ROBOT2022: fifth Iberian robotics conference . Volume 2, : advances in robotics / / editors : Danilo Tardioli [and four others]

• Record Nr.: UNINA9910631084703321
• Pubbl/distr/stampa: Cham, Switzerland : , : Springer, , [2023]; ©2023
• ISBN: 3-031-21062-X
• Descrizione fisica: 1 online resource (634 pages)
• Collana: Lecture notes in networks and systems ; ; Volume 590
• Soggetti: Robotics
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: 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.