Interactive Collaborative Robotics: 8th International Conference, ICR 2023, Baku, Azerbaijan, October 25–29, 2023, Proceedings (Lecture Notes in Artificial Intelligence)

Preface
Organization
Contents
Attention Guided In-hand Mechanical Tools Recognition in Human-Robot Collaborative Process
	1 Introduction
	2 Related Work
		2.1 Hand Object Interaction
		2.2 Occlusion-Aware Object Detection
	3 Proposed Approach
		3.1 Criss-Cross Attention Module
		3.2 SimAM Attention Module
	4 Experiments
		4.1 Dataset Preparation
		4.2 Implementation Details
		4.3 Analysis and Comparisons
	5 Conclusion
	References
Design and Implementation of a Multimodal Combination Framework for Robotic Grasping
	1 Introduction
	2 Grasp Understanding and Detection
		2.1 Language Text Feedback
		2.2 6-DoF Grasp Generation
	3 Robotic Motor Skills Generalization
		3.1 Human Motion Demonstration
		3.2 DMP and Obstacle Avoidance
	4 Experiments
		4.1 Evaluation of Robotic Grasp Understanding
		4.2 Evaluation of Grasp Detection
		4.3 Evaluation of Robotic Trajectory Learning
	5 Conclusion
	References
Experimental Validation of an Interface for a Human-Robot Interaction Within a Collaborative Task
	1 Introduction
	2 Related Work
	3 Materials and Methods
		3.1 UR Robots – Virtual Control Application
		3.2 Workcell Description
		3.3 Collaborative Task
	4 Experiment Description
		4.1 Training Stage
		4.2 Main Stage
		4.3 Evaluation
	5 Results
	6 Discussion
	7 Conclusion
	References
Fail It till You Make It: Error Expectation in Complex-Plan Execution for Service Robots
	1 Introduction
	2 Related Work
	3 Error Expectation in General Purpose Service Robot (GPSR)
	4 Experiments and Results
		4.1 Object Recognition
		4.2 Object Detection
	5 Conclusions
	References
Moving Person Detection Based on Modified YOLOv5
	1 Introduction
	2 Related Works
		2.1 Dynamic SLAM Based on Deep Learning
		2.2 Person Detection in Indoor Environments
	3 New Model Architecture and Methodology
		3.1 Overview of YOLOv5 Network
		3.2 Convolutional Block Attention Module (CBAM)
		3.3 Bidirectional Feature Pyramid Network (BiFPN)
		3.4 New Model Architecture
	4 Experimental Results
		4.1 Datasets Preparation and Training Results
		4.2 Performance Evaluation on TUM RGB-D Dataset
		4.3 Performance Evaluation on Real-Time Situation
	5 Conclusion and Future Work
	References
Autonomous Robot Navigation System as Part of a Human-Machine Team Based on Self-organization of Distributed Neurocognitive Architectures
	1 Introduction
	2 Autonomous Robot Navigation System Based on Multi-agent Neurocognitive Architecture
	3 Experiments
	4 Conclusion
	References
3D-CNNs-Based Touchless Human-Machine Interface
	1 Introduction
	2 Related Works
	3 Proposed Method
		3.1 Extraction of the Hand Region
		3.2 Moore–Neighbor Approach
		3.3 Detecting Hand Gestures Target-Person Locking
	4 Simulations, Experimentations and Discussion of the Results
	5 Conclusion
	References
Development of a Mechanism for Recognizing the Emotional State Based on the Unconscious Movements of the Subject
	1 Introduction
	2 The Need for a New Modality
	3 Creation of a Mechanism for Recognizing the Emotional State of the Subject Based on His Unconscious Actions
		3.1 Designing a Mechanism for Recognizing the Emotional State of the Subject
		3.2 Collect Spatial Characteristics of the Mouse Cursor Position and Create Own Dataset
		3.3 Research and Data Processing
	4 Conclusion
	References
Development of a Device for Post-traumatic Ankle Rehabilitation
	1 Introduction
	2 Tasks of Ankle Rehabilitation
	3 The Circuit Diagram of the Active-Passive Mechanotherapy Device
	4 Diagrams for Measuring Leg and Platform Interaction Forces
	5 Functional Diagram of the Control System
	6 Description of the Unit’s Operating Modes
	7 Conclusion
