Towards Autonomous Robotic Systems : 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings

Preface
Organization
Human Evaluation of Robotic Grippers for Berry Picking (Invited Talk)
Contents
Agri-Food Robotics
Plant Phenotyping Using DLT Method: Towards Retrieving the Delicate Features in a Dynamic Environment
	1 Introduction
	2 Proposed Method
	3 Experimental Procedure
	4 Observations and Results
	5 Additional Testing
	6 Conclusion
	References
Rapid Development and Performance Evaluation of a Potato Planting Robot
	1 Introduction
	2 Methodology
		2.1 PotatoBot Robotic System
		2.2 Setup and Experiments
		2.3 Metrics
	3 Experimental Results
	4 Discussion
	References
An Automated Precision Spraying Evaluation System
	1 Introduction
	2 Related Work
		2.1 Agri-Robot Precision Sprayer System Evaluations
		2.2 eXplainable Artificial Intelligence
	3 Experimental Setup and Dataset Description
		3.1 Data Collection Procedure
		3.2 Data Pre-processing: Augmentation
	4 XAI Pipeline
		4.1 Network Architectures
		4.2 Stratification and Sampling
		4.3 Classification Metrics
		4.4 CAM Metrics
		4.5 Speed Test
	5 Results and Performance Evaluation
	6 Conclusion
	References
Smart Parking System Using Heuristic Optimization for Autonomous Transportation Robots in Agriculture
	1 Introduction
	2 Context and Problem Statement
	3 Related Work and Methodology
	4 Experiments Using Software Simulator
	5 Experiments in the Real World
		5.1 The Robot Controller, RASberry
		5.2 Experimental Configuration
		5.3 Human Fruit Pickers in Experimental Trials
	6 Results and Discussions
	7 Future Work and Conclusion
	References
Closed-Loop Robotic Cooking of Soups with Multi-modal Taste Feedback
	1 Introduction
	2 Control Model
		2.1 Problem Definition
		2.2 Closed-Loop Control Model
	3 Experimental Setup
		3.1 Robotic System
		3.2 Experimental Procedure
		3.3 Experimental Conditions
		3.4 Data Processing
	4 Results and Discussion
	5 Conclusion
	References
A Folding Morphing-Wheg Duct-Entry Robot for Nuclear Characterisation
	1 Introduction
	2 Related Work
		2.1 Whegs
		2.2 Morphing Whegs
	3 Robot Hardware and Software Design
		3.1 Morphing Wheg Design
		3.2 Robot Hardware
		3.3 Robot Software
	4 Prototype and Preliminary Evaluation
		4.1 Evaluation
		4.2 Limitations and Future Work
	5 Conclusion
	References
Autonomy
Occupancy Map Abstraction for Higher Level Mission Planning of Autonomous Robotic Exploration in Hazardous Nuclear Environments*-1pc
	1 Introduction
	2 Related Work
	3 Methodology
	4 Implementation
	5 Simulated Environment Testing and Analysis
	6 Real-World Testing and Analysis
	7 Conclusion
	References
Spiral Sweeping Protocols for Detection of Smart Evaders*-1pc
	1 Introduction
		1.1 Overview and Comparison to Related Research
		1.2 Contributions
	2 Spiral Sweep Protocols
	3 The Drifting Spiral Sweep Protocol
	4 The Improved Spiral Sweep Protocol
	5 Comparison of Line Formation Sweep Protocols
	6 Conclusions
	References
Investigation of Action Recognition for Improving Pedestrian Intent Prediction
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Pose Estimation
		3.2 Tracking-by-Detection
		3.3 Intent Classification
		3.4 Action Classifier
	4 Experimentation
		4.1 Datasets
		4.2 Training and Evaluation Protocols
		4.3 Data Augmentation
		4.4 Data Generalisation
		4.5 Run-Time Analysis
	5 Results and Discussions
		5.1 Performance and Efficiency Improvements
	6 Conclusions
	References
Evaluation of SLAM Algorithms for Search and Rescue Applications
	1 Introduction
	2 Low-Cost Search and Rescue Robot Platform
	3 SLAM Algorithms and Discussions
