Robot Intelligence Technology and Applications 7: Results from the 10th International Conference on Robot Intelligence Technology and Applications

Preface
Contents
Motion Planning and Control
Estimation of Aerodynamic Uncertainty in Missile System Using Physics-Informed Neural Network Framework
	1 Introduction
	2 Preliminaries
		2.1 Dynamics of System
		2.2 Simulation Data
	3 Methodology
		3.1 Framework of Physics-Informed Neural Networks
		3.2 Procedure in Neural Networks
	4 Result and Discussion
		4.1 One Example of Estimation
		4.2 Sensitivity on Sampling Time
		4.3 Robustness to Noise
		4.4 Results of 100 Individual Simulation Data
	5 Conclusion
	References
Nonlinear Autoregressive with Gaussian Process Regression-Based Path-Following Guidance for UAV Under Time-Varying Disturbances
	1 Introduction
	2 Problem Formulation and Preliminary
		2.1 UAV Kinematic Model and Guidance Geometry
		2.2 Gaussian Process Regression
	3 GP-NAR-Based Path Following Guidance Algorithm
		3.1 Design Strategy of the Proposed Guidance Algorithm
		3.2 Baseline Guidance Algorithm
		3.3 Nonlinear Autoregressive with Gaussian Process Regression
	4 Simulation Results
	5 Concluding Remarks
	References
CEO-MLCPP: Control-Efficient and Obstacle-Aware Multi-Layer Coverage Path Planner for 3D Reconstruction with UAVs
	1 Introduction
	2 Related Works
	3 CEO-MLCPP
		3.1 Overview
		3.2 Viewpoints Calculation
		3.3 CTSP: Collision-Aware Traveling Salesman Problem
		3.4 Trajectory Refinement
	4 Experiments and Results
		4.1 Experimental Setup
		4.2 Metrics
		4.3 Comparison with Other Methods
	5 Conclusion
	References
MPPI Control-Based Adaptive Pursuit Guidance for Path-Following Control of Quadrotors in the Presence of Wind Disturbances
	1 Introduction
	2 Problem Formulation
		2.1 Quadrotor Dynamics
		2.2 Path-Following Geometry
		2.3 Wind Disturbance Modeling
	3 Preliminary
		3.1 Time-to-Go Weighted Pursuit Guidance
		3.2 Model Predictive Path Integral Control
	4 Proposed Algorithm
	5 Simulation Results
	6 Conclusion
	References
Sampling-Based Path Planning Algorithm Considering Moving Obstacles Based on RRT*
	1 Introduction
	2 Related Work
		2.1 Rapidly Exploring Random Tree
		2.2 RRT*
	3 Rapidly Exploring Random Tree with Moving Obstacles
	4 Simulation Results and Discussions
	5 Concluding Remarks
	References
Path Following Algorithm with Small Error for Guide Robot
	1 Introduction
	2 Problem Statement
	3 Related Work
		3.1 Pure Pursuit
		3.2 Linear and Nonlinear Path-Following Methods
		3.3 Parallelogram Method
	4 Robot Side Method
		4.1 Overview
		4.2 Behavior in S1
		4.3 Behavior in S2
		4.4 Behavior in S3
	5 Experiment
	6 Conclusion
	References
The Simulation of Adaptive Coverage Path Planning Policy for an Underwater Desilting Robot Using Deep Reinforcement Learning
	1 Introduction
	2 Theoretical Background
	3 The Proposed Work
	4 Simulation Results
	5 Conclusion
	References
MDP Formulation for Multi-UAVs Mission Planning with Refueling Constraints
	1 Introduction
	2 Related Works
	3 Problem Formulation
		3.1 Introduction to MDP
		3.2 MDP Formulation
		3.3 Additional Formulation to Solve the Problem
	4 Simulation Settings
	5 Results
		5.1 The Case 1
		5.2 The Case 2
	6 Conclusion and Future Works
	References
A*-Based Path Planning for Legged Robots
	1 Introduction
	2 Related Works
		2.1 Walking Locomotion Controller
		2.2 Path Planning Algorithm
	3 Methodology
		3.1 Control Architecture
		3.2 Dynamics and Control
		3.3 A* Algorithm for Legged Robots
	4 Results
	5 Conclusion
	References
Low-Cost UWB-Based Relative Position Estimation for Cyber Physical Multi-robot System
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Notation
		3.2 Relative Position Frame
		3.3 Optimization
		3.4 UWB Data Filtering
	4 Experiment and Results
		4.1 Experimental Environment
		4.2 Results
	5 Conclusion
	References
Vision and Image Processing
Robot to Human Object Handover Using Vision and Joint Torque Sensor Modalities
	1 Introduction
	2 Related Work
		2.1 Vision-Based Computations in General
		2.2 Vision-Based Object Handover
		2.3 Force/Torque Sensor Based Object Handover
