1. The caption should be typed in lower case. Choose center if the caption fit on one line.

C. REFERENCES CITATIONSWithin the text, references should be cited by giving last

name of the author(s) and the order number in the reference as:Whitson [2] has studied the resulting equation is [1]:

x2+ y2=z2

(32)

Note that in the case of three or more authors, only the last name of the first author is cited and the others are denoted by “et al.” The same rule is also hold for header title in even page. All references cited in the body text must be listed in the end of the manuscript. Please see the example in the end of this template.

D. MANUSCRIPT STRUCTUREWithin the text, references should be cited by giving last

name of the author(s) and the order number in the reference as:The structure of the paper should be in the following order:1. Title of Paper2. Author names and affiliation3. Abstract4. Nomenclature (if necessary)5. Body of the text (Introduction ……Conclusion)6. Acknowledgements7. References

APPENDIX 1Appendices should be located after the last section of the

paper.

ACKNOWLEDGEMENTIf necessary you can type your acknowledgement here.

REFERENCES

[1] G. O. Young, “Synthetic structure of industrial plastics (Book style with paper title and editor),” in Plastics, 2nd ed. vol. 3, J. Peters, Ed. New York: McGraw-Hill, 1964, pp. 15–64.

[2] W.-K. Chen, Linear Networks and Systems (Book style).Belmont, CA: Wadsworth, 1993, pp. 123–135.

[3] H. Poor, An Introduction to Signal Detection and Estimation. New York: Springer-Verlag, 1985, ch. 4.

[4] B. Smith, “An approach to graphs of linear forms (Unpublished work style),” unpublished.

[5] E. H. Miller, “A note on reflector arrays (Periodical style—Accepted for publication),” IEEE Trans. Antennas Propagat., to be published.

[6] H.-J. Lee, “Fundamentals of Global and Local Mapping for Industrial Robots (Periodical style—Submitted for publication),” IEEE Transactions on Robotics., submitted for publication.

[7] C. J. Kaufman, Rocky Mountain Research Lab., Boulder, CO, private communication, May 1995.

[8] M. Young, The Techincal Writers Handbook. Mill Valley, CA: University Science, 1989.

[9] J. van den Berg, “Probabilistic Road Map (Periodical style),” International Journal of Robotics Research, vol. 1, no. 1, pp. 34–39, Jan. 2012.

[10] B. Fernandez, A. H. Rosenberg, and L. H. Nguyen, “Fluid-Based Trajectory Planning in An Adversarial Workspaces,” Robotics and Autonomous Systems, vol. 4, no. 7, pp. 570–578, Jul. 2003.

[11] A. K. Pamosoaji and K.-S. Hong “Trajectory Planning and Control for Multiple-Vehicles Systems,” Proceedings of the 8th International Conference of Ubiquitos Robots and Ambient Intelligence (URAI 2011), pp. 461-466, Incheon, Korea, Nov. 23-26, 2011.

[12] A. Suharso, “Service Robot (Thesis or Dissertation style),” Ph.D. dissertation, Universitas Indonesia, Indonesia, 2012.

[13] M. Michelsson, “Planning and Control Integration for Mobile Robots with Uncertainties in Complex Environment,” M.S. thesis, Dept. Electron. Eng., Osaka Univ., Osaka, Japan, 2012.

[14] J. P. Wilkinson, “Nonlinear resonant circuit devices (Patent style),” U.S. Patent 3 624 12, July 16, 1990.

[15] R. E. Haskell and C. T. Case, “Transient signal propagation in lossless isotropic plasmas (Report style),” USAF Cambridge Res. Lab., Cambridge, MA Rep. ARCRL-66-234 (II), 1994, vol. 2.

[16] E. E. Reber, R. L. Michell, and C. J. Carter, “Oxygen absorption in the Earth’s atmosphere,” Aerospace Corp., Los Angeles, CA, Tech. Rep. TR-0200 (420-46)-3, Nov. 1988.

[17] (Handbook style) Transmission Systems for Communications, 3rd ed., Western Electric Co., Winston-Salem, NC, 1985, pp. 44–60.

[18] Motorola Semiconductor Data Manual, Motorola Semiconductor Products Inc., Phoenix, AZ, 1989.

[19] (Basic Book/Monograph Online Sources) J. K. Author. (year, month, day). Title (edition) [Type of medium]. Volume (issue). Available: http://www.(URL)

[20] J. Jones. (1991, May 10). Networks (2nd ed.) [Online]. Available: http://www.atm.com

[21] (Journal Online Sources style) K. Author. (year, month). Title. Journal [Type of medium]. Volume(issue), paging if given. Available: http://www.(URL)

[22] R. J. Vidmar. (1992, August). On the use of atmospheric plasmas as electromagnetic reflectors. IEEE Trans. Plasma Sci. [Online]. 21(3). pp. 876–880. Available: http://www.halcyon.com/pub/journals/21ps03-vidmar