ROBOT2022: Fifth Iberian Robotics Conference: Advances in Robotics, Volume 1

Preface
Organization
	Local Organizing Committee
	Program Committee Manager
	Publicity Chairs
	Program Committee
	Additional Reviewers
Contents
ROBOT2022 General Track
Obtaining 3D Dense Thermal Models of Interiors of Buildings Using Mobile Robots
	1 Introduction: Thermal Point Clouds of Buildings
	2 General Methodology
	3 Planning and Data Acquisition
		3.1 Thermal Point Clouds
		3.2 Data Acquisition Routine
	4 Data Processing
	5 Experimentation
		5.1 MoPAD2 Platform
		5.2 Navigation and Data Acquisition Planning
		5.3 Case Study
	6 Conclusions
	References
Data Association Tools for Target Identification in Distributed Multi-target Tracking Systems
	1 Introduction
	2 Related Work
		2.1 Event-Triggered Systems
		2.2 Data Association in Multi-target Tracking Systems
	3 Data Association Tools
		3.1 Event-Triggered Communication Mechanism
		3.2 Gallery Construction
	4 Integration in a Multi-camera Distributed Tracking System
		4.1 Target Model
		4.2 Measurements
		4.3 Metrics
	5 Experiments
		5.1 Experimental Setup
		5.2 Ablation Study
		5.3 Tracking in the Wild
	6 Conclusions
	References
Classification of Humans Social Relations Within Urban Areas
	1 Introduction
	2 Related Work
	3 Classification of Humans\' Relationship
		3.1 Database Description
		3.2 Neural Networks (NN)
		3.3 Recurrent Neural Network (RNN)
	4 Results
		4.1 Results of NNs Models
		4.2 Results of RNNs Models
		4.3 Results Analysis
		4.4 Sighting Extracted From the Implementation of the Methods
		4.5 Classification into Two Categories
		4.6 Comparison With State-of-Art-method
	5 Discussion of Contributions for HRI and Its Applicability
	6 Conclusions
	References
Tree Trunks Cross-Platform Detection Using Deep Learning Strategies for Forestry Operations
	1 Introduction
	2 Deep Learning-Based Object Detection Methods
	3 Materials and Methods
		3.1 Footage Forests and Image Acquisition Methodologies
		3.2 Dataset Annotation and Augmentation
		3.3 Object Detection Models Configuration, Training and Conversion
		3.4 Trunk Detection Evaluation
	4 Results and Discussion
	5 Conclusions and Future Work
	References
Design and Evaluation of a Passive Gripper for Remote Manipulation Tasks
	1 Introduction
	2 Modelling of the Passive Gripper
		2.1 Design Considerations
		2.2 Degrees of Freedom Analysis
		2.3 Kinematic Model
		2.4 Dynamic Analysis
	3 Simulations and Performance of the Designed Gripper
		3.1 Modelling
		3.2 Simulation of the Gripper
	4 Experimental Trials
		4.1 Mock-Up for Experiments
		4.2 Experimental Results
	5 Conclusion
	References
Limit Characterization for Visual Place Recognition in Underwater Scenes
	1 Introduction
	2 Related Works
	3 Visual Place Recognition
	4 Experimental Results
		4.1 Stonefish Simulator
		4.2 Loop Closure Detection
	5 Conclusions
	References
Design, Development and Validation of a Ground Control Station for Aerial Manipulators
	1 Introduction
	2 Features of the Ground Control Station
	3 Implementation of the Ground Control Station
		3.1 Threads
		3.2 Communications
	4 System for the Experimental Validation
		4.1 Aerial Manipulator
		4.2 Manipulator for the Slave Mode
	5 Experiments
		5.1 Mission Using Waypoints
		5.2 Predefined Movement of the Aerial Manipulator
		5.3 Aerial Manipulation Mission with the Slave Mode
	6 Conclusion
	References
Control and Stability of an Aerial Manipulator Depending on the Inertial Parameters
	1 Introduction
	2 System Description
		2.1 Specifications
		2.2 Aerial Platform
		2.3 Arm Design
		2.4 Integration of the Aerial Manipulator
	3 Modeling
	4 Control
		4.1 Aerial Platform Controller