	3 Methodology
		3.1 Dataset and Annotation
		3.2 Vision-Based Object Handover
		3.3 Torque-Based Object Handover
		3.4 Fusion Algorithm
	4 Experiments and Results
		4.1 Torque-Based Object Handover
		4.2 Vision-Based Object Handover
		4.3 Fusion: Torque and Vision Data
	5 Conclusions and Future Works
	References
Ensemble of Fully Convolutional Neural Networks with End-to-End Learning for Small Object Semantic Segmentation
	1 Introduction
	2 Fully Convolutional Neural Network (FCNN)
		2.1 Fully Convolutional Networks (FCN8S) Architecture
		2.2 U-Net Architecture
		2.3 Feature Pyramid Networks (FPN) Architecture
	3 Ensemble Methods
	4 Experiments and Results
		4.1 Experimental Setup
		4.2 Results on the UAVid Dataset
	5 Conclusions
	References
A Survey on 3D Scene Graphs: Definition, Generation and Application
	1 Introduction
	2 3D Scene Graph Generation
		2.1 Overview
		2.2 Flat 3DSG
		2.3 Hierarchical 3DSG
		2.4 Advanced Techniques for 3DSG
	3 Datasets and Evaluation Metrics
		3.1 3DSG Datasets
		3.2 Evaluation Metrics
	4 Applications of 3D Scene Graph
		4.1 Applications in Robotics
		4.2 Applications in Computer Vision
	5 Future Research Direction
	6 Conclusion
	References
Natural Language-Guided Semantic Navigation Using Scene Graph
	1 Introduction
	2 Natural Language-Guided Navigation Framework
		2.1 Scene-Graph Generator
		2.2 Scene-Graph Grounding Network (SGGNet)
		2.3 Semantic Navigation
	3 Evaluation
		3.1 Experimental Setup
		3.2 Experimental Results
	4 Conclusion
	References
Centre of Mass Estimation of Grasped Objects Using Cost Effective Sensors
	1 Introduction
		1.1 Related Work
		1.2 Contribution
	2 Implementation
		2.1 Arm Hardware
		2.2 Sensor Design
	3 Testing Methodology
	4 Results
	5 Conclusion and Future Work
	References
Bridging Depth Estimation and Completion for Mobile Robots Reliable 3D Perception
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 Architecture
		3.2 Implementation
	4 Results
		4.1 Comparison with the State-of-the-Art
		4.2 Ablation
	5 Conclusion
	References
Unmanned Aerial Vehicles and Autonomous Vehicles
Development and Feasibility Study of an Autonomous Obstacle Detection System for Landing Operations
	1 Introduction
		1.1 Aims and Objectives
	2 Overview of the Proposed Framework
		2.1 Framework Key – Module
	3 Detection Network
		3.1 Dataset
		3.2 Training
		3.3 Model Validation
	4 Decision Making
		4.1 Detection Confidence Level
		4.2 Obstacle Location Prediction
		4.3 Obstacle State Prediction
	5 Results, Analysis and Discussion
		5.1 Virtual Testing
		5.2 Live Testing
		5.3 System Feasibility
	6 Summary and Conclusion
		6.1 Issues/Disadvantages of the Approach
		6.2 Future Work
	References
Evaluation of Autonomous Navigational Accuracy for Different Reference Points in PurePursuit Algorithm for Center-Steered Articulated Vehicles
	1 Introduction
	2 Methodology
		2.1 Model Description
		2.2 PurePursuit
		2.3 Simulation Model
		2.4 Test Scenarios
	3 Results
	4 Discussion and Conclusions
	References
Least-Restrictive Multi-agent Collision Avoidance via Deep Meta Reinforcement Learning and Optimal Control
	1 Introduction
	2 Related Works
	3 Preliminaries
		3.1 Meta Reinforcement Learning
		3.2 Safety Level Value Function
	4 Approach
		4.1 Observation, Action, and Latent Spaces
		4.2 Reward Engineering
		4.3 Learning Algorithm
	5 Simulated and Real-World Experiments
		5.1 Implementation
		5.2 Results
		5.3 Ablation Studies
	6 Conclusions
	References
FARO-Tracker: Fast and Robust Target Tracking System for UAVs in Urban Environment
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Overview
		3.2 Target Trajectory Prediction
		3.3 Model Predictive Controller
		3.4 Robust Object Tracking
	4 Experiments and Results
		4.1 Environments and Metrics
		4.2 Results
	5 Conclusion
	References
Development of Perching and Fail-Safe Module for Wall Climbing Multi-copter
	1 Introduction
	2 Related Works
	3 Perching and Fail-Safe Module
		3.1 Reference Perching Mechanism
		3.2 Modified Perching Mechanism
		3.3 Proposed Fail-Safe Mechanism
	4 Experiment
		4.1 Experiment Setup
		4.2 Experiment Result
