
Robot 2023: Sixth Iberian Robotics Conference
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Content
- Intro
- Preface
- Organization
- Contents
- Mobile Robotics
- The Use of Semantic Knowledge in Task Planning for Robotic Agents, Minimising Human Error
- 1 Introduction
- 2 Global Knowledge Engine Conceptual Framework
- 2.1 Ontology Description and Knowledge-Based Reasoning Engine
- 2.2 Graphical User Interface (GUI)
- 3 Validation of the Proposed Framework
- 4 Conclusions and Future Work
- References
- Geometric Pattern-Based Computer Vision Positioning System
- 1 Introduction
- 2 Computer Vision Camera-Based Positioning Systems
- 3 Proposal
- 3.1 Complete Visible Light Positioning System
- 3.2 Geometric Detection Algorithm
- 3.3 Pose Estimation Algorithm
- 4 Experiments and Results
- 4.1 Accuracy Experiment
- 4.2 Error Propagation Experiment
- 5 Discussion
- 5.1 Accuracy Experiment Analysis
- 5.2 Error Propagation Experiment
- 6 Conclusion
- References
- Map Merge and Accurate Localization in Multi-robot Systems in Real Environments
- 1 Introduction
- 2 Proposed Approach
- 2.1 Map Merge Algorithm
- 3 Particle Swarm Optimization
- 4 Accurate Localization
- 5 Experimental Results
- 5.1 Parameter Optimization for PSO Algorithm
- 5.2 Map Merge Algorithm and Accurate Localization Results
- 6 Conclusion
- References
- Category Theory for Autonomous Robots: The Marathon 2 Use Case
- 1 Introduction
- 2 Category Theory Concepts for Robotics
- 2.1 Basis: Category, Functor, and Natural Transformation
- 2.2 Representing Resources: Wiring Diagrams
- 2.3 Representing Networks: Operads and Algebras
- 2.4 Combining Information: Pushouts
- 3 Related Work
- 4 The Marathon 2 Use Case
- 4.1 Recoveries in Marathon 2
- 5 CT-Model for the Marathon 2
- 5.1 System Model
- 5.2 Specification of a Design
- 5.3 CT-Model-Based Recoveries
- 6 Discussion on CT-Driven System Modeling
- 7 Conclusions
- References
- Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A* Algorithm
- 1 Introduction
- 2 State of the Art
- 3 Methodology
- 3.1 Acquisition System
- 3.2 Data Collection and Processing
- 3.3 A* Search Algorithm
- 4 Results
- 4.1 2D Measurement Test
- 4.2 3D Scanning and Point Cloud Generation
- 4.3 Matrix Representation, Morphological Transformations, and A* Search
- 4.4 Analysis of Discrepancies
- 5 Conclusion and Future Work
- References
- Sensing and Perception
- SynPhoRest - A Procedural Generation Tool of Synthetic Photorealistic Forest Datasets
- 1 Introduction
- 2 Related Work
- 3 Generation of Synthetic Forest Environment
- 3.1 Terrain Generation
- 3.2 Object Parameters
- 3.3 Path Generation
- 3.4 Chunk Manager Module
- 3.5 World Building Logic
- 3.6 Interface
- 3.7 Extracted Data
- 4 Performance Assessment
- 5 Conclusion
- References
- Evaluation of Point Cloud Data Augmentation for 3D-LiDAR Object Detection in Autonomous Driving
- 1 Introduction
- 2 Related Work
- 2.1 3D Obstacle Detection Using LiDAR's Point Cloud
- 2.2 3D Data Augmentation Methods
- 3 3D Obstacle Detection and Data Augmentation
- 3.1 Problem Definition
- 3.2 PointPillars
- 3.3 Data Augmentation for 3D Point Clouds
- 3.4 Evaluation Metrics
- 4 Results
- 5 Conclusion
- References
- Green Deep Learning: Comparative Study of Road Object Detectors Between Jetson Boards and PC
- 1 Introduction
- 2 Background
- 2.1 Nvidia Jetson AGX Xavier
- 2.2 Nvidia TensorRT
- 3 Related Work