		3.1 SLAM Algorithms
		3.2 Discussions
	4 Experimentation on Low-Cost Robot
		4.1 Gmapping SLAM
		4.2 Hector SLAM
		4.3 Karto SLAM
		4.4 Discussion
	5 Experimentation on Low-Cost Robot for Search and Rescue Applications
		5.1 Flat Ground
		5.2 Slope Surface
		5.3 Rough Terrain
		5.4 Discussion
	6 Analysis
	7 Conclusions
	References
Developing an Integrated Runtime Verification for Safety and Security of Industrial Robot Inspection System
	1 Introduction
	2 Literature Review
	3 Proposed System
		3.1 Proposed Workflow for Runtime Verification
		3.2 Details of MARVer Tool for Implementation
	4 Experimental
		4.1 Experimental Setup
		4.2 Experimental Results
	5 Conclusion
	References
Collaborative and Service Robotics
Sonification of Ionising Radiation Data for Robot Operators
	1 Introduction
	2 Hardware
	3 Method
	4 Results
	5 Discussion
	6 Conclusion
	References
Automating a Telepresence Robot for Human Detection, Tracking, and Following
	1 Introduction
	2 State of the Art
	3 System Design
		3.1 The DETRAFO Algorithm
		3.2 Software Architecture
		3.3 Implementation
	4 Evaluation
	5 Discussion
	6 Conclusion
	References
Towards Multimodal Sensing and Interaction for Assistive Autonomous Robots
	1 Introduction
	2 Related Work
	3 Conceptual Architecture
	4 Methodology
		4.1 Dataset
		4.2 Smart Home and Plan Simulator
		4.3 Person and Object Detection
		4.4 Gesture Detection
		4.5 Activity Recognition
	5 Experience at METRICS HEART-MET
	6 Conclusion and Future Work
	References
Locomotion and Manipulation
CPG-Based Locomotion Control of a Quadruped Robot with an Active Spine
	1 Introduction
	2 TQbot Structure
		2.1 Spinal Joint
	3 Central Pattern Generators
		3.1 The Modified Phase Oscillator and Internal Feedback Mechanism
		3.2 CPG Model Structure
		3.3 Reference Oscillator
	4 Simulation
		4.1 Gaits Shaped by the Internal Feedback Mechanism
		4.2 Multi-direction Movement in the Trot Gait
	5 Conclusion
	References
Low-Resolution Sensing for Sim-to-Real Complex Terrain Robots
	1 Introduction
	2 Methods
		2.1 Simulated Environment
		2.2 Neural Network
		2.3 Strategies
		2.4 Evolutionary Training
		2.5 Physical Robot
		2.6 Visual Processing
	3 Results
		3.1 Performance of Simulated Agents
		3.2 Preliminary Evaluation of Models on Real-World Data
		3.3 Evolved Back-Bending Controllers
	4 Conclusion
	References
Towards Wait-and-Catch Routine of a Dynamic Swinging Object Using a Prototype Robotic Arm Manipulator*-1pc
	1 Introduction
		1.1 Previous Work
		1.2 Contributions
	2 Vision System Performance
	3 Modeling the Robotic Arm
		3.1 Forward Kinematics
		3.2 Inverse Kinematics
		3.3 Coordinate Frames. Transformations
	4 Modeling a Swinging Object
	5 Simulations
		5.1 An Observer
		5.2 Predicting the Wait-and-Catch Location
	6 Conclusions
	References
Simultaneous Base and Arm Trajectories for Multi-target Mobile Agri-Robot
	1 Introduction
	2 Methods
		2.1 Demonstrator Platform
		2.2 Low Level Motion
		2.3 Middle Level - Weed Spray Ordering
		2.4 High Level Spraying Strategies
	3 Evaluation
	4 Discussion
	References
Design and Kinematic Analysis of a 3D-Printed 3DOF Robotic Manipulandum
	1 Introduction
		1.1 Existing Robotic Manipulanda
		1.2 Overview and Requirements
	2 RRR Arm Mechanism
		2.1 Design and Construction Methods
		2.2 Rotating 2-DOF Parallelogram Design
		2.3 BLDC Motor Actuation
	3 Kinematic Analysis
		3.1 Denavit-Hartenberg Analysis
		3.2 Forward Kinematics
		3.3 Velocity and Force Relationships
		3.4 Inverse Kinematics
	4 Results
		4.1 Simulating Forward, and Inverse and Differential Kinematics
		4.2 CAN Bus Operation Using a Microcontroller