	5 Conclusion
	References
Traffic Signal State Broadcasting Over C-V2X Communication Technique for Autonomous Shuttle Service
	1 Introduction
	2 System Architecture
	3 Verification and Experimental Results
	4 Conclusion
	References
Learning and Classification
Planar Fitting Transformation: A Rapid Point Cloud Registration for Real-time Applications
	1 Introduction
	2 Related Work
		2.1 Optimization-Based Approach
		2.2 Feature-Based Approach
	3 Proposed Method
		3.1 Planar Approximation
		3.2 Transformation Optimization
		3.3 Octomerge Voxelization
	4 Experiments
		4.1 Benchmarking
		4.2 Parameter Study
		4.3 Octomerge Convergence Analysis
	5 Conclusion
	A Experiment Configurations
		A.1 GPS/INS Interpolation
		A.2 Configuration Details
	B Tested Sequences of Datasets
		B.1 RobotCar
		B.2 KITTI
		B.3 TUM-RGBD
	References
Lightweight Branching Self-distillation: Be Your Own Teacher
	1 Introduction
	2 Background and Related Work
		2.1 Branching Models
		2.2 Knowledge Distillation
	3 Approach Overview
	4 Branching Self Distillation
		4.1 Student-Teacher Loss Coefficient
		4.2 Training
	5 Experiment Study
		5.1 Experiment Settings
		5.2 Results
	6 Conclusion
	References
Parametric Surround Modulation Improves the Robustness of the Deep Neural Networks
	1 Introduction
	2 Related Work
		2.1 Robustness to the Common Corruption
		2.2 Surround Modulation in Biological Visual Systems
	3 Parametric Surround Modulation
		3.1 Generalized Surround Modulation Kernel
		3.2 Preventing Gradient Vanishing
		3.3 Consistent Distribution of the Input and Output Layer
	4 Experiments
		4.1 Experiments Setup
		4.2 Dataset
		4.3 Performance Comparison on ImageNet and ImageNet-C
		4.4 Visualization with Grad-CAM
	5 Conclusion
	References
Efficient Training Method for Point Cloud-Based Object Detection Models by Combining Environmental Transitions and Active Learning
	1 Introduction
	2 Related Research
		2.1 Transfer Learning
		2.2 Active Learning
		2.3 Contribution of Our Research
	3 Proposed Method
		3.1 Environmental Adaptation of Detection Model
		3.2 Introduction of Active Learning
		3.3 Fusion of Transfer Learning and Active Learning
	4 Experimental Evaluation
		4.1 Experimental Conditions
		4.2 Transfer Learning for Environmental Adaptation
		4.3 Fusion of Transfer and Active Learning
	5 Conclusion
	References
The Classification of Wafer Defects: A Support Vector Machine with Different DenseNet Transfer Learning Models Evaluation
	1 Introduction
	2 Methodology
		2.1 Data Collection
		2.2 Models and Evaluation
	3 Results and Discussions
	4 Conclusion
	References
Learning Legged Mobile Manipulation Using Reinforcement Learning
	1 Introduction
		1.1 Quadrupedal Manipulator
		1.2 Reinforcement Learning
	2 Method
		2.1 Overview
		2.2 Locomotion with Controlling Manipulator
		2.3 Tracking of the End-Effector
	3 Result
		3.1 Simulation Results
		3.2 Graphs for Error
	4 Conclusion
	5 Future Work
	References
Environmental and Social Robotic Applications
Performance Verification of Biomimetic Mole Robot (Mole-Bot) for Efficient Underground Exploration
	1 Introduction
	2 Behavior and Anatomy of a Mole
	3 Mechanisms
		3.1 Expandable Drill Bit
		3.2 Forelimbs
		3.3 Waist and Locomotion
	4 Experiments and Results
		4.1 Drilling Performance Analysis
		4.2 Forelimbs Mechanism Analysis
		4.3 Experiment and Result
	5 Conclusion
	References
Comparison of Different Robust Control Methods for Trajectory Tracking of Cable-Driven Parallel Robots in Fluidic Environment
	1 Introduction
	2 Dynamics of CDPRs in a Fluidic Environment
	3 Implementation of Different Controllers
		3.1 Inverse Dynamics Control
		3.2 Robust Passivity-Based Controller
		3.3 Robust Inverse Dynamics Control
		3.4 Adaptive Robust Controller
	4 Simulation Results, Data Analysis, and Discussion
	5 Conclusion
	References
Development of a Robot System for Cleaning Sludge in Industrial Site
	1 Introduction
	2 Development Background
	3 An Unmanned Autonomous Mobile Robot for Sludge Collection
		3.1 Development of Screw-Type Work Robot
		3.2 Driving Control System Development