	References
Evaluation of EEG Data for Zonal Affiliation of Brain Waves by Leads in a Robot Control Task
	1 Introduction
	2 Collecting and Preparing Statistical Data
	3 Obtaining Representative Features
	4 Evaluation of the Representativeness of the EEG Data
	5 Conclusion
	References
Comparison of ROS Local Planners for a Holonomic Robot in Gazebo Simulator
	1 Introduction
	2 System Setup
		2.1 Mecanum Wheel Robot
		2.2 Virtual Environments
	3 ROS Local Planners
	4 Performance Comparison
	5 Conclusion
	References
Movement Along the Trajectory of a Home Quadruped Robot
	1 Introduction
	2 Model of Home Robot
	3 Movement Along the Trajectory
		3.1 Piecewise Linear Approximation
		3.2 Gait with Variable Turning Radius (VTR Gate)
	4 Experiments
	5 Conclusion
	References
Study of Path Planning Methods in Two-Dimensional Mapped Environments
	1 Introduction
	2 Overview of Motion Planning Methods
	3 Mathematical Description of the Robot Movement and the Environment
	4 Modified Rapidly-Growing Random Trees Algorithm
	5 Comparison of the Original and the Modified RRT Algorithm
	6 Conclusion
	References
DHC-R: Evaluating “Distributed Heuristic Communication” and Improving Robustness for Learnable Decentralized PO-MAPF
	1 Introduction
	2 Background
	3 Related Work
	4 Method
		4.1 Architecture
		4.2 Observations
		4.3 Training
	5 Empirical Evaluation
	6 Conclusion
	References
Ground Mobile Robot Localization Algorithm Based on Semantic Information from the Urban Environment
	1 Introduction
	2 Description of the Training Data Collection Methodology for Semantic Segmentation
	3 Segmentation Model
	4 The Algorithm Developed
	5 Results Analysis
	6 Conclusion
	References
Remote Control Robotic System for the Perimeter Security
	1 Introduction
	2 Principle of Operation of the Security System
	3 Choosing the Encryption Algorithm of the Security System
	4 Structure of the Security System
	5 Description of the Security Robotic System
	6 Security Robotic System Operation
		6.1 Preparation for Operation
		6.2 Operation Algorithm
	7 Results of Laboratory and Field Tests of Security System
	8 Conclusion
	References
Development of a Robot for Agricultural Field Scouting
	1 Introduction
	2 Movement Organization
		2.1 Precise Positioning with RTK
		2.2 Building a Map in an Unknown Area
		2.3 Obstacle Avoidance
	3 Pipeline of Robot Works
		3.1 Robot Concept
		3.2 Choice of Components
		3.3 Pipeline of Our Model
	4 Conclusion
	References
Optimization of the Placement of Measurement Points and Control of the Power of Moving Sources in Rod Heating
	1 Introduction
	2 Formulation of the Problem
	3 Approach and Formulas for the Numerical Solution of the Problem
	4 Numerical Experiments
	5 Conclusion
	References
Design of Hybrid Control System for Nonaffine Plants
	1 Introduction
	2 Formulation of the Problem
	3 Solution of the Problem
	4 Example of Control Design and Simulation Results
	5 Conclusion
	References
Sliding-Mode Control of Phase Shift for Two-Rotor Vibration Setup
	1 Introduction
	2 Servo System Model of Two-Rotor Vibration Setup
	3 Robust Phase-Shift Control Algorithm
	4 Exploring Sliding Mode Potential
		4.1 Analytical Study
		4.2 Numerical Study
	5 Conclusion
	References
GBMILs: Gradient Boosting Models for Multiple Instance Learning
	1 Introduction
	2 Preliminaries
		2.1 Multiple Instance Learning
		2.2 A Brief Introduction to GBM
	3 Gradient Boosting for MIL
		3.1 Aggregating Functions
		3.2 Hard Max Aggregation
		3.3 Simple Attention Aggregation
		3.4 Ensemble of GBMs and the Attention Neural Networks
	4 Numerical Experiments
	5 Conclusion
	References
Approach to Numerical Solution of Nonlinear Optimal Feedback Control Problems
	1 Introduction
	2 Problem Statement and Solution Scheme
	3 Results of Numerical Experiments
