Towards Autonomous Robotic Systems: 23rd Annual Conference, TAROS 2022, Culham, UK, September 7–9, 2022, Proceedings (Lecture Notes in Artificial Intelligence)

Preface
Organization
Contents
Robotic Grippers and Manipulation
A Distributed Approach to Haptic Simulation
	1 Introduction
	2 Physical Distribution
	3 Control Distribution
		3.1 Physics Engines and Haptics
		3.2 Transferring Objects Between Physics Engines
		3.3 Multiple Haptics Physics Engines Approach
	4 Conclusions and Further Work
	References
A Novel Two-Hand-Inspired Hybrid Robotic End-Effector Fabricated Using 3D Printing
	1 Introduction
	2 Design and Methods
		2.1 High-Level Design and Methods
		2.2 Base Lifting Plate
		2.3 Fingers
		2.4 Tendon Cables
		2.5 Main Body
		2.6 Experimental Design
	3 Results and Discussion
		3.1 Grasp Tests
		3.2 Fabrication and Assembly
	4 Conclusion
	References
Investigating the Relationship Between Posture and Safety in Teleoperational Tasks: A Pilot Study in Improved Operational Safety Through Enhanced Human-Machine Interaction
	1 Introduction
		1.1 Overview
		1.2 Skeletal Tracking
		1.3 Task Load
	2 Methodology
		2.1 Experimental Setup
		2.2 Experimental Procedure
	3 Results
	4 Discussion
	5 Conclusion
	References
Design and Analysis of an End Effector Using the Fin Ray Structure for Integrated Limb Mechanisms
	1 Introduction
	2 Design
		2.1 End Effector Design
		2.2 Compliant Design and Manufacturing
	3 Finite Element Analysis (FEA) of the Fin Ray Structure
		3.1 Analysis Setup
		3.2 Analysis Results
		3.3 Physical Validation
	4 Conclusions
	References
Trigger-Assisted Ambidextrous Control Framework for Teleoperation of Two Legged Manipulators
	1 Introduction
	2 Control Framework Overview
		2.1 Finger-Based Trigger System
		2.2 Teleoperation Algorithm
		2.3 Hardware Implementation
	3 Experiment Design
	4 Experiment Results
	5 Conclusions
	References
Teleoperating a Legged Manipulator Through Whole-Body Control
	1 Introduction
	2 System Description
	3 Whole-Body Control Framework
		3.1 Formulation of Optimisation Problem
	4 Teleoperation Strategies
	5 Simulations
		5.1 TS1 Case Study
		5.2 TS2 Case Study
		5.3 TS3 Case Study
	6 Hardware Experiments
	7 Conclusion
	References
Soft Robotics, Sensing and Mobile Robots
In-silico Design and Computational Modelling of Electroactive Polymer Based Soft Robotics
	1 Introduction
	2 In-silico Design Modelling Approach
		2.1 Nonlinear Solid Electromechanics: A New Modelling Paradigm
		2.2 Electroactive Polymer Design: Microstructure
		2.3 Electrode Design: Meso-architecture
	3 Examples
		3.1 Example 1: Demonstration of In-silico Design Tool Capability
		3.2 Example 2: Effects of Fibre Orientation
		3.3 Example 3: Effects of Electrode Design Meso-architecture
	4 Concluding Remarks
	References
Exploration of Underwater Storage Facilities with Swarm of Micro-surface Robots
	1 Introduction
	2 Collective Motion Mechanism
	3 Realisation of the Exploration
		3.1 Robotic Platform
		3.2 Simulated Platform
		3.3 Experiments
	4 Results
		4.1 Bubbles Movement
		4.2 Collective Motion Model
		4.3 Swarm Population
		4.4 Effects of Model Parameter
	5 Conclusion
	References
Characterization of an Inflatable Soft Actuator and Tissue Interaction for In Vitro Mechanical Stimulation of Tissue
	1 Introduction
	2 Methodology
		2.1 Stimulating Balloon Design and Integration into Bioreactor Chamber
		2.2 Soft Matter Fabrication
		2.3 Stimulating Balloon Experimental Set-Up and Procedure
	3 Results and Discussion
	4 Conclusion
	References
EMap: Real-Time Terrain Estimation
	1 Introduction
	2 Related Work
	3 Method
	4 Experiments
		4.1 Setup
		4.2 Experiment Scenarios
	5 Results
		5.1 Reconstruction Accuracy
		5.2 Processing Time per Loop
	6 Discussion
	7 Conclusion
	References
Design and Preliminary In-Classroom Evaluation of a Low-Cost Educational Mobile Robot
	1 Introduction
	2 Proposed Prototype
		2.1 Functionality and Design Requirements
		2.2 Robot Design
	3 Experimental Evaluation
		3.1 Participants
		3.2 Learning Session Structure
		3.3 Evaluating Comprehension
		3.4 Subjective Evaluation of the Robot
	4 Results
		4.1 Comprehension
		4.2 Subjective Evaluation
	5 Conclusion
	References
Internal State-Based Risk Assessment for Robots in Hazardous Environment
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 Observation Sources
		3.2 User-Defined Thresholds
		3.3 Robot State Updater
		3.4 Costmaps
		3.5 Combining Layers
		3.6 Risk Prioritization
		3.7 Path Planning and Execution
	4 Experiments
		4.1 Implementation
		4.2 Simulated Environment