		4.2 Robotic Arm Controller
	5 Results
		5.1 Simulations
		5.2 Experimental Validation
	6 Conclusion
	References
Context Attention: Human Motion Prediction Using Context Information and Deep Learning Attention Models
	1 Introduction
	2 Related Work
	3 Model Architecture
		3.1 Multi-headed Attention
		3.2 Information Channels Fusion
		3.3 Predictor Module
		3.4 Loss
	4 Dataset
	5 Experimental Results
		5.1 Experimental Details
		5.2 Experiments
	6 Conclusions
	References
From Augmented Reality to Deep Learning-Based Cognitive Assistance: An Overview for Industrial Wire Harnesses Assemblies
	1 Introduction
	2 Wire Harness Assembly in Modern Industries
		2.1 Industries Related to the Wire Harnessing Process
	3 Augmented Reality Tools
		3.1 Projection-Based Displays
		3.2 Screen-Based Displays
		3.3 Discussion
	4 Cognitive Assistance Systems in Manual Assembly
		4.1 Deep Learning-Based Wire Segmentation
		4.2 Datasets for Training
	5 Robots Handling Cables
	6 Summary and Outlook
	References
Safety Standards for Collision Avoidance Systems in Agricultural Robots - A Review
	1 Introduction
	2 Human-Robot Interaction in Agriculture Environments
		2.1 Interaction
		2.2 Obstacle Avoidance
	3 ISO\'s Standards
		3.1 Industrial Robotics Standards
		3.2 Migration to Agricultural Environment
	4 Comparison Between Collision Avoidance Methods and Standards
	5 Discussion and Analysis - Lack of Specifications
		5.1 Collision Avoidance
		5.2 Collision Avoidance System Evaluation (CASE) Form
	6 Conclusion
	References
Enhanced RGB Image Processing Method for Automatic 2D and 3D Defect Inspection on Shiny Surfaces
	1 Introduction
	2 Methodology
		2.1 Image Acquisition Set-Up
		2.2 Image Merging
	3 3D Defect Inspection System
	4 2D Inspection System
	5 Test Results
	6 Conclusion and Future Work
	References
On the Innovative Management of Remote Robotic Experimentation*-10pt
	1 Introduction
	2 Related Work
	3 The RAWFIE Architecture
	4 RAWFIE Management
		4.1 UxV Resources Management
		4.2 Experiments Management
	5 A Practical Use Case Within RAWFIE Infrastructure
		5.1 RAWFIE Testbeds
		5.2 RT-ART Testbed
		5.3 RT-ART Experimentation
	6 Conclusions
	References
In-Hand Manipulation of Unseen Objects Through 3D Vision
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 Object Pose Estimation from a Point Cloud
		3.2 Demo Augmented Policy Gradient
	4 Experiments
		4.1 Demonstration Data Collection
		4.2 Results and Discussion
	5 Conclusions and Future Work
	References
Event-Based Visual Tracking in Dynamic Environments*-10pt
	1 Introduction
	2 Framework
		2.1 Problem Statement and Summary of the Proposal
		2.2 Image Reconstruction
		2.3 Object Detection
		2.4 Tracker
		2.5 Evaluation Metrics
	3 Experiments
		3.1 Image Reconstruction
		3.2 Detection
		3.3 Tracking
		3.4 Timing Performance
	4 Conclusions
	References
Efficient Semantic Segmentation with Hyperspectral Images
	1 Introduction
	2 Related Work
	3 Method
	4 Evaluation Methodology
		4.1 Metrics
		4.2 Proposed Benchmark
	5 Experimental Evaluation
		5.1 Experimental Setup
		5.2 Accuracy
		5.3 Efficiency
		5.4 Comparison with Previous Work
	6 Conclusions and Future Work
	References
ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology
	1 Introduction
		1.1 Contributions
		1.2 Paper Structure
	2 Background
		2.1 Visual Graph-SLAM
		2.2 On the Optimality of SLAM Pose-graphs
	3 Proposed Method
		3.1 SLAM
		3.2 Frontier Detection
		3.3 Weighted Graph Hallucination
		3.4 Frontier Selection And Navigation
		3.5 Recovery Behavior
	4 Experimental Validation
	5 Conclusions
	References
Distributed Dynamic Assignment of Multiple Mobile Targets Based on Person Re-Identification
