Full Description
This book constitutes the refereed proceedings of the 24th Annual Conference Towards Autonomous Robotic Systems, TAROS 2023, held in Cambridge, UK, during September 13-15, 2023.
The 40 full papers presented in this book were carefully reviewed and selected from 70 submissions.
They cover a wide range of different topics such as: agri-food robotics; autonomy; collaborative and service robotics; locomotion and manipulation; machine vision; multi-robot systems; soft robotics; tactile sensing; and teleoperation.
Contents
Agri-food Robotics.- Plant phenotyping using DLT method: Towards retrieving the delicate features in a dynamic environment.- Rapid Development and Performance Evaluation of a Potato Planting Robot.- An Automated Precision Spraying Evaluation System.- Smart Parking System Using Heuristic Optimization For Autonomous Transportation Robots In Agriculture.- Closed-Loop Robotic Cooking of Soups with Multi-modal Taste Feedback.- Folding Morphing-wheg Duct-entry Robot for Nuclear Characterisation.- Autonomy.- Occupancy Map Abstraction for Higher Level Mission Planning of Autonomous Robotic Exploration in Hazardous Nuclear Environments.- Spiral Sweeping Protocols for Detection of Smart Evaders.- Action Recognition for Improving Pedestrian Intent Prediction.- Evaluation of SLAM algorithms for Search and Rescue applications.- Developing an Integrated Runtime Verification for Safety and Security of Industrial Robot Inspection System.- Collaborative and Service Robotics.- Sonification of Ionising Radiation Data for Robot Operators.- Automating a Telepresence Robot for Human Detection, Tracking, and Following.- Towards Multimodal Sensing and Interaction for Assistive Autonomous Robots.- Locomotion and Manipulation.- CPG-based locomotion control of a quadruped robot with an active spine.- Low-resolution sensing for sim-to-real complex terrain robots.- Towards wait-and-catch routine of a dynamic swinging object using a prototype robotic arm manipulator.- Simultaneous Base and Arm Trajectories for Multi-Target Mobile Agri-Robot.- Design and kinematic analysis of a 3D-printed 3DOF robotic manipulandum.- Sim-to-Real Deep Reinforcement Learning with Manipulators for Pick-and-place.- Machine Vision.- Fast 3D Semantic Segmentation Using a Self Attention Network and Random Sampling.- An assessment of self-supervised learningfor data efficient potato instance segmentation.- Automated 3D Mapping, localization and pavement inspection with low cost RGB-D cameras and IMUs.- Optimized Custom Dataset for Efficient Detection of Underwater Trash.- A Geometric Algebra Solution to the 3D Registration Problem.- Active Anomaly Detection for Autonomous Robots: a Benchmark.- Multi-robot Systems.- Hardware Validation of Adaptive Fault Diagnosis in Swarm Robots.- Mobile Robots For Collaborative Manipulation Over Uneven Ground Using Decentralised Impedance Control.- Multi-agent Collaborative Target Search Based on Curiosity Intrinsic Motivation.- Simulation of Collective Bernoulli-Ball System for Characterizing Dynamic Self-stability.- Soft Robotics.- Casting vs injection moulding: a comparison study for in-lab low-cost soft robot fabrication.- Estimation of Soft Body Deformation by Using Light.- Reduced-Order Modeling of a Soft AnthropomorphicFinger for Piano Keystrokes.- Tactile Sensing.- Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas.- Towards smooth human-robot handover with a vision-based tactile sensor.- Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot.- Teleoperation.- Comparative study of hand-tracking and traditional control interfaces for remote palpation.- 5G-based Low-Latency Teleoperation: Two-way Timeout Approach.- Generative Model-based Simulation of Driver Behavior when Using Control Input Interface for Teleoperated Driving in Unstructured Canyon Terrains.- Implementation of a Stereo Vision System for a Mixed Reality Robot Teleoperation Simulator.