		4.3 Costmap Updates
		4.4 Navigation
		4.5 Tests
	5 Results
	6 Conclusion
	References
Robotic Learning, Mapping and Planning
Investigating Scene Visibility Estimation Within ORB-SLAM3
	1 Introduction
		1.1 Background
	2 Related Work
		2.1 Visual Simultaneous Localisation and Mapping
		2.2 Visual-Inertial Simultaneous Localisation and Mapping
		2.3 Scene Visibility Estimation
		2.4 Adaptation of Scene Visibility Estimation in ORB-SLAM3
	3 Disturbance Generation
		3.1 Blur
		3.2 Downsampling
		3.3 Occlusion
		3.4 Data Aggregation
	4 Improving SVE and Adapting ORB-SLAM3
	5 Results
		5.1 SVE Improvements
		5.2 Adapted ORB-SLAM3 Results
	6 Conclusions and Future Work
	References
Tactile and Proprioceptive Online Learning in Robotic Contour Following
	1 Introduction
	2 Methods
		2.1 Robotic Setting
		2.2 Bayesian Probabilistic Classifier
		2.3 Active Bayesian Tactile Sensing
	3 Results
		3.1 Angle and Position Perception
		3.2 Online Learning
		3.3 Active Contour Following
	4 Discussion
	References
Learning Cooperative Behaviours in Adversarial Multi-agent Systems
	1 Introduction
	2 Related Work
	3 TripleSumo
	4 Experimental Results
		4.1 Reward Shaping
		4.2 Performance Evaluation
	5 Discussion and Future Work
	References
Task Independent Safety Assessment for Reinforcement Learning
	1 Introduction
	2 Background
		2.1 Safe Reinforcement Learning
		2.2 Balance of Performance and Safety
		2.3 Environment Interpretation
	3 Design and Implementation
		3.1 Approach Design
		3.2 Agent Inputs
	4 Experiments
		4.1 Setup
		4.2 Results
		4.3 Safety Interference
	5 Conclusion
	References
Sensing Anomalies as Potential Hazards: Datasets and Benchmarks
	1 Introduction
	2 Related Work
		2.1 Anomaly Detection Methods
		2.2 Anomaly Detection on Images
		2.3 Application to Robotics
	3 Datasets
		3.1 Tunnels Dataset
		3.2 Factory Dataset
		3.3 Corridors Dataset
	4 Experimental Setup
		4.1 Anomaly Detection on Frames
		4.2 Patch-Level Anomaly Detector
		4.3 Training
		4.4 Metrics
	5 Results
		5.1 S8 Model Hyperparameters
		5.2 Patch Aggregation
		5.3 Scales and Anomalies
		5.4 Run-Time Evaluation
	6 Conclusions
	References
Robotic Systems and Applications
Integration and Robustness Analysis of the Buzz Swarm Programming Language with the Pi-puck Robot Platform
	1 Introduction
	2 Related Work
	3 Methodology
		3.1 Experimental Environment
		3.2 Software
		3.3 Experimental Methodology
	4 Results and Analysis
		4.1 Packet Loss in Robot Communication
		4.2 Artificial Sensor Noise in Robot Positioning
		4.3 Joint Effect of Packet Loss and Artificial Sensor Noise
	5 Conclusion and Future Work
	References
Implementing and Assessing a Remote Teleoperation Setup with a Digital Twin Using Cloud Networking
	1 Introduction
	2 Methods
		2.1 Teleoperation System
		2.2 Cloud-Based Networking
		2.3 Testing and Validation
	3 Results
	4 Conclusions
	References
Agent-Based Simulation of Multi-robot Soil Compaction Mapping
	1 Introduction
	2 Related Work
		2.1 Outdoor Ground Robots
		2.2 Multi-Robot Systems (MRSs)
	3 Methodology
		3.1 Agent-Based Simulation
		3.2 Experimental Design
	4 Results and Discussion
	5 Conclusions and Future Work
	References
A-EMS: An Adaptive Emergency Management System for Autonomous Agents in Unforeseen Situations
	1 Introduction
	2 Related Work
	3 Problem Description
	4 Methodology
		4.1 Acquisition Function
		4.2 Exploration/Exploitation Trade-Off
		4.3 Temporal Relevance of Data
	5 Simulation Experiments
		5.1 Lane-Drifting Experiments
		5.2 Collision-Avoidance Experiments
	6 Conclusions and Discussion
	References
Towards Scalable Multi-robot Systems by Partitioning the Task Domain
	1 Introduction
	2 Example Problem
	3 Related Work
	4 Proposed Solution
		4.1 System Description and Modelling
		4.2 Partitioning Method
	5 Results and Discussion
		5.1 Dependence on Model Parameters
		5.2 Partitioning
	6 Conclusion
	References
Effectiveness of Brush Operational Parameters for Robotic Debris Removal
	1 Introduction
	2 Materials and Methods
		2.1 Experimental Setup
		2.2 Debris Components
		2.3 Debris Removal Task
		2.4 Testing Methodology
	3 Result and Analysis
		3.1 Flour Debris Removal
		3.2 Sand Debris Removal
		3.3 Metallic Swarf Debris Removal
	4 Discussion
	5 Conclusion
	References
Automatic, Vision-Based Tool Changing Solution for Dexterous Teleoperation Robots in a Nuclear Glovebox
	1 Introduction
	2 Practical Design Considerations
	3 Tool Management Rack and Interfaces
	4 Integrated System for Automatic Tool Changing
	5 Results and Discussions
	6 Conclusions
	References
Author Index