- 3.1 Acceleration and Speed-Up
- 3.2 Deployment on Embedded Devices
- 3.3 Acceleration and Deployment on Embedded Devices
- 4 Methodology and Comparison
- 4.1 Hardware Platforms
- 4.2 Comparison Metrics
- 4.3 Inference Methods
- 5 Results
- 6 Conclusions and Findings
- References
- Exploring Domain Adaptation with Depth-Based 3D Object Detection in CARLA Simulator
- 1 Introduction
- 2 Related Work
- 2.1 2D Object Detection
- 2.2 3D Object Detection
- 2.3 Camera Depth Estimation
- 3 Architecture
- 3.1 Image 2D Object Detection
- 3.2 Depth Estimation and Point Cloud Projection
- 3.3 3D Object Detection
- 4 Experiments
- 4.1 Datasets
- 4.2 Metrics
- 4.3 Procedure and Results
- 5 Conclusions
- References
- Improving Energy Performance of Camera Lidar Fusion by Intermittent Human Detection for Social Navigation
- 1 Introduction
- 2 Method
- 2.1 Point Cloud Pre-filtering
- 2.2 Point Cloud ROI Extraction
- 2.3 Point Cloud Candidate Generation
- 2.4 Monocular Pose Estimate
- 2.5 Bounding Box Update
- 2.6 Lidar and Monocular Estimate Fusion
- 2.7 Person Velocity Estimation
- 3 Validation and Experimental Work
- 3.1 Position Estimation Performance
- 3.2 Energy Consumption Analysis
- 4 Conclusions and Future Work
- References
- Visual Tracking of Synthetic Space Platforms in Low Orbit Using International Space Station Video Stream and Rendered Earth Model
- 1 Introduction
- 2 Problem Formulation
- 3 Video Composition
- 4 Visual Tracking Algorithm
- 5 Results
- 5.1 Tracking with Earth Background
- 5.2 Tracking with Sea Background
- 5.3 Tracking with Low Illumination Conditions
- 5.4 Tracking with Rendered Earth Model
- 5.5 Time Performance
- 6 Conclusion
- References
- Driver Activity Recognition by Fusing Multi-object and Key Points Detection
- 1 Introduction
- 2 Related Works
- 2.1 Persons and Object Detection
- 2.2 Pose Estimation
- 3 Architecture Integration
- 3.1 Feature Extraction and Merging
- 3.2 Activity Classifier
- 3.3 Postprocessing
- 4 Experimental Evaluation
- 4.1 Dataset
- 4.2 YOLO - Object Detection
- 4.3 Metrics
- 4.4 Ablation Study
- 4.5 Global Performance
- 5 Conclusion
- References
- Cross-View Generalisation in Action Recognition: Feature Design for Transitioning from Exocentric To Egocentric Views
- 1 Introduction
- 2 Related Work
- 3 Methodology
- 3.1 Data
- 3.2 Human Joint Detection
- 3.3 Feature Extraction
- 3.4 First-Person Feature Extraction
- 3.5 Training
- 3.6 Testing
- 4 Results and Discussion
- 4.1 Model's Configuration and Results
- 4.2 Voting Ensemble Improvement
- 4.3 Discussion of Findings
- 5 Conclusions and Future Work
- References
- Assessing Infotaxis Sensitivity to Model Quality Through Evolutionary Computation
- 1 Introduction
- 2 Evolutionary Infotaxis Algorithms
- 3 Experimental Setup
- 3.1 Simulation Environment
- 3.2 Evolutionary Algorithms
- 4 Experimental Results
- 4.1 Environmental Models
- 4.2 Performance Analysis
- 5 Conclusions
- References
- A Feasibility Study of a Leader-Follower Multi-robot Formation for TDLAS Assisted Methane Detection in Open Spaces
- 1 Introduction
- 2 Relative Pose Alignment for Leader-Follower Formation
- 3 Gas Distribution Mapping from Integral Measurements
- 3.1 Path Planning for Gas Distribution Mapping
- 4 Experimental Setup
- 5 Results and Discussion
- 6 Conclusions and Future Work
- References
- Studying Exploitation and Exploration Trade-Off of Cognitive Odour-Guided Search
