UID:
almafu_9961000642202883
Umfang:
1 online resource (616 pages)
Ausgabe:
1st ed. 2023.
ISBN:
3-031-21065-4
Serie:
Lecture Notes in Networks and Systems, 589
Inhalt:
This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society for Research and Development in Robotics, and SPR—Sociedade Portuguesa de Robótica/Portuguese Society for Robotic. ROBOT 2022 builds upon several previous successful events, including three biennial workshops and the four previous editions of the Iberian Robotics Conference, and is focused on presenting the research and development of new applications, on the field of Robotics, in the Iberian Peninsula, although open to research and delegates from other countries. ROBOT 2022 featured four plenary talks on state-of-the-art subjects on robotics and 15 special sessions, plus a main/general robotics track. In total, after a careful review process, 98 high-quality papers were selected for publication, with a total of 219 unique authors, from 22 countries.
Anmerkung:
Intro -- Preface -- Organization -- Local Organizing Committee -- Program Committee Manager -- Publicity Chairs -- Program Committee -- Additional Reviewers -- Contents -- ROBOT2022 General Track -- Obtaining 3D Dense Thermal Models of Interiors of Buildings Using Mobile Robots -- 1 Introduction: Thermal Point Clouds of Buildings -- 2 General Methodology -- 3 Planning and Data Acquisition -- 3.1 Thermal Point Clouds -- 3.2 Data Acquisition Routine -- 4 Data Processing -- 5 Experimentation -- 5.1 MoPAD2 Platform -- 5.2 Navigation and Data Acquisition Planning -- 5.3 Case Study -- 6 Conclusions -- References -- Data Association Tools for Target Identification in Distributed Multi-target Tracking Systems -- 1 Introduction -- 2 Related Work -- 2.1 Event-Triggered Systems -- 2.2 Data Association in Multi-target Tracking Systems -- 3 Data Association Tools -- 3.1 Event-Triggered Communication Mechanism -- 3.2 Gallery Construction -- 4 Integration in a Multi-camera Distributed Tracking System -- 4.1 Target Model -- 4.2 Measurements -- 4.3 Metrics -- 5 Experiments -- 5.1 Experimental Setup -- 5.2 Ablation Study -- 5.3 Tracking in the Wild -- 6 Conclusions -- References -- Classification of Humans Social Relations Within Urban Areas -- 1 Introduction -- 2 Related Work -- 3 Classification of Humans' Relationship -- 3.1 Database Description -- 3.2 Neural Networks (NN) -- 3.3 Recurrent Neural Network (RNN) -- 4 Results -- 4.1 Results of NNs Models -- 4.2 Results of RNNs Models -- 4.3 Results Analysis -- 4.4 Sighting Extracted From the Implementation of the Methods -- 4.5 Classification into Two Categories -- 4.6 Comparison With State-of-Art-method -- 5 Discussion of Contributions for HRI and Its Applicability -- 6 Conclusions -- References -- Tree Trunks Cross-Platform Detection Using Deep Learning Strategies for Forestry Operations -- 1 Introduction.