		3.3 Development of Route Setting Program and Tracking System
		3.4 Problem Notification Technology and Monitoring System
	4 Conclusion
	References
Real Time Victim Detection in Smoky Environments with Mobile Robot and Multi-sensor Unit Using Deep Learning
	1 Introduction
	2 Related Work in Victim Detection
	3 Proposed Detection Method
		3.1 Victim Detection Model
		3.2 Collection of Image Dataset
		3.3 Training of Image Dataset
		3.4 Validation of Trained Image Dataset
		3.5 Testing of Trained SSD-MobileNetV1 Model
	4 Victim Detection Experiment
		4.1 Outline of Victim Detection Experiment
		4.2 Results of Victim Detection Experiment
	5 Conclusion
	References
Adaptive Robust Control of a Cable-Driven Underwater Manipulator with Elastic Cables
	1 Introduction
	2 Dynamics of CDPRs in a Fluidic Environment
	3 Implementation of Two Controllers
		3.1 Inverse Dynamics Control
		3.2 Robust-Adaptive Controller
	4 Simulation Validation
	5 Conclusion
	References
Deep Q-Network for AI Soccer
	1 Introduction
	2 Related Work
		2.1 Deep Q-Network (DQN)
		2.2 Deep Deterministic Policy Gradient (DDPG)
	3 Proposed Method and Strategy
		3.1 State Space
		3.2 Action Space
		3.3 Reward Signal
		3.4 Deep Q-Network Architecture
		3.5 Rule-Based Scheme for Goalkeeper
		3.6 Different Strategies for Different States
	4 Results and Conclusion
	References
Towards Flexible Manipulation with Wiring-Base Robot Hand
	1 Introduction
	2 Design the Gripper
	3 Results
		3.1 Fabrication
		3.2 Experimental Setup
		3.3 Experimental Results
	4 Conclusion
	References
Initial Response in HRI: A Pilot Study on Autism Spectrum Disorder Children Interacting with a Humanoid QTrobot
	1 Introduction
		1.1 Autism Spectrum Disorder (ASD)
		1.2 Human-Robot Interaction (HRI)
	2 The Robot and Experimental Setup
		2.1 Humanoid QTRobot and Justification Behind Selection
		2.2 The Pilot Experiment and Modules of Interaction
		2.3 The Participants of the Pilot Experiment
	3 Assessment and Evaluation
		3.1 Vineland Adaptive Behavior Scales- 3rd Edition
		3.2 Participants Score
		3.3 Participants Responses
	4 Discussion
	5 Conclusion
	References
Analysis of Changes in User’s Attention on Characteristics of Social Initiation of a Robot in 1:1 Interaction Between a User and a Robot
	1 Introduction
	2 Materials and methods
		2.1 Participants
		2.2 Robot Platform
		2.3 Procedure
		2.4 Interview
	3 Results
		3.1 Intonation Experiment, Question 1
		3.2 Intonation Experiment, Question 2
		3.3 Intonation Experiment, Question 3
		3.4 Positive/Negative Experiment, Question 1 and 2
	4 Discussion
	5 Conclusions
	6 Future works
	References
Proposal of a Play Recommendation System for Child Care Assistive Robots
	1 Introduction
	2 System Design
		2.1 Play Recommendation for Improving Development Task
		2.2 Play Recommendation Based on Play Preferences
	3 Implementation of Play Recommendation System
		3.1 Recommendation Algorithm for Improving Development Task
		3.2 Recommendation Algorithm Based on Play Preferences
	4 Evaluation and Results
		4.1 Recommendation Algorithm for Improving Development Task
		4.2 Recommendation Algorithm Based on Engagement Level
	5 Conclusion and Future Work
	References
Age Prediction of Social Media Users: Case Study on Robots in Hospitality
	1 Introduction
	2 Literature Review
	3 Methodology
		3.1 Data Collection
		3.2 Data Pre-processing
		3.3 Human Annotation
		3.4 Rules Applied
		3.5 Emotion and Sentiment Analysis
		3.6 Language Modeling
		3.7 Implementation Details
	4 Results and Discussion
	5 Conclusion
	References
Short-Term Traffic Speed Prediction Using Hybrid LSTM-SVR Model
	1 Introduction
	2 Literature Review
	3 Problem Formulation
	4 Methodology
		4.1 Long Short-Term Memory (LSTM)
		4.2 Support Vector Regression (SVR)
		4.3 Hybrid LSTM-SVR Model
	5 Experiments and Results
		5.1 Data Description
		5.2 Evaluation Criteria and Baselines
		5.3 Experimental Settings
		5.4 Results and Discussion
	6 Conclusion
	References
Osteoarthritis Diagnosis: A Feature-Based Transfer Learning Approach
	1 Introduction
	2 Methodology
	3 Results and Discussions
	4 Conclusion
	References
Author Index