	1 Introduction
	2 Distributed Assignment Algorithm
	3 Transmission Policies
	4 Person Re-Identification
		4.1 The Detection Node
		4.2 The Re-Identification Node
		4.3 The Filtering Node
	5 Experiments
		5.1 Testing Conditions
		5.2 Evaluation Metrics
		5.3 Results
	6 Conclusions
	References
Robotizing the Sterility Testing Process: Scientific Challenges for Bringing Agile Robots into the Laboratory*-10pt
	1 Introduction
	2 Sterility Use Case
	3 Technical Challenges
	4 Data Available
	5 Conclusion
	References
Mobile Robot Navigation in Dynamic Environments Taking into Account Obstacle Motion in Costmap Construction
	1 Introduction
	2 Related Work
	3 Method
		3.1 Determining Possible Collision Time
		3.2 Cost Assignments in the Costmap
	4 Simulations and Discussion
		4.1 Simulation Setup
		4.2 Simulation Results
	5 Conclusion
	References
Robust Monte Carlo Localisation Using a Ground Penetrating Radar
	1 Introduction
		1.1 Motivation
		1.2 Research Question
		1.3 Test Robot and Test Ground
	2 Ground Penetrating Radar (GPR)
		2.1 Stepped Frequency Radar with Antenna Array
		2.2 Signal Processing of the Radar Data
	3 Localisation
		3.1 Mapping
		3.2 Yaw Angle Calculation
	4 Experimental Results
		4.1 Parameter Optimisation
		4.2 Localisation Example
	5 Conclusion and Outlook
	References
Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study
	1 Introduction
	2 Modeling, Control and Characterization
		2.1 System Modeling
		2.2 Control Scheme
		2.3 Effect of Manipulator Configuration on Flight Controller
	3 Aerial Manipulation While Flying
	4 Aerial Manipulation While Holding
	5 Aerial Manipulation While Perching
	6 Conclusion
	References
Remote Planning and Operation of a UGV Through ROS and Commercial Mobile Networks
	1 Introduction
	2 Search and Rescue System
		2.1 System Overview
		2.2 SAR-FIS Control Center Application
		2.3 Navigation Modes
	3 Experiments
		3.1 First Experiment: Short Distance Operation
		3.2 Second Experiment: Long Distance Operation
	4 Discussion and Conclusions
	References
An Approach to 3D Object Detection in Real-Time for Cognitive Robotics Experiments
	1 Introduction
	2 System Overview
	3 3D Object Detection
		3.1 Data Preparation
		3.2 Model Training and Validation
	4 Real-Time Detection Experiments
		4.1 ROS Implementation
		4.2 Trajectory Analysis
		4.3 Experiments
	5 Conclusions
	References
Autonomous Driving and Driver Assistance Systems
YOLO-Based Object Detection and Tracking for Autonomous Vehicles Using Edge Devices
	1 Introduction
	2 Related Work
	3 Methods and Materials
	4 Proposed Approach
	5 Results and Discussion
	6 Conclusion
	References
AttDLNet: Attention-Based Deep Network for 3D LiDAR Place Recognition
	1 Introduction
	2 Related Work
	3 Proposed Approach
		3.1 Proxy Representation
		3.2 Encoder Network
		3.3 Attention Network
		3.4 Output Layer
	4 Experimental Evaluation
		4.1 Kitti Odometry Benchmark
		4.2 Ground-Truth Data and Evaluation
		4.3 Implementation and Training Setup
		4.4 Ablation Study
		4.5 Retrieval Performance
	5 Conclusions
	References
Stereo Based 3D Perception for Obstacle Avoidance in Autonomous Wheelchair Navigation
	1 Introduction
	2 State of the Art
		2.1 Sensors for Obstacle Detection
		2.2 Vision-Based Obstacle Avoidance
	3 System Specification
		3.1 Stereo Camera Creation and Integration
		3.2 Depth Perception
		3.3 Ground Detection Algorithm for Navigation
	4 Evaluation
		4.1 Evaluation World
		4.2 System Evaluation
		4.3 Discussion
	5 Conclusions
	References
Designing an Autonomous Cooperative Driving System for ROS-Based Vehicles Using V2X Communications
	1 Introduction
	2 Use Case
