ROBOT 2017: Third Iberian Robotics Conference: Volume 1

Front Matter ....Pages i-xxiv
Front Matter ....Pages 1-1
 Landmark Detection for Docking Tasks  (Francisco Ferreira, Héber Sobreira, Germano Veiga, António Moreira)....Pages 3-13
 Rao-Blackwellized Particle Filter SLAM with Prior Map: An Experimental Evaluation  (Goran Popović, Juraj Oršulić, Damjan Miklić, Stjepan Bogdan)....Pages 14-25
 Object Tracking in a Moving Reference Frame  (Pedro Relvas, Paulo Costa, António Paulo Moreira)....Pages 26-35
 Vision-Based Control for an AUV in a Multi-robot Undersea Intervention Task  (Emilio Garcia-Fidalgo, Alberto Ortiz, Miquel Massot-Campos)....Pages 36-48
 The K-Framed Quadtrees Approach for Path Planning Through a Known Environment  (Ana Rodrigues, Pedro Costa, José Lima)....Pages 49-59
 Collision Avoidance for Multi-robot Systems with Coincident Paths Based on Fictitious Collision Points Using Nonlinear Formulation  (Marina B. A. Souza, Edimar José de Oliveira, Leonardo Willer de Oliveira, Antonio Paulo G. M. Moreira)....Pages 60-71
Front Matter ....Pages 73-73
 Integrating an Autonomous Robot on a Dance and New Technologies Festival  (Paula Abad, Miguel Franco, Rosa Castillón, Iñigo Alonso, Ana Cambra, Jorge Sierra et al.)....Pages 75-87
 A Perspective of Security for Mobile Service Robots  (Gary Cornelius, Patrice Caire, Nico Hochgeschwender, Miguel A. Olivares-Mendez, Paulo Esteves-Verissimo, Marcus Völp et al.)....Pages 88-100
 Project and Trajectory Control of an Autonomous Aerator for Aquaculture  (Rilene Carolina Goelzer, Letieri Avila, Vinicius Menezes de Oliveira)....Pages 101-112
 On-Line Adaptive Side-by-Side Human Robot Companion to Approach a Moving Person to Interact  (Ely Repiso, Anaís Garrell, Alberto Sanfeliu)....Pages 113-125
 A Robotized Dumper for Debris Removal in Tunnels Under Construction  (Danilo Tardioli, Luis Riazuelo, Teresa Seco, Jesús Espelosín, Jorge Lalana, José Luis Villarroel et al.)....Pages 126-139
 Roboethics and Robotic Governance – A Literature Review and Research Agenda  (Dominik B. O. Bösl, Martina Bode)....Pages 140-146
Front Matter ....Pages 147-147
 Coordinated Multi-UAV Exploration Strategy for Large Areas with Communication Constrains  (Juan Braga, A. Pedro Aguiar, João Borges de Sousa)....Pages 149-160
 A Nonlinear Model Predictive Control for an AUV to Track and Estimate a Moving Target Using Range Measurements  (R. Praveen Jain, Andrea Alessandretti, A. Pedro Aguiar, João Borges de Sousa)....Pages 161-170
 Architecture of a Flight Endurance Enhancement System for Maritime Operations with Fixed Wing UAS  (Leopoldo Rodríguez, Jose A. Cobano, Anibal Ollero)....Pages 171-182
 Immersive Touring for Marine Archaeology. Application of a New Compact Omnidirectional Camera to Mapping the Gnalić shipwreck with an AUV  (Josep Bosch, Nuno Gracias, Pere Ridao, David Ribas, Klemen Istenič, Rafael Garcia et al.)....Pages 183-195
 Towards Inspection of Marine Energy Devices Using ROVs: Floating Wind Turbine Motion Replication  (Satja Sivčev, Edin Omerdić, Gerard Dooly, Joseph Coleman, Daniel Toal)....Pages 196-211
