Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings

Preface
Organization
Contents
Algorithms
A Study on Dense and Sparse (Visual) Rewards in Robot Policy Learning
	1 Introduction
	2 Related Work
	3 Research Methods
		3.1 Problem Formulation
		3.2 Rewards
		3.3 Task Success Classifiers
		3.4 Training Methodology
	4 Experiments and Results
		4.1 Training Tasks
		4.2 Success Classifiers Results
		4.3 Experimental Results of the DRL Agents
	5 Conclusion and Future Work
	References
An Open-Source Multi-goal Reinforcement Learning Environment for Robotic Manipulation with Pybullet
	1 Introduction
	2 Environment
		2.1 Single-Step Tasks
		2.2 Multi-step Tasks
		2.3 APIs and Programming Style
	3 Benchmark and Discussion
		3.1 Reproducing Hindsight Experience Replay on Single-Step Tasks
		3.2 Benchmarking Multi-step Tasks
		3.3 Challenges and Opportunities
	4 Conclusion
	References
CPG-Actor: Reinforcement Learning for Central Pattern Generators
	1 Introduction
		1.1 Related Work
		1.2 Contributions
	2 Methodology
		2.1 Differentiable Central Pattern Generators
	3 Evaluation
		3.1 Experimental Setup
	4 Results
		4.1 CPG-Actor and Previous Baselines, Comparison
		4.2 Evaluation of Progressive Task Achievement
	5 Discussion and Future Work
	References
Deep Semantic Segmentation of 3D Plant Point Clouds
	1 Introduction
	2 Related Work
		2.1 3D Plant Segmentation
		2.2 Deep Learning for 3D Plant Segmentation
		2.3 PointNet++
	3 Methodology
		3.1 Data Set
		3.2 Network Architecture
		3.3 Performance Metrics
		3.4 Network Training
	4 Evaluation
		4.1 Quantitative Performance Evaluation
		4.2 Qualitative Performance Evaluation
	5 Conclusions and Future Work
	References
Discovering Stable Robot Grasps for Unknown Objects in Presence of Uncertainty Using Bayesian Models
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 Object Extraction from Point Cloud
		3.2 Grasp Metric Calculation
		3.3 Probabilistic Modelling
	4 Implementation
		4.1 Configuration
		4.2 Protocol
	5 Results
	6 Conclusion
	References
Improving SLAM in Pipe Networks by Leveraging Cylindrical Regularity
	1 Introduction
	2 Related Work
	3 System Overview
	4 Cylinder Detection
		4.1 Cylinder Representation and Estimation
		4.2 Cylinder Detection
	5 Bundle Adjustment with Cylindrical Regularity
	6 Performance Validation and Evaluation
		6.1 Synthetic Data
		6.2 Real Data
		6.3 Discussion
	7 Conclusion
	References
CRH*: A Deadlock Free Framework for Scalable Prioritised Path Planning in Multi-robot Systems
	1 Introduction
	2 Related Works
		2.1 Heuristics
		2.2 Rescheduling
		2.3 Path Finding
	3 Design and Development
		3.1 Overview
		3.2 A* Adaptations
		3.3 Framework Facilities
	4 Experiments
		4.1 Evaluation of CRH*
		4.2 Evaluation of Optimisation Improvements
	5 Conclusion
	References
Task-Based Ad-hoc Teamwork with Adversary
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Ad-Hoc Teamwork with Adversaries
		3.2 On-Line Estimators for Ad-hoc Task Allocation with Adversary
		3.3 OEATA-A Fundamentals
		3.4 Sets of Estimators
		3.5 Process of Estimation
	4 Experiments
		4.1 Level-Based Foraging Domain
		4.2 Results
	5 Conclusion
	References
Human-Robot Cooperative Lifting Using IMUs and Human Gestures
	1 Introduction
	2 Human-Robot Cooperative Lifting Using IMUs and Gestures
		2.1 Posture and Gesture Estimation
		2.2 Cooperation Roles and States in Cooperative Lifting
		2.3 Human-Robot Cooperative Lifting of a Table
	3 Experimental Setup and Results
		3.1 Setup
		3.2 Calibration
		3.3 Results
	4 Discussion and Future Work
	5 Conclusions