	3 System Architecture
	4 Development
	5 Conclusions and Future Work
	References
Deep Learning for Robust Vehicle Identification
	1 Introduction
	2 Related Work
	3 Model Architecture
		3.1 Vehicle Detection
		3.2 License Plate Recognition
		3.3 Visual Re-identification
	4 Visual Recognition Model Training
	5 Data Acquisition and Dataset Characteristics
		5.1 Road Dataset
		5.2 Intersection Dataset
	6 Results
	7 Conclusion
	References
Collaborative Robots Applications
RGBD Data Analysis for the Evaluation of Trajectory Planning Algorithms in Human Robot Interaction Environments for Rehabilitation
	1 Introduction
	2 Materials and Methods
		2.1 Hardware
		2.2 Software
		2.3 Camera Calibration
		2.4 Point Cloud Data Processing
		2.5 Path Planning
		2.6 Metrics
	3 Experimental Setup
		3.1 Experimental Protocol
	4 Results and Discussion
	5 Conclusions and Future Works
	References
Collaborative Fuzzy Controlled Obstacle Avoidance in a Vibration-Driven Mobile Robot
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Control System Modeling
		3.2 Physical Details of the Testing Environment
		3.3 In Search of Navigation Stability
		3.4 The Structure of the Autonomous Control Algorithm
		3.5 Fuzzy Controlled Obstacle Avoidance
		3.6 The Collaborative Fuzzy Controller
	4 Results
		4.1 Navigation Stability
		4.2 Obstacle Avoidance and Energy Inefficiency
	5 Conclusion
	References
Simulated Mounting of a Flexible Wire for Automated Assembly of Vehicle Cabling Systems
	1 Introduction
	2 Literature Review
	3 Proposed Approach
		3.1 Object Modeling
		3.2 Wire Assembly Algorithm
	4 Results
	5 Discussion
	6 Conclusions
	References
Path Planners Analysis to Avoid Human Arms in Supernumerary Robotic Devices
	1 Introduction
	2 Materials and Methods
		2.1 System Description
		2.2 ROS System Modelling
		2.3 Path Planners Performance Evaluation
		2.4 Trajectory Execution Evaluation
	3 Results
	4 Discussion
	5 Conclusion
	6 Acronyms
	References
Current Challenges in Research and Development of Multi-robot Systems
ROS-Based Multirobot System for Collaborative Interaction
	1 Introduction
	2 Design of the Multi-robot System
		2.1 Architecture of the System
		2.2 ROS-Based Multi-robot Solutions
		2.3 Integration of Human Machine Interface with Leap Motion
	3 Experimental Validation
		3.1 Results with Gazebo
		3.2 Results with the UR10 Cobot
	4 Conclusion
	References
Detection and Tracking of Livestock Herds from Aerial Video Sequences
	1 Introduction
	2 Datasets and Training
		2.1 Model Evolution
	3 Visual Tracking
		3.1 Evaluation of Detection and Tracking in Videos
	4 Potential Applications for the System
	5 Conclusion
	References
Formation by Consensus in Heterogeneous Robotic Swarms with Twins-in-the-Loop
	1 Introduction
	2 Platform Description
		2.1 Real and Virtual Environment
		2.2 Agents
	3 Case of Use: Formation Control
	4 Experiments
	5 Conclusion
	References
Multi-robot Implicit Control of Massive Herds
	1 Introduction
	2 Problem Formulation
	3 Brief Introduction to Implicit Control
	4 Proposed Solution
	5 Results
	6 Conclusions
	References
Educational Robotics
Automatic Competitions in the Unibotics Open Online Robot Programming Web
	1 Introduction
	2 Related Work
		2.1 Robotics Education
		2.2 Gamification
	3 Unibotics Online Robot Programming Platform
	4 Automatic Competitions
		4.1 Tournament Structure
		4.2 Automation
		4.3 Tournament Management
	5 Experimental Validation
	6 Conclusions
	References
Robot at Factory 4.0: An Auto-Referee Proposal Based on Artificial Vision
	1 Introduction
	2 Auto Referee Development
		2.1 Description of the RaF 4.0 Competition
		2.2 Methodology
		2.3 Interface