- 1 Introduction
- 2 Methods and Materials
- 2.1 Problem Formulation
- 2.2 Plume Model
- 2.3 Bayesian Inference
- 2.4 Cognitive Movement Decision
- 2.5 EE Trade-Off Analysis
- 2.6 Evaluation Process
- 3 Testing Environment
- 4 Experimental Results
- 4.1 Qualitative Analysis
- 4.2 Quantitative Analysis
- 5 Conclusions
- References
- Robotic Navigation
- Performance Analysis of ORB-SLAM in Foggy Environments
- 1 Introduction
- 2 Related Work
- 2.1 Visual SLAM
- 2.2 Image Dehazing
- 3 Methodology
- 3.1 Fog Model
- 3.2 Fog Removal
- 4 Experimental Work and Discussions
- 5 Conclusion and Future Works
- References
- Socially Reactive Navigation Models for Mobile Robots in Dynamic Environments
- 1 Introduction
- 2 Related Works
- 3 Approach-Oriented Adaptive Space
- 3.1 Space Modeling
- 3.2 Adaptive Space
- 3.3 Approach Pose Estimation
- 4 Experiments
- 5 Conclusions
- References
- Human Motion Trajectory Prediction Using the Social Force Model for Real-Time and Low Computational Cost Applications
- 1 Introduction
- 2 Related Work
- 3 Social Force Model
- 4 Social Force GAN Model
- 4.1 Problem Formulation
- 4.2 Social Force Representation
- 4.3 SoFGAN Model Description
- 5 Metrics
- 6 Experiments
- 6.1 Evaluation Results
- 6.2 Real-Life Experiments
- 6.3 Implementation Details
- 7 Conclusions
- References
- DeepRL-Based Robot Local Motion Planning in Unknown Dynamic Indoor Environments
- 1 Introduction
- 2 Related Work
- 3 Proposed Approach
- 3.1 DeepRL Architecture
- 3.2 DeepRL State Representation
- 3.3 Action Set
- 3.4 Reward Model
- 4 Results
- 4.1 Evaluation Setup
- 4.2 Simulation Scenarios
- 4.3 Results and Analysis
- 5 Conclusions
- References
- Parallel Curves Path Planning Based on Tangent Segments to Concentric Circles
- 1 Introduction
- 2 Background
- 3 Algorithm Proposed
- 3.1 Path Planning Using Tangent Segments and Parallel Curves
- 3.2 Algorithm Proposed
- 4 Experiment Design
- 5 Numerical Results
- 5.1 ParallelCurves Algorithm Comparations
- 5.2 Convergence and Complete Results
- 6 Conclusion
- References
- Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios
- 1 Introduction
- 2 Urban Traffic Problem
- 3 Decision Making Framework and Control
- 3.1 Fuzzy Logic Decision Making
- 3.2 MPC-Based Platoon Following Controller
- 4 Simulation Based Implementation
- 5 Results and Discussions
- 6 Conclusion
- References
- Fast Tunnel Traversal for Ground Vehicles by Bearing Estimation with Neural Networks
- 1 Introduction
- 2 Related Work
- 3 Desired Bearing Prediction
- 3.1 Network Architecture
- 3.2 Image Generation from LiDAR Scans
- 3.3 Dataset Generation
- 3.4 Training
- 4 Experimental Evaluation
- 4.1 System Architecture
- 4.2 Methodology and Results
- 5 Conclusions
- References
- Safe Autonomous Multi-vehicle Navigation Using Path Following Control and Spline-Based Barrier Functions
- 1 Introduction
- 2 Preliminaries and Problem Formulation
- 2.1 Control Lyapunov Functions and Control Barrier Functions
- 2.2 Safe Path Following for Traffic Control
- 3 CLF-CBF-Based Controller for Safe Path Following
- 3.1 Path Following Control Using CLFs
- 3.2 Vehicle Barriers
- 3.3 Spline-Based Barriers
- 3.4 QP Controller for Safe Path Following
- 4 Simulation Results
- 5 Conclusion and Future Works
- References
- Integration of a Free Navigation Autonomous Mobile Robot into a Graph and ROS-Based Robot Fleet Manager