	References
Reinforcement Learning-Based Mapless Navigation with Fail-Safe Localisation
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 System Description
		3.2 Localisation Algorithm
		3.3 Reinforcement Learning Agent
	4 Experiments and Results
		4.1 Experiment Setup
		4.2 Results
	5 Conclusion
	References
Collaborative Coverage for a Network of Vacuum Cleaner Robots
	1 Introduction
	2 Method
	3 Results
	4 Conclusion
	References
Network-Aware Genetic Algorithms for the Coordination of MALE UAV Networks
	1 Introduction
	2 Problem Description
	3 Power-Aware Genetic Algorithms
	4 Network-Aware Genetic Algorithms
		4.1 Integration with a Network Simulator
		4.2 Network Topology Evaluation Model
	5 Experimental Methodology
	6 Results
	7 Conclusions
	References
Self-organised Flocking of Robotic Swarm in Cluttered Environments
	1 Introduction
	2 Flocking Method
		2.1 Active Elastic Sheet Model
		2.2 Extended AES Model
		2.3 Metrics
		2.4 Experimental Setup
	3 Results and Discussion
	4 Conclusion
	References
Evaluating Feedback Modalities in a Mobile Robot for Telecare
	1 Introduction
	2 Materials and Methods
		2.1 The Experimental System
		2.2 Task
		2.3 Research Hypotheses
		2.4 Experimental Design
		2.5 Dependent Measures
		2.6 Participants
		2.7 Procedure
		2.8 Analysis
	3 Results
		3.1 Efficiency
		3.2 Understanding
		3.3 Effectiveness
		3.4 User Perception
	4 Discussion
		4.1 Impact of Feedback Modality
		4.2 Impact of Secondary Task Location
	5 Conclusions and Future Work
	References
Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding
	1 Introduction
		1.1 Motivation
		1.2 Related Work
	2 Model
		2.1 Experimental Setup
		2.2 Sheep Agent Model
		2.3 Dog Agent Model
	3 Results
	4 Conclusions
	References
Evaluation of an OpenCV Implementation of Structure from Motion on Open Source Data
	1 Introduction
	2 Algorithmic Description
	3 Implementation and Experimental Results
	4 Comparison
	5 Conclusions
	References
Benchmark of Visual and 3D Lidar SLAM Systems in Simulation Environment for Vineyards
	1 Introduction
	2 Related Work
	3 SLAM Algorithms
		3.1 RTAB-Map
		3.2 ORB-SLAM2
		3.3 LIO-SAM
		3.4 StaticMapping
	4 Evaluation
		4.1 Environment
		4.2 Testing Scenarios
		4.3 SLAM Algorithms Configurations
		4.4 Metrics
		4.5 Results
	5 Conclusion
	References
Lidar-Only Localization with 3D Pose-Feature Map
	1 Introduction
	2 Related Work
	3 Framework Architecture and Background
		3.1 Framework Architecture
		3.2 Lidar-Only Odometry Background
	4 Pose-Feature Map Localization
		4.1 Pose-Feature Map
		4.2 Adaptive Local-Map Matching
		4.3 Integrating Localization
	5 Experiments
		5.1 Hardware, Datasets and Parameter Setting
		5.2 Localization Performance
	6 Conclusion
	References
Toward Robust Visual Odometry Using Prior 2D Map Information and Multiple Hypothesis Particle Filtering
	1 Introduction
	2 Methods
	3 Results
	4 Conclusions
	References
Comparison of Concentrated and Distributed Compliant Elements in a 3D Printed Gripper
	1 Introduction
	2 Compliant Gripper Simulation
	3 3D Printed Grippers
	4 Conclusion
	References
Perception of a Humanoid Robot as an Interface for Auditory Testing
	1 Introduction
	2 Experimental Design
		2.1 Voice Cue Sensitivity
		2.2 Gender Categorization
		2.3 Emotion Identification
		2.4 Speech-on-Speech Perception
		2.5 Video Analysis
	3 Further Work
	References
Deep Learning Traversability Estimator for Mobile Robots in Unstructured Environments
	1 Introduction
	2 Traversability Prediction Model
		2.1 Input Features
		2.2 Network Architecture