	3 Results
		3.1 Pose Estimation Test
		3.2 Round 3 Verification
	4 Conclusions and Future Work
	References
GRVC-Simulator of Multirotors: Design and Application in Classroom
	1 Introduction
	2 Features of the Simulator
	3 Implementation of the Simulator
		3.1 Control
		3.2 System Dynamics
	4 Application in Classroom
		4.1 Practical Session
		4.2 Courseworks
	5 Conclusion
	References
Introducing High School Students in Natural Interaction Through the Robobo Educational Robot
	1 Introduction
	2 Resource Description
		2.1 Target Age Group and Pre-requisites
		2.2 Temporal Organization and Required Resources
		2.3 AI Concepts Addressed
		2.4 Challenge Description
		2.5 The Robobo Project
	3 The Robobo Pet
		3.1 Make Robobo React Naturally to Different Touches on Its Face
		3.2 Make Robobo Move Its Head Depending on the Fling Gesture
		3.3 Make Robobo Act as a Robotic Pet
		3.4 Create Your Own Personality
	4 Results
	5 Conclusions
	References
A Versatile Open-Source Quadruped Robot Designed for Educational purposes
	1 Introduction
	2 Versatile Open-Source Quadruped Robot
		2.1 Integration with Robot Operating System (ROS)
		2.2 Navigation and Control
		2.3 Strategy for Obstacle Avoidance
	3 Discussion and Results
	4 Conclusion
	References
Higher Education Teachers’ Perceptions About Teaching and Learning Related Qualities of Telepresence Robots
	1 Introduction
	2 Theoretical Background
	3 Materials and Methods
		3.1 Sample
		3.2 Method and Data
	4 Results
		4.1 Priority Order of TP Robot Features
		4.2 Requirements on the Environments and Methods
	5 Discussion and Conclusion
	References
Teaching Practical Robotics During the COVID-19 Pandemic: A Case Study on Regular and Hardware-in-the-Loop Simulations
	1 Introduction
	2 Related Works
	3 Robotics Simulation Labs
	4 Hardware-in-the-Loop Simulator
	5 Results
		5.1 Robotics Simulation Labs
		5.2 Hardware-in-the-Loop Simulator
	6 Discussion and Future Work
	References
Robot at Factory Lite - A Step-by-Step Educational Approach to the Robot Assembly
	1 Introduction
	2 Related Work
		2.1 Importance of Robotics Competitions
		2.2 The Competition Rules
	3 Robot architecture & methodology
		3.1 Assembling Hardware
		3.2 Software Kit Developments
		3.3 Hardware-in-the-Loop Simulation
	4 Results
	5 Conclusion and Future Work
	References
Alphabot2 Revisited: An Educational Tool to Program and Learn Robotics
	1 Introduction
	2 The Robot Alphabot2
		2.1 Hardware
		2.2 Alphabot2 in Educational Robotics
	3 Experiment
		3.1 Assemble
		3.2 An Attempt to Use of ROS in the Alphabot2
		3.3 Teachers\' and Students\' Skills
		3.4 The Use of Robot in STEAM\'s Context
	4 Discussion and Conclusions
	References
Cognitive Taxonomy and Task Gradation in Educational Robotics – Preliminary Results
	1 Introduction
	2 Learning Objectives According to Cognitive Taxonomy
	3 Methodology
		3.1 Data Collection
		3.2 Data Analysis
		3.3 Validity and Reliability
	4 Results – Cognitive Domain
		4.1 Explanation of the New Scheme of Cognitive Domain for ER
		4.2 Created Cognitive Domain Taxonomy for ER
	5 Discussion and Future Work
	6 Conclusion
	References
Teaching ROS1/2 and Reinforcement Learning using a Mobile Robot and its Simulation
	1 Introduction
	2 Literature Review on Robotics Education
		2.1 Simulated Platforms
		2.2 Physical Robot Platforms
		2.3 How and When Robotics is Taught
		2.4 ROS Courses and Introductions
	3 Educational Package Development
		3.1 Simulation Development
		3.2 Physical Platform Development
	4 Lessons on Robotics
		4.1 Lesson on ROS1/2
		4.2 Lesson on Reinforcement Learning
		4.3 Learning Impact Analysis
	5 Conclusions
	References
Author Index