- 1 Introduction
- 2 State-of-the-Art
- 2.1 Robot Fleet Managers
- 2.2 Mobile Robots Navigation Types
- 3 Implementation
- 3.1 OMRON LD-90
- 3.2 ROS Implementation
- 3.3 Robot Fleet Manager Description
- 3.4 OMRON Robot Fleet Manager Integration
- 4 Results Discussion
- 5 Conclusions and Future Work
- References
- Perception for Manipulation
- An Approach to Computer Vision Control of a Parallel Soft Gripper
- 1 Introduction
- 2 Parallel Soft Gripper Design
- 2.1 Material Selection
- 2.2 Soft Actuator Design
- 2.3 Pneumatic Actuation
- 3 Computer Vision Control and Experimental Assessment
- 3.1 Planar Contact Control Algorithms
- 3.2 Experimental Results
- 4 Conclusion
- References
- Shape Control of Maneuvering Planar Formations Based on Distributed Deformation Minimization
- 1 Introduction
- 2 Problem Definition
- 3 Leader-Follower Control Scheme
- 3.1 Shape Control Conditions and Target Formation
- 3.2 Control Laws for the Followers
- 3.3 Analysis of Leader-to-Follower Dynamics
- 3.4 Imposing Dynamic Bounds
- 4 Simulation Examples
- 5 Conclusion
- References
- Adaptive Bayesian Optimization for Robotic Pushing of Thin Fragile Deformable Objects
- 1 Introduction
- 2 Manipulation Task Overview
- 3 Optimization Problem
- 4 Gaussian Process Regression
- 5 Acquisition Function
- 6 Simulation Results
- 7 Conclusion
- References
- Design of a Modular Soft Tool for Automatic Seed Sowing
- 1 Introduction
- 2 Materials and Methods
- 3 Design Approach
- 3.1 Soft Design
- 3.2 Mathematical Modeling
- 4 Experimental Analysis
- 4.1 Soft Tool Testing
- 4.2 Evaluation
- 5 Conclusions
- References
- Manipulation of Deformable Objects with a Multi-robot System
- 1 Introduction
- 2 Problem Statement
- 3 Control 2D1/2
- 4 3D Manipulation of Deformable Objects
- 5 Results
- 5.1 2D1/2 Results
- 5.2 3D Results
- 6 Conclusions
- References
- 3D Motion Estimation of Volumetric Deformable Objects from RGB-D Images Synthetically Generated by a Multi-camera System
- 1 Introduction
- 2 Methodology
- 2.1 Deformations Simulator
- 2.2 3D Flow Estimation
- 3 Results and Analysis
- 3.1 Performance Metrics
- 3.2 Experimental Results
- 4 Conclusions and Future Work
- References
- Elastic Contour Mapping for the Estimation of Abrupt Shape Deformations
- 1 Introduction
- 2 Mesh Estimation Method
- 2.1 FMM-Based Contour Mapping
- 2.2 Mesh Estimation for Abrupt Deformations
- 3 Experiments
- 3.1 Experiment: Red Cushion
- 3.2 Experiment: Blue Cloth
- 4 Discussion
- References
- Collaborative Robotics
- A Collaborative Robot-Assisted Manufacturing Assembly Process
- 1 Introduction
- 2 Methodology
- 3 Results and Discussion
- 4 Conclusions
- References
- A Cognitive Architecture for Human-Aware Interactive Robot Learning with Industrial Collaborative Robots
- 1 Introduction
- 2 Architecture Prototype Overview
- 2.1 Base Ontology for Our ITL/IRL
- 2.2 IRL Process
- 3 Architecture Implementation
- 4 Validation on a Real Task Learning Scenario
- 5 Conclusions
- References
- Safety-Based Stable Variable Impedance Controller for Interaction Tasks Involving Human Body Surfaces
- 1 Introduction
- 2 Background
- 3 Parameter Modulation Laws
- 3.1 Damping Modulation
- 3.2 Stiffness Modulation
- 4 Safety Condition Assessment
- 4.1 Polytopic LPV Model for VIC
- 4.2 Stability-LQR LMI Design
- 5 Simulated Environment
- 5.1 VIC Design
- 5.2 Results
- 6 Empirical Validation