	4 Conclusion
	References
Model-Based Policy Optimization with Neural Differential Equations for Robotic Arm Control
	1 Introduction
	2 Related Work
	3 Background
	4 Method
	5 Experiments
	6 Conclusion
	References
Monitoring the State of Robotic Systems Based on Time Series Analysis
	1 Introduction
	2 Problem Statement
	3 Suggested Method
	4 Approbation of the Method
		4.1 Practical Implementation
		4.2 Results
	5 Conclusion
	References
Resource-Saving Multiobjective Task Distribution in the Fog- and Edge-Robotics
	1 Introduction
	2 Resource-Saving Tasks Distribution: Basic Approach
	3 Multiobjective Tasks Distribution: Problem Statement
	4 Some Assumptions and General Technique for Resource-Saving Multiobjective Task Distribution
	5 Experimental Comparison of the Greedy and Multiobjective Solutions
	6 Experimental Multiobjective Tasks Distribution
	7 Conclusion
	References
Reliability of Robot’s Controller Software
	1 Introduction
	2 Simulation of Robot’s Digital Control System
	3 Causes of Software Failures
	4 Model of Failure Flux Forming
	5 Example
	6 Conclusion
	References
Ontological Approach to the Organization of Computing in Distributed Monitoring Systems with Mobile Components Based on a Distributed Ledger
	1 Introduction
	2 Ontological Approach to the Organization of Computations in Distributed Systems
	3 Development of a Domain Ontological Model
		3.1 Methodology for the Development of a Domain Ontological Model
		3.2 Analysis of the Subject Area of Operation of a Distributed Monitoring System with Mobile Components Based on a Distributed Ledger
		3.3 Domain Ontological Model of Distributed Monitoring System Functioning with Mobile Components Based on DL Technologies
	4 Experimental Studies
	5 Results
	6 Conclusion
	References
Improved Model of Greedy Tasks Assignment in Distributed Robotic Systems
	1 Introduction
	2 Robotics and Distributed Computing Domains Intersection
	3 Tasks Distribution Efficiency Estimation
	4 Experimental Results
		4.1 Experiment 1. Small Data Volume to Transmit, Route №1
		4.2 Experiment 2. Large Data Volume to Transmit, Route №1
		4.3 Experiment 3. Small Data Volume to Transmit, Route №2
		4.4 Experiment 4. Large Data Volume to Transmit, Route №2
	5 Conclusion
	References
Construction of a Three-Dimensional UAV Movement Planner When the Latter Moves in Conditions of Difficult Terrain
	1 Introduction
	2 Problem Statement
	3 Generalized Global Scheduler Algorithm
	4 Algorithm for Thinning a Piecewise Polyline and Reducing its Total Length
	5 Modified Dubins Method
	6 Trajectory Correction Algorithm Taking into Account Kinematic Constraints
	7 Simulation Results
	8 Conclusion
	References
Identification of the Quadcopter Rotational Dynamics for the Tilt Angle
	1 Introduction
	2 Finite Frequency Identification Case
	3 Nonlinear Model Identification
	4 Conclusion
	References
Development of a Firmware for Multirotor UAV Flight Controller Implemented on MCU MDR 32
	1 Introduction
	2 Problem Statement
	3 Model of the Flight Controller
	4 Design of the Flight Controller Hardware
	5 Software Implementation of the Flight Controller
	6 Experimental Testing
	7 Conclusion
	References
Autonomous Landing Algorithm for UAV on a Mobile Robotic Platform with a Fractal Marker
	1 Introduction
	2 Analysis of Existing Research
	3 Materials and Methods
		3.1 Used Models
		3.2 The Landing Control Algorithm
	4 Experiments
	5 Analysis of Obtained Results
	6 Conclusion
	References
Curl-Free Vector Field for Collision Avoidance in a Swarm of Autonomous Drones
	1 Introduction
	2 Curl-Free Vector Field-Based Approach to Drone Swarm Control
		2.1 Drone Swarm System Model
		2.2 Control Algorithm for Collision Avoidance
	3 Numerical Simulation Results and Discussion
	4 Conclusion
	References
Author Index