ROBOT2022: Fifth Iberian Robotics Conference

Name: ROBOT2022: Fifth Iberian Robotics Conference | Advances in Robotics, Volume 2
Brand: Springer
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Advances in Robotics, Volume 2

Danilo Tardioli Vicente Matellán Guillermo Heredia Manuel F. Silva Lino Marques(Herausgeber*in)

Springer (Verlag)

Erschienen am 18. November 2022

XXII, 627 Seiten

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978-3-031-21062-4 (ISBN)

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Beschreibung

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Inhalt

Intro
Preface
Organization
Local Organizing Committee
Program Committee Manager
Publicity Chairs
Program Committee
Additional Reviewers
Contents
Intelligent Robotics
Deep Learning for Victims Detection from Virtual and Real Search and Rescue Environments
1 Introduction
2 Materials and Methods
2.1 Materials
2.2 Reconstructed Environments
2.3 Convolutional Neural Network
3 Experiments and Results
3.1 Trained CNN Metrics
3.2 Cross Evaluation of Models for Victim Detection
4 Conclusions
References
Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios
1 Introduction
2 Background
2.1 Related Work
2.2 Dynamic Object Velocity Space (DOVS)
2.3 Contribution
3 Approach
3.1 Decentralization and ROS
3.2 Localization
3.3 Global Planner
3.4 Obstacle Tracker
3.5 Modifications in S-DOVS
4 Experimental Results
4.1 Simulation Experiments
4.2 Real-world Experiments
5 Conclusion
References
Artificial Stupidity in Robotics: Something Unwanted or Somehow Useful?
1 Introduction
2 Artificial Stupidity in Robotics
2.1 AS by Accident
2.2 AS by Design
3 Definition of the Problem
4 Analysis of Methods
5 Conclusions
References
Machine Learning in Robotics
Hand Gestures Recognition for an Intelligent Wheelchair Steering Command
1 Introduction
2 State of the Art
2.1 Hand Gestures
2.2 Leap Motion
3 Methodology
3.1 Data Set Description
3.2 Data Division
3.3 Feature Extraction
3.4 Feature Selection and Dimensionality Reduction
3.5 Classification
3.6 Application
4 Results and Discussion
4.1 Data Set
4.2 Real Time Application
5 Conclusion
References
Object Segmentation for Bin Picking Using Deep Learning
1 Introduction
2 Related Work
3 Deep Learning Training
3.1 Dataset Generation
4 Proposed Bin Picking System
4.1 2D Object Detection
4.2 3D Point Cloud Segmentation
4.3 Pose Estimation and Grasping
5 System Tests and Evaluation
5.1 Object Detection and Segmentation Efficiency and Performance
6 Discussion and Future Work
References
Robot Navigation Anticipative Strategies in Deep Reinforcement Motion Planning
1 Introduction
2 Related Work
2.1 AutoRL for Robot Navigation
2.2 Hybrid Policy with SFM
2.3 Anticipative Planning
3 Anticipative Models
3.1 Problem Formulation
3.2 Anticipative Turn (AT)
3.3 Anticipative Robot and Pedestrian's Propagation (ARP)
3.4 Anticipative Pedestrian's Propagation (APP)
4 Simulations and Experiments
4.1 Metrics
4.2 Simulation Results
4.3 Real-Life Experiments
4.4 Implementation Details
5 Conclusions
References
An Inductive Logic Programming Approach for Entangled Tube Modeling in Bin Picking
1 Introduction
2 Literature Review
2.1 Pose and Shape Estimation in Bin Picking
2.2 Inductive Logic Programming with 3D Data
3 Dataset Generation
4 Learning Theories Using Inductive Logic Programming
5 Results
6 Conclusions
References
Mobile Robot Olfaction
Aerial Robot with Electronic Nose for Air Quality Monitoring
1 Introduction
2 Material and Methods
2.1 UAV and E-Nose Integration
2.2 Data Processing
2.3 Experimental Setup
3 Results and Discussion
3.1 Calibration
3.2 Field Test
4 Conclusions
References
Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind
1 Introduction
2 Gas Dispersion Simulator Using Outdoor Wind