		4.3 Demonstrations of Robotic Operation
	5 Discussion
		5.1 Summary
		5.2 Future Work
	References
Sim-to-Real Deep Reinforcement Learning with Manipulators for Pick-and-Place
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 System Overview
		3.2 Reward Space and State Space
		3.3 Network Structure
		3.4 Height-Sensitive Action Policy
	4 Experiments and Results
		4.1 Training Details
		4.2 Evaluation Metrics
		4.3 Baseline Method
		4.4 Simulation Evaluation
		4.5 Real-World Evaluation
		4.6 Suction in Challenging Environments
		4.7 Real-World Unseen Objects Challenge
	5 Conclusion
	References
Machine Vision
Fast 3D Semantic Segmentation Using a Self Attention Network and Random Sampling*-1pc
	1 Introduction
	2 Related Work
		2.1 Projection-Based Networks
		2.2 Point-Based Networks
		2.3 Attention-Based Networks
	3 Methodology
		3.1 Point Downsampling Layer
		3.2 Point Self Attention Block
		3.3 Decoder Block
	4 Experiments
		4.1 S3DIS Dataset
		4.2 SemanticKITTI Dataset
		4.3 Ablation Studies
	5 Conclusion
	References
An Assessment of Self-supervised Learning for Data Efficient Potato Instance Segmentation
	1 Introduction
	2 Related Works
		2.1 Instance Segmentation
		2.2 Self-supervised Learning
	3 Datasets
		3.1 Data Collection
		3.2 Dataset Curation
	4 Methodology
		4.1 Mask R-CNN Instance Segmentation Model
		4.2 Self Supervised Pretext Approaches
	5 Experimental Setup
		5.1 Experimentation Details
		5.2 Evaluation Metrics
	6 Results and Discussion
	7 Conclusion and Future Work
	References
Automated 3D Mapping, Localization and Pavement Inspection with Low Cost RGB-D Cameras and IMUs
	1 Introduction
	2 Methodology
		2.1 Data Acquisition and Processing
		2.2 Photogrammetry Pipeline from 2D to 3D Reconstruction
	3 Experimental Results
	4 Discussion and Conclusion
	References
Optimized Custom Dataset for Efficient Detection of Underwater Trash*-1pc
	1 Introduction
	2 Related Work
	3 Dataset
		3.1 Existing Datasets
		3.2 Data Preparation
	4 Benchmarking
		4.1 Object Detection Algorithms
		4.2 GPU Hardware
		4.3 Models
		4.4 Evaluation Metrics
	5 Results
	6 Conclusion
	References
A Geometric Algebra Solution to the 3D Registration Problem
	1 Introduction
	2 Geometric Algebra
	3 The Proposed Geometric Algebra ICP Algorithms
	4 Conclusion
	References
Active Anomaly Detection for Autonomous Robots: A Benchmark
	1 Introduction
	2 Related Work
		2.1 Anomaly Detection in Robotics
		2.2 Models and Approaches
		2.3 Active Learning
		2.4 Active Anomaly Detection
	3 Method
		3.1 Anomaly Detection
		3.2 Active Learning
	4 Experiments Setup
		4.1 Implementation
		4.2 Metrics and Tracking
		4.3 Experiment Run
	5 Experiment Results
		5.1 Overall Performance
		5.2 Initial Training Size and Unlabeled Anomaly Presence
		5.3 Anomaly Selection
	6 Conclusions and Future Work
	References
Multi-robot Systems
Hardware Validation of Adaptive Fault Diagnosis in Swarm Robots
	1 Introduction
	2 Related Work
	3 Immune-Inspired Fault Diagnosis
	4 Methods
	5 Results and Discussion
	6 Conclusion
	References
Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control
	1 Introduction
	2 Modelling the Manipulator as a Suspension System
	3 CMTS Modelling
	4 Experimental Design
	5 Results
	6 Conclusion and Future Work
	References
Multi-agent Collaborative Target Search Based on Curiosity Intrinsic Motivation
	1 Introduction
	2 Methodology
		2.1 The MADDPG-C Algorithm
		2.2 The Curiosity Intrinsic Motivation Module
	3 Simulation Experiment
	4 Conclusion
	References
Simulation of Collective Bernoulli-Ball System for Characterizing Dynamic Self-stability
	1 Introduction