Front Matter ....Pages 213-213
 Robot Localization System in a Hard Outdoor Environment  (Teresa Conceição, Filipe Neves dos Santos, Paulo Costa, António Paulo Moreira)....Pages 215-227
 Improving Dead-Reckoning Performance of Skid-Steered Wheeled Robots Using an Improved Kinematic Model  (Sedat Dogru, Lino Marques)....Pages 228-239
 A*-Based Solution to the Coverage Path Planning Problem  (Sedat Dogru, Lino Marques)....Pages 240-248
 GRAPE: Ground Robot for vineyArd Monitoring and ProtEction  (Ferran Roure, Germán Moreno, Marcel Soler, Davide Faconti, Daniel Serrano, Pietro Astolfi et al.)....Pages 249-260
 Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots  (Luís Santos, Filipe Neves dos Santos, Jorge Mendes, Nuno Ferraz, José Lima, Raul Morais et al.)....Pages 261-272
Front Matter ....Pages 273-273
 Multi-Robot Planning for Perception of Multiple Regions of Interest  (Tiago Pereira, A. Paulo G. M. Moreira, Manuela Veloso)....Pages 275-286
 Low Resolution Lidar-Based Multi-Object Tracking for Driving Applications  (Iván del Pino, Víctor Vaquero, Beatrice Masini, Joan Solà, Francesc Moreno-Noguer, Alberto Sanfeliu et al.)....Pages 287-298
 From Fast to Accurate Wireless Map Reconstruction for Human Positioning Systems  (Eduardo Ferrera, Jesús Capitán, Pedro Jośe Marrón)....Pages 299-310
 Cooperative Cloud SLAM on Matrix Lie Groups  (Kruno Lenac, Josip Ćesić, Ivan Marković, Ivan Petrović)....Pages 311-322
 Circle Formation in Multi-robot Systems with Limited Visibility  (Eman Hasan, Khaled Al-Wahedi, Belal Jumah, Diana W. Dawoud, Jorge Dias)....Pages 323-336
 A Multidrone Approach for Autonomous Cinematography Planning  (Arturo Torres-González, Jesús Capitán, Rita Cunha, Anibal Ollero, Ioannis Mademlis)....Pages 337-349
Front Matter ....Pages 351-351
 Appropriate Spherical Coordinate Model for Trocar Port Constraint in Robotic Surgery  (Anthony Remazeilles, Miguel Prada, Irati Rasines)....Pages 353-366
 Practical Aspects of Deploying Robotherapy Systems  (Francisco Martín, Jonathan Ginés)....Pages 367-378
 Enhancing a Robotic Rehabilitation Model for Hand-Arm Bimanual Intensive Therapy  (Enrique García Estévez, Irene Díaz Portales, José Carlos Pulido, Raquel Fuentetaja, Fernando Fernández)....Pages 379-390
 LifeBots I: Building the Software Infrastructure for Supporting Lifelong Technologies  (Antonio Bandera, Juan P. Bandera, Pablo Bustos, Fernando Férnandez, Angel García-Olaya, Javier García-Polo et al.)....Pages 391-402
 CLARC: A Cognitive Robot for Helping Geriatric Doctors in Real Scenarios  (Dimitri Voilmy, Cristina Suárez, Adrian Romero-Garcés, Cristian Reuther, Jose Carlos Pulido, Rebeca Marfil et al.)....Pages 403-414
Front Matter ....Pages 415-415
 Heterogeneous Ontologies and Hybrid Reasoning for Service Robotics: The EASE Framework  (John Bateman, Michael Beetz, Daniel Beßler, Asil Kaan Bozcuoğlu, Mihai Pomarlan)....Pages 417-428
 Towards an Ontology for Task and Planning in Autonomous Systems: An Emergency Scenario  (Julita Bermejo-Alonso, Jorge Salvador, Ricardo Sanz)....Pages 429-440