3 Simulated GSL Algorithm
4 Tested Modification and Simulation Setup
5 Simulation Result and Discussion
6 Conclusion
References
Potential Field Based Swarm Exploration of Processes Governed by Partial Differential Equations
1 Introduction
2 Fundamentals
2.1 Process Model
2.2 Probabilistic Framework
2.3 Artificial Potential Fields for Multi-robot Control
3 Process Mapping via Potential Field Navigation
4 Simulation Trials
5 Experimental Evaluation
6 Conclusion
References
Consensus-Based Distributed Source Term Estimation with Particle Filter and Gaussian Mixture Model
1 Introduction
2 Problem Formulation
3 Main Results
3.1 Local Particle Filtering
3.2 Kullback-Leibler Average
3.3 GMM-Based Approximation of PDF
4 Case Study
5 Conclusion
References
Evolving Swarm Formations for Odour Source Localisation
1 Introduction
2 Evolution of Swarm Formations
3 Experimental Setup
3.1 Baseline Formations
3.2 Formation Leader Controller
3.3 Genetic Algorithm
3.4 Evaluation Environment
4 Experimental Results
5 Conclusions and Future Work
References
Evaluating Cognitive Odour Source Localisation Strategies in Natural Water Streams
1 Introduction
2 Information-Theoretic Framework for Odour Source Localisation
2.1 Dispersion Model
2.2 Inference
2.3 Decision Making
3 Testing Environment
3.1 Evaluation Metrics
4 Experimental Results
5 Conclusions
References
GadenTools: A Toolkit for Testing and Simulating Robotic Olfaction Tasks with Jupyter Notebook Support
1 Introduction
2 On the Importance of Gas Dispersion Simulators and Datasets
3 Technologies Employed
3.1 Python
3.2 Jupyter Notebooks
4 GadenTools
4.1 The Python Module
4.2 The Notebook Tutorial
5 Conclusions
References
Learning from the Past: Sequential Deep Learning for Gas Distribution Mapping
1 Introduction
2 Related Work
3 Methodology
3.1 Data Generation
3.2 Preparation of Data Sets
3.3 Neural Network Architectures
3.4 Model Implementation and Training
4 Results
5 Discussion
6 Conclusion and Outlook
References
A Novel Odor Source Localization Method via a Deep Neural Network-Based Odor Compass
1 Introduction
2 Related Works
3 System Design
3.1 Overall Structure
3.2 Hardware Platform
4 DNN-Based Odor Compass Model
4.1 Model Design
4.2 Data Collection
4.3 Training and Validation Test
5 OSL Strategy and Experiment
5.1 OSL Strategy
5.2 OSL Experiment
6 Conclusion
References
Multi-robot for Industrial Applications
Modeling and Simulation of a Crossdocking System with an Integrated AS/RS
1 Introduction
2 Policies and Concepts
2.1 Crossdocking
2.2 Automated Storage and Retrieval Systems
3 Crossdocking System and Model Architecture
3.1 Crossdocking System Architecture
3.2 Automated Warehouse (AS/RS) Architecture
4 Modelling Software and Model Development
4.1 Implementation of the CS System
4.2 Implementation of the AS/RS
5 Activity Scenarios and Results Obtained
5.1 Simulated Scenarios
5.2 Analysis of the Results
6 Conclusions and Future Developments
References
A Novel Algorithm for Maximization of the Secondary-Task Function for Redundant Serial Manipulators
1 Introduction
2 Problem Overview
2.1 Proposed Algorithm
3 Experimental Scenario
4 Results and Analysis
5 Conclusions
References
Multi-robot Coordination for a Heterogeneous Fleet of Robots
1 Introduction
2 Related Works
3 Path Planning
3.1 Time Enhanced A* (TEA*)
3.2 Robot Priority Swapping
3.3 Moving Idle Robots
4 System Implementation
4.1 Graph
4.2 Graph Decomposition
4.3 Supervision
5 Results and Discussion
6 Conclusions and Future Work
References
Rehabilitation and Assistive Robotics
A Neuromechanical Model of Knee Flexion-Extension Based on Linear Regressors for Neuro-Controlled Exoskeletons
1 Introduction
2 Methods
2.1 Experimental Setup
2.2 EMG and Kinematic Recordings
