Robot 2023: Sixth Iberian Robotics Conference

Name: Robot 2023: Sixth Iberian Robotics Conference | Advances in Robotics, Volume 1
Brand: Springer
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Advances in Robotics, Volume 1

Lino Marques Cristina Santos José Luís Lima Danilo Tardioli Manuel Ferre(Editor)

Springer (Publisher)

1st Edition

Published on 26. April 2024

XVII, 566 pages

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978-3-031-58676-7 (ISBN)

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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
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Robot 2023: Sixth Iberian Robotics Conference

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