		2.3 Robot Model and Failure Events
	3 Dataset Generation
		3.1 OpenSimplex Synthetic Maps Generation
		3.2 Dataset Collection and Training
	4 Results
		4.1 Prediction Performance - Synthetic Dataset
		4.2 Prediction Performance - Planetary Mission Use Case
	5 Conclusion and Future Work
	References
Systems
Predicting Artist Drawing Activity via Multi-camera Inputs for Co-creative Drawing
	1 Introduction
	2 Background
	3 Research Set-Up
	4 Drawing Data Gathering Study
	5 Visual Based Models
	6 Experiments and Results
	7 Discussion and Limitations
	8 Summary and Future Work
	References
3D Printed Mechanically Modular Two-Degree-Of-Freedom Robotic Segment Utilizing Variable-Stiffness Actuators
	1 Introduction
	2 Design Considerations
	3 Segment Design
	4 Control Electronics
	5 Mechanical Construction
	6 Position Sensing and Torque Estimation
	7 Characterizing VSA Dynamics
	8 Control and Simulation Using ROS
	9 MATLAB Simulations and Demo
	10 Discussion
	References
Design of a Multimaterial 3D-Printed Soft Actuator with Bi-directional Variable Stiffness
	1 Introduction
	2 Design and Fabrication of the Actuator
	3 Control Setup
	4 Testing
	5 Conclusion
	References
Designing a Multi-locomotion Modular Snake Robot
	1 Introduction
	2 Proposed Design
		2.1 Locomotion
		2.2 Housing
		2.3 Smart Servos
		2.4 Biomimetic Snakeskin
	3 Experiments and Discussion
		3.1 Prototype 1 - Snakeskin Testing
		3.2 Prototype 2 - Housing and Smart Servos
	4 Conclusion
	References
Deep Robot Path Planning from Demonstrations for Breast Cancer Examination
	1 Introduction
	2 Methodology
		2.1 Data-Set Acquisition
		2.2 Deep-Model
	3 Results
	4 Conclusion
	References
Priors Inspired by Speed-Accuracy Trade-Offs for Incremental Learning of Probabilistic Movement Primitives
	1 Introduction
	2 Probabilistic Movement Primitives
	3 Prior Parameters Inspired by Speed-Accuracy Trade-Off
	4 Experimental Evaluation: Comparison of Prior Parameters in Incremental Learning
	5 Discussion and Conclusion
	6 Future Work
	References
Tactile Dynamic Behaviour Prediction Based on Robot Action
	1 Introduction and Related Works
	2 Methodology
		2.1 Problem Statement
		2.2 Tactile Data Dimensionality Reduction
		2.3 Deep Recurrent Model for Prediction
	3 Experiments
	4 Results
	5 Conclusion
	References
State Space Analysis of Variable-Stiffness Tendon Drive with Non-back-Drivable Worm-Gear Motor Actuation
	1 Introduction
	2 Tendon Drive System
	3 State Space Analysis of DC Motor
	4 Analysis of Two-Tendon Rotary Series Elastic Actuator
		4.1 Modeling Tendon Extension
		4.2 Modeling to 2-tendon Actuator Dynamics
		4.3 State Space Model of 2-tendon Drive Dynamics
		4.4 Tendon Extension and Output Actuation
	5 State Space Model for Motor Driven 2-tendon Drive
	6 Observer-Based State Feedback Control of Link Angle
	7 Results and Conclusions
	References
Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator
	1 Introduction
	2 KMR iiwa Robot
		2.1 Platform Description
		2.2 Operation and Safety
		2.3 Interfacing with ROS
	3 KMR iiwa ROS Stack
		3.1 KMR isiwa Driver Design
		3.2 Support ROS Packages
		3.3 Robot Safety
	4 System Testing and Applications
		4.1 Manipulation, Navigation and Simulation with ROS
		4.2 Example Robotic Application in a Chemistry Laboratory
	5 Conclusion
	References
Collision Avoidance with Optimal Path Replanning for Mobile Robots
	1 Introduction
	2 Problem Formulation
	3 Collision Detection and Avoidance
	4 Path Re-planning
	5 Simulation and Analysis
		5.1 Implementation and Trajectory Visualization
		5.2 Monte Carlo Simulation