	2 Multi-ball Bernoulli Model
		2.1 Bernoulli-Ball Model
		2.2 Interaction Model
		2.3 Turbulence Model
	3 Model Identification
	4 Results and Discussion
		4.1 Optimization Result
		4.2 Model Validation
		4.3 Model Scalability
	5 Conclusion
	References
Soft Robotics
Casting vs Injection Moulding: A Comparison Study for In-Lab Low-Cost Soft Robot Fabrication
	1 Introduction
	2 Methodology
		2.1 Geometry Used for Testing
		2.2 Materials Used for Testing
		2.3 Design of the Moulds
		2.4 Silicone Fabrication Process
	3 Results and Discussion
		3.1 Analysis Setup
		3.2 Analysis Results
		3.3 Analysis Observations
	4 Conclusion
	References
Estimation of Soft Body Deformation by Using Light
	1 Introduction
	2 Methods
		2.1 Light Penetration Through Elastic Materials
		2.2 Modelling Optical Behaviour of Materials
	3 Experiment and Results
		3.1 Experimental Setup
		3.2 Results and Discussion
	4 Conclusions
	References
Reduced-Order Modeling of a Soft Anthropomorphic Finger for Piano Keystrokes
	1 Introduction
	2 Materials and Fabrication
		2.1 Fabrication of Soft Finger
		2.2 Experimental Setup
	3 Theoretical Framework
		3.1 First-Principles Model
		3.2 System Identification
		3.3 Model Order Reduction
	4 Results
		4.1 Model Output
		4.2 Frequency-Limited Balanced Truncation
	5 Conclusion and Discussions
	References
Tactile Sensing
Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas
	1 Introduction
	2 Materials and Methods
		2.1 Sensors\' Design and Fabrication
		2.2 Experimental Setup Design
		2.3 Experimental Phantom Models
		2.4 Experimental Procedure
		2.5 EIS Experiments
		2.6 FSR Experiments
	3 Results and Discussions
		3.1 EI-Based Sensors
		3.2 FSR-Based Sensors
	4 Conclusion
	References
Towards Smooth Human-Robot Handover with a Vision-Based Tactile Sensor
	1 Introduction
	2 Related Work
	3 Vision-Based Tactile Sensor for Object Handover Framework
	4 Methodology
		4.1 Participants
		4.2 Experimental Procedure
	5 Results and Discussion
		5.1 Results
		5.2 Discussion
	6 Conclusion and Future Work
	References
Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot
	1 Introduction
	2 Telemanipulation System
		2.1 Human-Operator\'s Leader Interface
		2.2 Robotic Manipulator Follower
		2.3 Teleoperation Architecture
	3 Experimental Validation
		3.1 Methods
		3.2 Results
	4 Conclusion and Future Work
	References
Teleoperation
Comparative Study of Hand-Tracking and Traditional Control Interfaces for Remote Palpation
	1 Introduction
	2 Material and Methods
	3 Results
	4 Conclusion
	References
5G-Based Low-Latency Teleoperation: Two-Way Timeout Approach
	1 Introduction
	2 System Description and Two-Way Timeout Approach
		2.1 Two-Way Timeout Approach
	3 5G-Enabled Teleoperation Testbed with Haptic Feedback
		3.1 Operator Domain
		3.2 Communication Domain
		3.3 Teleoperator Domain
		3.4 Latency Measurement Setup
	4 Experimental Results
	5 Conclusions
	References
Generative Model-Based Simulation of Driver Behavior When Using Control Input Interface for Teleoperated Driving in Unstructured Canyon Terrains
	1 Introduction
	2 Teleoperated Driving Dataset Collection
	3 Teleoperated Driving Model
		3.1 Preprocessing
		3.2 Training and Inference Approach with Two Simulation Models
		3.3 Model Architecture
	4 Model Evaluation
		4.1 Evaluation Design
		4.2 Evaluation Result
	5 Conclusion
	References
Implementation of a Stereo Vision System for a Mixed Reality Robot Teleoperation Simulator
	1 Introduction
	2 Implementation
		2.1 System Overview
		2.2 Stereo Vision
		2.3 Stereo Display
	3 Validation of the Stereo Cameras System
	4 Conclusion
	References
Author Index