2.3 Neuromechanical Model
3 Results and Validation
4 Discussion
5 Conclusion and Future Work
References
A Preliminary Approach to a Wheelchair with Embedded Exoskeleton Capabilities
1 Introduction
2 State of the Art
3 Design Trade-Off
4 Proposed Architecture
4.1 Identification of Modules and Determination of the Degrees of Freedom (DoF) to Implement in the Wheelchair
4.2 Definition of the Kinematic Pairs and Actuators for the Modular Chain
5 Simulation Features
5.1 Working Environment
5.2 Model Characterization
6 Conclusions and Future Work
References
Machine Learning and Inertial Sensors to Estimate Vertical Ground Reaction Force During Gait
1 Introduction
2 Materials and Methods
2.1 Lower Limb Joint Measurement
2.2 Experimental Setup and Acquired Data
2.3 Experimental Protocol
2.4 Machine Learning Models Training
2.5 Evaluation of Model Performance
3 Results
4 Discussion
5 Conclusion and Future Work
References
Intelligent Wheelchairs Rolling in Pairs Using Reinforcement Learning
1 Introduction
2 Related Work
3 Methods and Materials
3.1 Simulated Environment
3.2 Training the Intelligent Wheelchairs
3.3 Space and Actions
3.4 Reward System
4 Results
4.1 Metrics Using only the Leader Chair
4.2 Metrics Using Two Chairs
5 Discussion
6 Conclusions and Future Work
References
Influence of Session Duration in Robot-Assisted Neurorehabilitation Therapies: A Pilot Study with Patients
1 Introduction
2 Materials and Methods
2.1 Subjects
2.2 Experimental Setup
2.3 Arm Rehabilitation Robot
2.4 Rehabilitation Game
2.5 Analyzed Parameters
2.6 Study Protocol
3 Results
3.1 Exercise Performance
3.2 Assistance Force
3.3 Assessment of Motor Function
4 Discussion
5 Conclusion
References
Service Robotics in Challenging Environments
Data Fusion of RADAR and LIDAR for Robot Localization Under Low-Visibility Conditions in Structured Environments
1 Introduction
2 Related Work
3 Data Fusion Approach
3.1 Enhancing the Data from Low-Cost RADARs
3.2 LiDAR Segmentation
3.3 Sensor Fusion
4 Experimental Results
4.1 Experimental Setup
4.2 Scenario
4.3 Fusion Method Statistics
4.4 Localization Results
5 Conclusions
References
Procedural Generation of Underground Environments for Gazebo
1 Introduction
2 Related Work
3 Procedural Environments Generation
3.1 Tile Modeling
3.2 Tile-Based Procedural Generation
3.3 Random Tile Placement
3.4 Loop Closure
4 Results
5 Conclusions
References
ROSE: Robot for Automatic Spacer Installation in Overhead Power Lines
1 Introduction
2 ROSE Equipment Description
2.1 Robotic Arms for Spacer Installation
2.2 Vehicle for Displacement in the Overhead Line
2.3 The Operator Interfaces
3 Installation Procedures for the Vehicle and the Spacer
3.1 Procedure for Raising/Lowering the Vehicle
3.2 Procedure for Automatic Installation of the Spacer in a Duplex Line
3.3 Procedure for Jumping the Spacer Line
4 Tests and Performance of the ROSE System
4.1 Torque Applied During Screwing
4.2 Battery Consumption
4.3 Experiments at the Testing Bench
4.4 Trials in Overhead Line
5 Conclusion
References
Unmanned Aerial Vehicle Applications
Benchmark on Real-Time Long-Range Aircraft Detection for Safe RPAS Operations
1 Introduction
1.1 Motivation
1.2 Related Work
2 Object Detection Algorithms
3 Experimental Setup
3.1 Hardware Platforms
3.2 Software Tools
3.3 Datasets
3.4 Model Configuration
4 Results and Discussion
4.1 Performance Metrics
4.2 Inference Speed Comparison
4.3 Inference Accuracy Comparison
5 Conclusions and Future Work
References
Sensorial Testbed for High-Voltage Tower Inspection with UAVs
1 Introduction
2 Overview of Ultrasonic and LASER Sensor Applied in Obstacle Detection
3 Materials and Methods
3.1 Sensors Characterization in a Controlled Environment
3.2 Characterization of Sensors in an External Environment