 Knowledge and Tasks Representation for an Industrial Robotic Application  (Rodrigo Bernardo, Rodolfo Farinha, Paulo J. S. Gonçalves)....Pages 441-451
 An Ontology Framework for Physics-Based Manipulation Planning  (Mohammed Diab, Muhayyuddin, Aliakbar Akbari, Jan Rosell)....Pages 452-464
 What Can Ontologies Do for Robot Design?  (Francisco Ramos, Alberto Olivares-Alarcos, Andrés Salomón Vázquez, Raúl Fernández)....Pages 465-476
 Deep Semantic Abstractions of Everyday Human Activities  (Jakob Suchan, Mehul Bhatt)....Pages 477-488
Front Matter ....Pages 489-489
 Artificial Flagellum Microrobot. Design and Simulation in COMSOL  (Enrique Mancha, José Emilio Traver, Inés Tejado, Javier Prieto, Blas M. Vinagre, Vicente Feliu)....Pages 491-501
 Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty  ( Muhayyuddin, Aliakbar Akbari, Jan Rosell)....Pages 502-515
 A Simulation Tool for Visualizing the Assembly Modes and Singularity Locus of 3RPR Planar Parallel Robots  (Adrián Peidró, Óscar Reinoso, José María Marín, Arturo Gil, Luis Payá, Yerai Berenguer)....Pages 516-528
 On the Use of Mixed Reality for Setting up Control and Coordination Strategies for Teams of Autonomous UAV  (F. Orjales, F. Lopez Peña, A. Paz-Lopez, A. Deibe, R. J. Duro)....Pages 529-540
 Flexible Work Cell Simulator Using Digital Twin Methodology for Highly Complex Systems in Industry 4.0  (Pedro Tavares, Joao André Silva, Pedro Costa, Germano Veiga, António Paulo Moreira)....Pages 541-552
Front Matter ....Pages 553-553
 Automatic Selection of User Samples for a Non-collaborative Face Verification System  (Fernando E. Casado, Carlos V. Regueiro, Roberto Iglesias, Xosé M. Pardo, Eric López)....Pages 555-566
 Robot Semantic Localization Through CNN Descriptors  (Edmanuel Cruz, José Carlos Rangel, Miguel Cazorla)....Pages 567-578
 3D Object Mapping Using a Labelling System  (Félix Escalona, Francisco Gomez-Donoso, Miguel Cazorla)....Pages 579-590
 Robust Hand Pose Regression Using Convolutional Neural Networks  (Francisco Gomez-Donoso, Sergio Orts-Escolano, Miguel Cazorla)....Pages 591-602
 3D Semantic Maps for Scene Segmentation  (Cristina Romero-González, Jesus Martínez-Gómez, Ismael García-Varea)....Pages 603-612
 Detecting and Manipulating Objects with a Social Robot: An Ambient Assisted Living Approach  (John Alejandro Castro-Vargas, Alberto Garcia-Garcia, Sergiu Oprea, Sergio Orts-Escolano, Jose Garcia-Rodriguez)....Pages 613-624
Front Matter ....Pages 625-625
 Learning Leg Pattern Using Laser Range Finder in Mobile Robots  (Eugenio Aguirre, Miguel García-Silvente, Marcelo García-Pérez)....Pages 627-639
 Movement Direction Estimation Using Omnidirectional Images in a SLAM Algorithm  (Yerai Berenguer, Luis Payá, Oscar Reinoso, Adrián Peidró, Luis Miguel Jiménez)....Pages 640-651
 How to Transfer a Semantic Segmentation Model from Autonomous Driving to Other Domains?  (Ana B. Cambra, Adolfo Muñoz, Ana C. Murillo)....Pages 652-665
 Inertial Navigation with Mobile Devices: A Robust Step Count Model  (Jacobo Lopez-Fernandez, Roberto Iglesias, Carlos V. Regueiro, Fernando E. Casado)....Pages 666-678
 Fine 3D Path Following of a Quadcopter  (Manuel Zafra Villar, Jose María Cañas Plaza)....Pages 679-690