,
2 Deep Learning-Based Object Detection Methods -- 3 Materials and Methods -- 3.1 Footage Forests and Image Acquisition Methodologies -- 3.2 Dataset Annotation and Augmentation -- 3.3 Object Detection Models Configuration, Training and Conversion -- 3.4 Trunk Detection Evaluation -- 4 Results and Discussion -- 5 Conclusions and Future Work -- References -- Design and Evaluation of a Passive Gripper for Remote Manipulation Tasks -- 1 Introduction -- 2 Modelling of the Passive Gripper -- 2.1 Design Considerations -- 2.2 Degrees of Freedom Analysis -- 2.3 Kinematic Model -- 2.4 Dynamic Analysis -- 3 Simulations and Performance of the Designed Gripper -- 3.1 Modelling -- 3.2 Simulation of the Gripper -- 4 Experimental Trials -- 4.1 Mock-Up for Experiments -- 4.2 Experimental Results -- 5 Conclusion -- References -- Limit Characterization for Visual Place Recognition in Underwater Scenes -- 1 Introduction -- 2 Related Works -- 3 Visual Place Recognition -- 4 Experimental Results -- 4.1 Stonefish Simulator -- 4.2 Loop Closure Detection -- 5 Conclusions -- References -- Design, Development and Validation of a Ground Control Station for Aerial Manipulators -- 1 Introduction -- 2 Features of the Ground Control Station -- 3 Implementation of the Ground Control Station -- 3.1 Threads -- 3.2 Communications -- 4 System for the Experimental Validation -- 4.1 Aerial Manipulator -- 4.2 Manipulator for the Slave Mode -- 5 Experiments -- 5.1 Mission Using Waypoints -- 5.2 Predefined Movement of the Aerial Manipulator -- 5.3 Aerial Manipulation Mission with the Slave Mode -- 6 Conclusion -- References -- Control and Stability of an Aerial Manipulator Depending on the Inertial Parameters -- 1 Introduction -- 2 System Description -- 2.1 Specifications -- 2.2 Aerial Platform -- 2.3 Arm Design -- 2.4 Integration of the Aerial Manipulator -- 3 Modeling -- 4 Control.
,
4.1 Aerial Platform Controller -- 4.2 Robotic Arm Controller -- 5 Results -- 5.1 Simulations -- 5.2 Experimental Validation -- 6 Conclusion -- References -- Context Attention: Human Motion Prediction Using Context Information and Deep Learning Attention Models -- 1 Introduction -- 2 Related Work -- 3 Model Architecture -- 3.1 Multi-headed Attention -- 3.2 Information Channels Fusion -- 3.3 Predictor Module -- 3.4 Loss -- 4 Dataset -- 5 Experimental Results -- 5.1 Experimental Details -- 5.2 Experiments -- 6 Conclusions -- References -- From Augmented Reality to Deep Learning-Based Cognitive Assistance: An Overview for Industrial Wire Harnesses Assemblies -- 1 Introduction -- 2 Wire Harness Assembly in Modern Industries -- 2.1 Industries Related to the Wire Harnessing Process -- 3 Augmented Reality Tools -- 3.1 Projection-Based Displays -- 3.2 Screen-Based Displays -- 3.3 Discussion -- 4 Cognitive Assistance Systems in Manual Assembly -- 4.1 Deep Learning-Based Wire Segmentation -- 4.2 Datasets for Training -- 5 Robots Handling Cables -- 6 Summary and Outlook -- References -- Safety Standards for Collision Avoidance Systems in Agricultural Robots - A Review -- 1 Introduction -- 2 Human-Robot Interaction in Agriculture Environments -- 2.1 Interaction -- 2.2 Obstacle Avoidance -- 3 ISO's Standards -- 3.1 Industrial Robotics Standards -- 3.2 Migration to Agricultural Environment -- 4 Comparison Between Collision Avoidance Methods and Standards -- 5 Discussion and Analysis - Lack of Specifications -- 5.1 Collision Avoidance -- 5.2 Collision Avoidance System Evaluation (CASE) Form -- 6 Conclusion -- References -- Enhanced RGB Image Processing Method for Automatic 2D and 3D Defect Inspection on Shiny Surfaces -- 1 Introduction -- 2 Methodology -- 2.1 Image Acquisition Set-Up -- 2.2 Image Merging -- 3 3D Defect Inspection System -- 4 2D Inspection System.