4 Results and Discussion
4.1 Sensory Results in Controlled Environment
4.2 Sensory Results in External Environment
5 Conclusion and Future Work
References
Proposal of a Visual Positioning Architecture for Master-Slave Autonomous UAV Applications
1 Introduction
2 Related Works
3 System Architecture and Components
4 Experiments Description and Results
4.1 Simulation Experiments
4.2 Real World Experiments
5 Discussion
6 Conclusions and Future Works
References
Modeling and Under-actuated Control of Stabilization Before Take-off Phase for Flapping-wing Robots
1 Introduction
2 Description and Modeling of the System
3 Control Strategy
3.1 Underactuated Subsystem
3.2 Actuated Part of the System
4 Simulation and Experimental Verification
4.1 The Manipulator Prototype
4.2 Simulated Results
4.3 Experimental Results
5 Conclusions
References
Autonomous Landing Strategy for Vertiports: A Preliminary Case Study
1 Introduction
2 Landing in Vertiports: Regulation Analysis
2.1 Obstacle Free Volume (OFV) Description
2.2 OFV Characterization
3 Autonomous Landing Strategy for Vertiports
3.1 Maneuver Requirements
3.2 Proposed Landing State Machine
4 Implementation
4.1 Simulation Framework
4.2 Software Description
4.3 Finite State Machine
5 Results
5.1 Bilateral OFV
5.2 Omnidirectional OFV
6 Conclusions
References
Blueberry Row Detection Based on UAV Images for Inferring the Allowed UGV Path in the Field
1 Introduction
2 Methodology
2.1 Dataset Creation
2.2 Segmentation of Blueberry Rows in UAV Images
2.3 Inferring a UGV Path Based on Segmented Blueberry Rows
3 Results
4 Conclusions and Future Work
References
Versatile and Heterogeneous Robots in Agriculture
Collaborative Harvest Robot
1 Introduction
2 Materials and Methods
2.1 Operator Identification System
2.2 Control of Robot Movement
2.3 Integration of the Different Systems on the Robotic Platform
3 Results and Discussion
4 Conclusions and Future Lines of Action
References
Automatized Rapeseed Pest Detection and Management with Drones
1 Introduction
2 Methods
2.1 Pest Imaging
2.2 Pest Identification
2.3 Spraying Application Construction
2.4 Spraying Mission
2.5 Operational Requirements
3 Results and Discussion
4 Conclusions
References
LiDAR-Based Topological Mapping of Orchard Environments
1 Introduction
2 Methodology
2.1 Map Structure
2.2 Map Construction
3 Experimental Work
3.1 Experimental Setup
3.2 Results
4 Conclusion and Future Work
References
Towards Automated UAV Image Processing Workflows in Precision Viticulture: Challenges and Benefits
1 Introduction
2 Material and Methods
2.1 Experimental Site
2.2 UAV Process
2.3 UAV Imagery Acquisition
2.4 UAV Imagery Processing Workflows
3 Results
4 Discussion and Conclusions
References
Workshop on Physical Agents
Including Transfer Learning and Synthetic Data in a Training Process of a 2D Object Detector for Autonomous Driving
1 Introduction
2 Related work
2.1 Data Augmentation
2.2 Artificial Data from Virtual Environments
2.3 Bidimensional State-of-the-art Object Detectors
2.4 2D Object Detection Architecture
3 CAMERA DATA
3.1 COCO and Waymo Datasets
3.2 Kitti and Virtual-Kitti Datasets
3.3 AD PerDevkit Dataset
4 Experimental Results
4.1 Training Without Pretrained Weights
4.2 Transfer Learning Experiments with Pretrained Weights
5 Disscussion and Conclusions
References
Unsupervised Hyperbolic Action Recognition
1 Introduction
2 Related Works
2.1 Feature Detection
2.2 Clustering
2.3 Geometric Approach
3 Architecture
3.1 Experiments and Results
4 Conclusions
References
Multimodal Object Recognition Module for Social Robots
1 Introduction
2 Software and Hardware Assets
2.1 Cognitive Architecture
2.2 Robotic Platform
3 Multimodal Recognition System
3.1 Object Generators