	6 Conclusion and Future Work
	References
An Autonomous Mapping Approach for Confined Spaces Using Flying Robots
	1 Introduction
	2 Method
		2.1 Drone Localisation and 3D Map Generation
		2.2 Indoor Navigation
		2.3 Surface Generation and Volume Estimation
	3 Simulation Setup
		3.1 Simulation Environment
		3.2 Robotic Platform
		3.3 Simulations
	4 Results
	5 Conclusion and Future Work
	References
Maximising Availability of Transportation Robots Through Intelligent Allocation of Parking Spaces
	1 Introduction
	2 Background and Related Work
	3 Methodology
		3.1 Parking Space Allocation Algorithms
	4 Experimental Evaluation and Results
		4.1 Experimental Setup
	5 Discussions and Conclusion
	References
A Minimalist Solution to the Multi-robot Barrier Coverage Problem
	1 Introduction
	2 Methods
	3 Results and Discussions
	References
Scheduling Multi-robot Missions with Joint Tasks and Heterogeneous Robot Teams
	1 Introduction
	2 MRS Mission Scheduling Approach
	3 Implementation and Case Study Summary
	4 Conclusions and Discussion
	References
Area Coverage in Two-Dimensional Grid Worlds Using Computation-Free Agents
	1 Introduction
	2 Design
	3 Results
	4 Conclusions
	References
Online Scene Visibility Estimation as a Complement to SLAM in UAVs
	1 Introduction
	2 Related Work
		2.1 SLAM
		2.2 Scene Visibility Estimation
	3 Methodology
	4 Results and Discussion
	5 Conclusions
	References
Statics Optimization of a Hexapedal Robot Modelled as a Stewart Platform
	1 Introduction
	2 Materials and Methods
		2.1 Kinematics of the GS Platform
		2.2 Kinematics Adapted to SILVER2
		2.3 Manipulability of Parallel Manipulators
		2.4 Statics Optimization
	3 Results
	4 Discussion
	References
EtherCAT Implementation of a Variable-Stiffness Tendon Drive with Non-back-Drivable Worm-Gear Motor Actuation
	1 Introduction
	2 Motors
	3 Passive Compliance
	4 Motor Test Rig
	5 Beckhoff EtherCAT Control Panel
	6 Transfer Function and Response of Tendon Mechanism
	7 State Space Model of System
	8 Pseudocode and EtherCAT Implementation
	9 Results
	10 Discussion
	References
Growing Robotic Endoscope for Early Breast Cancer Detection: Robot Motion Control
	1 Introduction
	2 Methods
		2.1 Actuation and Hydraulics Model
		2.2 Growing Robot Model
		2.3 Data Analysis
		2.4 Parameter Investigation
	3 Results and Discussion
		3.1 Parameter Investigation
		3.2 Model Validation
	4 Conclusion
	References
Design and Characterisation of a Variable Stiffness Soft Actuator Based on Tendon Twisting
	1 Introduction
	2 Design and Fabrication
	3 Experimental Characterisation of Stiffening
	4 Results
	5 Conclusions and Future Work
	References
WhiskEye: A Biomimetic Model of Multisensory Spatial Memory Based on Sensory Reconstruction
	1 Introduction
	2 Related Work
	3 Materials and Methods
		3.1 WhiskEye Platform
		3.2 Multisensory Integration and Reconstruction Using Multimodal Predictive Coding Network
	4 Results
	5 Discussion
	References
Equipment Detection Based Inspection Robot for Industrial Plants
	1 Introduction
	2 Robotic Inspection Literature
	3 System Overview
		3.1 The Industrial 6S
		3.2 The Inspection Strategy
	4 Equipment Detection
		4.1 Development
		4.2 Evaluation
	5 Conclusions
	References
Inference of Mechanical Properties of Dynamic Objects Through Active Perception
	1 Introduction
	2 Previous Work
	3 Methods
		3.1 Eigenfrequency
		3.2 Image Flow
		3.3 Inferring Dynamic Properties of Objects
	4 Results and Analysis
		4.1 Experiment Scenario
		4.2 Mass Estimation
		4.3 Parameter Analysis
	5 Conclusions and Future Work
	References
Author Index