Interactive Collaborative Robotics: 6th International Conference, ICR 2021, St. Petersburg, Russia, September 27–30, 2021, Proceedings (Lecture Notes in Computer Science)

Preface
Organization
Contents
Prioritized SIPP for Multi-agent Path Finding with Kinematic Constraints
	1 Introduction
	2 Multi Agent Path Finding with Kinematic Constraints (MAPFKC)
		2.1 Classical MAPF
		2.2 MAPFKC
	3 Prioritized SIPP for MAPF
	4 Prioritized SIPP for MAPFKC
		4.1 Heuristic Functions
	5 Empirical Evaluation
		5.1 Setup
		5.2 Results and Discussion
	6 Conclusion
	References
DronePort: Smart Drone Battery Management System
	1 Introduction
	2 DronePort System
	3 Simulation
		3.1 Available Open-Source Simulation Software
		3.2 DronePort Simulation
		3.3 Generation of a Unique DronePort Model
	4 DronePort Traffic Control
		4.1 Chebyshev Pseudospectral Optimal Control
		4.2 Trajectory Planning
		4.3 Results
	5 Conclusion
	References
Semantic Segmentation in the Task of Long-Term Visual Localization
	1 Introduction
	2 Dataset
		2.1 Benchmark for Dataset
	3 Used Methods in the Pipeline
		3.1 SuperPoint
		3.2 SuperGlue
		3.3 Hierarchical Multi-scale Attention for Semantic Segmentation
	4 Evaluation and Ranking
		4.1 Evaluation
		4.2 Ranking Method
	5 Experiments
		5.1 Parameter Tuning of Hierarchical Localization
		5.2 Preprocessing for Semantic Segmentation
	6 Conclusion
	References
Algorithm for Radio Survey of the Cyber-Physical Systems Operating Areas Using Unmanned Aerial Vehicles
	1 Introduction
	2 Related Work
	3 Materials and Methods
	4 Modeling
	5 Conclusion
	References
Step Path Simulation for Quadruped Walking Robot
	1 Introduction
	2 Problem Statement
	3 Analysis of the Impact of Trajectory Parameters on the Drive Characteristics
	4 Optimization of Trajectory Parameters
	5 Analysis of the Influence of the Robot Leg Size on the Drive Characteristics
	6 Conclusion
	References
The Problem Statement of Cognitive Modeling in Social Robotic Systems
	1 Introduction
	2 Statement of the Problem of Cognitive Modeling of Interaction in Social Robotic Systems
	3 Conclusion
	References
Adaptive Event Triggered Control of Nonholonomic Mobile Robots
	1 Introduction
	2 Controller with Periodic Update
	3 Event Sampled Controller Design
	4 Simulation Results
	5 Conclusions
	Appendix
	References
Development of a Multi-sensor Emotional Response System for Social Robots
	1 Introduction
	2 Methodologies
		2.1 Emotion Detection
		2.2 Touch Detection
		2.3 Sensor Fusion System
	3 Experimental Studies
		3.1 System Setup
		3.2 Analysis and Discussion
	4 Conclusion
	References
A Technique to Provide an Efficient System Recovery in the Fog- and Edge-Environments of Robotic Systems
	1 Introduction
	2 Edge- and Fog-Computing Applications in the Robotics Field
	3 Reconfiguration and Its Effect on the Nodes Reliability Function
	4 Control Methods Estimations
	5 A Technique to Provide an Efficient System Recovery
	6 Conclusions
	References
Development of Matrix of Combined Force and Proximity Sensors for Use in Robotics
	1 Introduction
	2 Sensor Structure and Schematics
	3 Experiments
	4 Conclusion
	References
The Efficiency Improvement of Robots Group Operation by Means of Workload Relocation
	1 Introduction
	2 UAV Distribution by Scan Bands
	3 A Decision-Making Technique on the Need to Relocate the Workload in a UAV Group
	4 The Development of an Ontology Model of Workload Relocation in a Heterogeneous UAV Group Operating in the Changeable Environmental Conditions
		4.1 Production Rules of Workload Relocation in a Heterogeneous UAV Group Operating in the Changeable Environmental Conditions
	5 Simulation and Discussion
	6 Conclusion
	References
Visual Data Processing Framework for a Skin-Based Human Detection
	1 Introduction
	2 Related Work
	3 Image Data Processing
		3.1 Pre-processing
		3.2 Skin Segmentation
		3.3 Feature Extraction
	4 Experiments
		4.1 Datasets
		4.2 Experiment Setup
		4.3 Classification Evaluation
	5 Conclusions
	References
Classification of Aerial Manipulation Systems and Algorithms for Controlling the Movement of Onboard Manipulator
	1 Introduction
	2 Classification of Aerial Manipulation Systems
	3 Modeling of UAV Manipulator
	4 Conclusion
	References
‘MEOW’ – A Social Robot Platform for School
	1 Introduction
	2 Problem Statement
	3 Implementation
		3.1 Hardware
		3.2 Software
		3.3 Robot Emotions
		3.4 Human-Robot Interaction Scenario
	4 Designed Platform Evaluation
	5 Conclusion
	References
A Framework to Process Natural Speech in Service Robots Using a Combination of a Speech Recognition System, Universal Dependencies Extracted by Means of the Stanford Parser and an Expert System
	1 Introduction
	2 Methods
		2.1 Simulator
		2.2 Speech Recognition System
		2.3 Parsing the Command: The Stanford Syntatic Parser
		2.4 Semantic Networks and Conceptual Dependencies (CDs)
		2.5 Translating Universal Dependencies to High Level Reasoning: CLIPS
		2.6 Experiment
	3 Results
	4 Discussion
	References
Prioritizing Tasks Within a Robotic Transportation System for a Smart Hospital Environment
	1 Introduction
	2 Related Work
	3 Tasks with Priorities Scheduler Implementation
	4 Movement Rules Model
		4.1 State Machine Implementation with SMACH
		4.2 Describing Movement Rules with a Behavioral State Machine
	5 Virtual Environment Setup
	6 Virtual Experiments
	7 Conclusion and Future Work
	References
Dedicated Payload Stabilization System in a Service Robot for Catering
	1 Introduction
	2 Overview of Existing Solutions in the Field of Service Robots
	3 General Construction of a Robot Waiter
	4 Tray Control System with Payload
	5 Experiment Result
	6 Conclusion
	References
Collision Avoidance for Mobile Robots Using Proximity Sensors
	1 Introduction
	2 State of the Art
		2.1 Reactive Collision Avoidance for Mobile Robots
		2.2 Sensors for Mobile Robot
	3 Concept
		3.1 Differential Drive
		3.2 Capacitive Sensing
		3.3 Collision Avoidance Method
	4 Implementation
		4.1 Hardware Setup
		4.2 Software Methods
	5 Simulation
		5.1 Evaluation with Laser Range Sensor
		5.2 Evaluation with Sonar Sensor
	6 Experiment
		6.1 Experiment with Omnidirectional Drive Robot
		6.2 Experiments with Differential Drive Robot
	7 Results and Conclusion
	References
Analysis of Kinematic Diagrams and Design Solutions of Mobile Agricultural Robots
	1 Introduction
	2 Design Solutions for Mobile Platforms
		2.1 Carrying Systems
	3 Types of Mobile Platform Engines
		3.1 Wheeled and Tracked Mobile Platforms
		3.2 Walking Mobile Platforms
		3.3 Combined Mobile Platforms
	4 Kinematic Diagrams of Mobile Agricultural Platforms
	5 Conclusion
	References
Author Index