Front Matter ....Pages 691-691
 Testing the Control Architecture of a Micro-Aerial Vehicle for Visual Inspection of Vessels  (Francisco Bonnin-Pascual, Alberto Ortiz, Emilio Garcia-Fidalgo, Joan P. Company-Corcoles)....Pages 693-705
 Efficient Inspection of Underground Galleries Using k Robots with Limited Energy  (S. Bereg, L. E. Caraballo, J. M. Díaz-Báñez)....Pages 706-717
 Sensor-Based 3-D Pose Estimation and Control of Rotary-Wing UAVs Using a 2-D LiDAR  (Alexandre Gomes, Bruno J. Guerreiro, Rita Cunha, Carlos Silvestre, Paulo Oliveira)....Pages 718-729
 Design of a High Performance Dual Arm Aerial Manipulator  (Pedro Grau, Alejandro Suarez, Victor Manuel Vega, Angel Rodriguez-Castaño, Anibal Ollero)....Pages 730-741
 Experimental Approach to the Aerodynamic Effects Produced in Multirotors Flying Close to Obstacles  (P. J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero)....Pages 742-752
Front Matter ....Pages 753-753
 Simulation Environment for the Evaluation and Design of Reactive Obstacle Avoidance Algorithms in UAS Operating in Low Altitude Airspace  (Katarina Borovina, John Hallam)....Pages 755-767
 Obstacle Avoidance Framework Based on Reach Sets  (Alojz Gomola, João Borges de Sousa, Fernando Lobo Pereira, Pavel Klang)....Pages 768-779
 A Montecarlo Reactive Navigation Algorithm for a Dual Arm Aerial Robot  (Fran Real, Ángel R. Castaño, Jesús Capitán)....Pages 780-790
 Feature Based Potential Field for Low-Level Active Visual Navigation  (Rômulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar, Pedro Miraldo)....Pages 791-800
Front Matter ....Pages 801-801
 Aerial Image Mosaicking for Multi-purpose Civil Applications  (Abdulla Al-Kaff, Juan Camilo Soto Triviño, Raúl Sosa San Frutos, Arturo de la Escalera, José María Armingol Moreno)....Pages 803-816
 Command-Filtered Backstepping Redesign for Aerial Manipulators Under Aerodynamic and Operational Disturbances  (Carlos R. de Cos, José Ángel Acosta, Anibal Ollero)....Pages 817-828
 Evasive Maneuvering for UAVs: An MPC Approach  (Manuel Castillo-Lopez, Miguel A. Olivares-Mendez, Holger Voos)....Pages 829-840
 Cuttlefish Optimization Algorithm in Autotuning of Altitude Controller of Unmanned Aerial Vehicle (UAV)  (Wojciech Giernacki, Tadeo Espinoza Fraire, Piotr Kozierski)....Pages 841-852
Front Matter ....Pages 853-853
 A Game of Drones: Game Theoretic Approaches for Multi-robot Task Allocation in Security Missions  (Kala Garapati, Juan Jesús Roldán, Mario Garzón, Jaime del Cerro, Antonio Barrientos)....Pages 855-866
 Enhancing RRT Planning for Interception with Distance and Probability Maps Based on FMM  (David Garzón-Ramos, Mario Garzón, Jorge De León, Antonio Barrientos)....Pages 867-878
 Ultra-Wideband Time of Flight Based Localization System and Odometry Fusion for a Scanning 3 DoF Magnetic Field Autonomous Robot  (Jose Lima, Paulo Costa)....Pages 879-890
 Quality Study of Robot Trajectories Based on the Anisotropic Fast Marching Method  (Santiago Garrido, Luis Moreno, Fernando Martin, David Alvarez)....Pages 891-901
Back Matter ....Pages 903-906