3.2 Multimodal Perception Integrator (MPI)
3.3 Forgetting Obsolete Objects
3.4 Fusion Algorithm
4 Experimental Setup: Employed Sensors
5 Experiments
6 Conclusions and Future Work
References
RL-Studio: A Tool for Reinforcement Learning Methods in Robotics
1 Introduction
2 Related Works
2.1 RL Software Frameworks
2.2 Simulation Tools
2.3 RL in Robotics
3 RL-Studio Tool
3.1 Software Architecture
3.2 Configuration
3.3 Training and Inference Mode
3.4 Logging and Monitoring
4 Experiments
4.1 Robot Mesh
4.2 Mountain Car
4.3 Formula1 Visual Follow-Line
5 Conclusions
References
Interactive Social Agents Simulation Tool for Designing Choreographies for Human-Robot-Interaction Research
1 Introduction
2 State of the Art
3 Design of a Step-Based Social Simulation
3.1 Choreography Oriented Simulation
4 Implementation
5 Use Cases
6 Conclusions and Future Work
References
YASMIN: Yet Another State MachINe
1 Introduction
2 Background
3 Formalization
4 Architecture
4.1 YASMIN Description
5 Evaluation
5.1 Results and Discussion
6 Conclusions
References
Advanced Waypoint Navigation Strategies for Autonomous Mobile Robots in Industrial Settings
1 Introduction
2 Related Work
3 Problem Statement
4 Visibility Horizon in the Local Costmap
5 Deadlock Situations
6 Experiments
6.1 Simulation Environment
6.2 Warehouse Environment
7 Conclusions
References
Towards LiDAR and RADAR Fusion for Object Detection and Multi-object Tracking in CARLA Simulator
1 Introduction
2 Related Works
3 Methodology
3.1 LiDAR and RADAR Object Detection
3.2 Sensor Fusion
3.3 Multi-object Tracking
4 Validation and Experimental Results
4.1 Validation Method
4.2 Experimental Results
5 Conclusions and Future Works
References
SAFaD: A System for Automatic Fall Detection on Surveillance Imagery
1 Introduction
2 Related Works
3 Approach to Automatic Fall Detection
3.1 Semantic-Aware Motion History Image
3.2 Area Analysis Fall Detection
3.3 Centroid Evolution Fall Detection
3.4 Bounding Box Fitting Fall Detection
3.5 Final Ensemble
4 Dataset
5 Experiments and Results
5.1 Area Analysis Experimentation
5.2 Centroid Evolution Experimentation
5.3 Bounding Box Fitting Experimentation
5.4 Final Ensemble Experimentation
6 Conclusion and Future Work
References
Integrating State-Based Multi-Agent Task Allocation and Physical Simulators
1 Introduction
2 Proposed Framework
2.1 Agents' Communication
2.2 Controllers' Representation
2.3 Time Model
3 Results
4 Conclusion
References
Inner Speech: A Mechanism for Self-coordinating Decision Making Processes in Robotics
1 Introduction
2 Related Work
3 Inner Speech in the CORTEX Architecture
3.1 Perception and Action
3.2 Self-coordinating the Robot's Behaviour
4 Experimental Evaluation
5 Conclusions and Future Work
References
Approaches to Automatic Assembling of Plastic Toys
1 Introduction
2 Related Works
3 Approaches to Automatic Assembly
3.1 Motion Capture of the Manual Process
3.2 Automatic Assembly by Copying the Manual Process
3.3 Automatic Assembly by Using Perception
3.4 Computer Vision Methods
4 Experiments and Results
4.1 Comparison Between the Trajectory Recorded and the Replicated by the Robot
4.2 Comparison Between Grasping Point Detection in Motion and Static
4.3 Comparison Between Grasping Point Detection with Mass Center and Fitting Ellipse Methods
4.4 Comparison Between Grasping Point Detection Methods Errors
5 Conclusion and Future Work
References
Initial Results with a Simulation Capable Robotics Cognitive Architecture
1 Introduction
2 The CORTEX Architecture
3 What Can Be Obtained from an Embedded Simulator?
4 Experimental Setup
4.1 Model-Based Perception
4.2 Self Calibration
4.3 Occlusion
5 Conclusions and Future Work
References
Author Index

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