- 7 Conclusions
- References
- Trajectory Generation Using Dual-Robot Haptic Interface for Reinforcement Learning from Demonstration
- 1 Introduction
- 2 Related Work
- 2.1 Collaborative Robots and Teleoperation
- 2.2 Learning AI Methods
- 3 System Description
- 4 Experiments
- 4.1 Grasping Experiments
- 4.2 Data Acquisition Experiments
- 5 Conclusion
- 6 Future Works
- References
- A Robotic System to Automate the Disassembly of PCB Components
- 1 Introduction
- 1.1 PCB Dismantling
- 1.2 Proposed Approach
- 2 Background and Related Studies
- 3 Robotic Desoldering Process
- 3.1 Robot Control
- 3.2 Tool
- 4 Results and Discussion
- 5 Conclusion
- References
- Manufacturing
- Hybrid Localization Solution for Autonomous Mobile Robots in Complex Environments
- 1 Introduction
- 2 State-of-the-Art on Mobile Robots Localization
- 2.1 Localization Technologies
- 2.2 Localization Methods
- 3 System Architecture Description
- 3.1 Localization Handler Module
- 4 Results Comparison and Discussion
- 4.1 Indoor Scenario
- 4.2 Indoor and Outdoor Scenarios
- 5 Conclusions and Future Work
- References
- Optimization of the Energy Consumption for Robotic Kitting in the Automotive Industry
- 1 Introduction
- 2 State of the Art
- 3 Problem Description
- 4 Robotic Kitting Prototype
- 5 Results and Discussion
- 6 Conclusions
- References
- Comparison of Pallet Detection and Location Using COTS Sensors and AI Based Applications
- 1 Introduction
- 2 Theoretical Foundation on Computer Vision
- 3 Pallet Detection and Localization
- 3.1 SICK Sensor
- 3.2 Customized AI Application for Pallet Detection and Localization
- 3.3 Results Comparison and Discussion
- 4 Conclusions and Future Work
- References
- Experimental Analysis of Robot Base Frame Identification Methods
- 1 Introduction
- 2 Experimental Setup
- 2.1 Problem Statement
- 2.2 Measurement Device and Robot Used
- 2.3 Application of the Compared Methods
- 3 Results
- 4 Conclusion
- References
- A Robotic Cable-Gripper for Reliable Inspection of Transmission Lines
- 1 Introduction
- 2 Related Work
- 3 The Concept of Robotic Cable-Gripper
- 3.1 Evaluation of Robotic Cable-Gripper
- 3.2 Risk Detection Techniques
- 3.3 Identification of Elements
- 3.4 Levels of Risks in the Right-of-way
- 4 Analyses of Robotic Cable-Gripper
- 4.1 Real Inspection System
- 5 Conclusion and Future Works
- References
- Development of a Controller for the FANUC S-420FD Industrial Robot: A Description of the Graphical User Interface
- 1 Introduction
- 2 State of Art
- 3 Methodology and Results
- 3.1 Overall System Design
- 3.2 Robotic Arm Model
- 3.3 Kinematics
- 3.4 Software Development
- 3.5 Tool Configuration
- 4 Results
- 5 Conclusion and Future Work
- References
- Control of a Mobile Robot Through VDA5050 Standard
- 1 Introduction
- 2 State-of-the-Art on Robot Fleet Managers
- 3 Implementation
- 3.1 Software Architecture
- 3.2 Implementation Details
- 4 Results and Discussion
- 5 Conclusion and Future Work
- References
- Forces Analysis on Robotics Screwing Tasks
- 1 Introduction
- 2 Experimental Set-Up
- 2.1 Testing Set-Up
- 2.2 Bolting Tool Design
- 2.3 Robot (UR5e) and Servomotor (Qrob80) Control Modes
- 3 Experiments
- 3.1 Forces Seen by the Robot During Screwing Procedure
- 3.2 QDS Screwing Task
- 4 Results
- 5 Conclusion
- 6 Future Work
- References
- Author Index
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