,
5 Test Results -- 6 Conclusion and Future Work -- References -- On the Innovative Management of Remote Robotic Experimentation*-10pt -- 1 Introduction -- 2 Related Work -- 3 The RAWFIE Architecture -- 4 RAWFIE Management -- 4.1 UxV Resources Management -- 4.2 Experiments Management -- 5 A Practical Use Case Within RAWFIE Infrastructure -- 5.1 RAWFIE Testbeds -- 5.2 RT-ART Testbed -- 5.3 RT-ART Experimentation -- 6 Conclusions -- References -- In-Hand Manipulation of Unseen Objects Through 3D Vision -- 1 Introduction -- 2 Related Work -- 3 Methodology -- 3.1 Object Pose Estimation from a Point Cloud -- 3.2 Demo Augmented Policy Gradient -- 4 Experiments -- 4.1 Demonstration Data Collection -- 4.2 Results and Discussion -- 5 Conclusions and Future Work -- References -- Event-Based Visual Tracking in Dynamic Environments*-10pt -- 1 Introduction -- 2 Framework -- 2.1 Problem Statement and Summary of the Proposal -- 2.2 Image Reconstruction -- 2.3 Object Detection -- 2.4 Tracker -- 2.5 Evaluation Metrics -- 3 Experiments -- 3.1 Image Reconstruction -- 3.2 Detection -- 3.3 Tracking -- 3.4 Timing Performance -- 4 Conclusions -- References -- Efficient Semantic Segmentation with Hyperspectral Images -- 1 Introduction -- 2 Related Work -- 3 Method -- 4 Evaluation Methodology -- 4.1 Metrics -- 4.2 Proposed Benchmark -- 5 Experimental Evaluation -- 5.1 Experimental Setup -- 5.2 Accuracy -- 5.3 Efficiency -- 5.4 Comparison with Previous Work -- 6 Conclusions and Future Work -- References -- ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology -- 1 Introduction -- 1.1 Contributions -- 1.2 Paper Structure -- 2 Background -- 2.1 Visual Graph-SLAM -- 2.2 On the Optimality of SLAM Pose-graphs -- 3 Proposed Method -- 3.1 SLAM -- 3.2 Frontier Detection -- 3.3 Weighted Graph Hallucination -- 3.4 Frontier Selection And Navigation -- 3.5 Recovery Behavior.
,
4 Experimental Validation -- 5 Conclusions -- References -- Distributed Dynamic Assignment of Multiple Mobile Targets Based on Person Re-Identification -- 1 Introduction -- 2 Distributed Assignment Algorithm -- 3 Transmission Policies -- 4 Person Re-Identification -- 4.1 The Detection Node -- 4.2 The Re-Identification Node -- 4.3 The Filtering Node -- 5 Experiments -- 5.1 Testing Conditions -- 5.2 Evaluation Metrics -- 5.3 Results -- 6 Conclusions -- References -- Robotizing the Sterility Testing Process: Scientific Challenges for Bringing Agile Robots into the Laboratory*-10pt -- 1 Introduction -- 2 Sterility Use Case -- 3 Technical Challenges -- 4 Data Available -- 5 Conclusion -- References -- Mobile Robot Navigation in Dynamic Environments Taking into Account Obstacle Motion in Costmap Construction -- 1 Introduction -- 2 Related Work -- 3 Method -- 3.1 Determining Possible Collision Time -- 3.2 Cost Assignments in the Costmap -- 4 Simulations and Discussion -- 4.1 Simulation Setup -- 4.2 Simulation Results -- 5 Conclusion -- References -- Robust Monte Carlo Localisation Using a Ground Penetrating Radar -- 1 Introduction -- 1.1 Motivation -- 1.2 Research Question -- 1.3 Test Robot and Test Ground -- 2 Ground Penetrating Radar (GPR) -- 2.1 Stepped Frequency Radar with Antenna Array -- 2.2 Signal Processing of the Radar Data -- 3 Localisation -- 3.1 Mapping -- 3.2 Yaw Angle Calculation -- 4 Experimental Results -- 4.1 Parameter Optimisation -- 4.2 Localisation Example -- 5 Conclusion and Outlook -- References -- Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study -- 1 Introduction -- 2 Modeling, Control and Characterization -- 2.1 System Modeling -- 2.2 Control Scheme -- 2.3 Effect of Manipulator Configuration on Flight Controller -- 3 Aerial Manipulation While Flying -- 4 Aerial Manipulation While Holding.
,
5 Aerial Manipulation While Perching.
Weitere Ausg.:
Print version: Tardioli, Danilo ROBOT2022: Fifth Iberian Robotics Conference Cham : Springer International Publishing AG,c2022 ISBN 9783031210648
Sprache:
Englisch
DOI:
10.1007/978-3-031-21065-5
Bookmarklink
