Robot 2023: Sixth Iberian Robotics Conference : Advances in Robotics, Volume 2 / edited by Lino Marques, Cristina Santos, José Luís Lima, Danilo Tardioli, Manuel Ferre.

Format:

Book

Contributor:

Marques, L. (Lino), editor.

Series:

Lecture Notes in Networks and Systems, 2367-3389 ; 978

Language:

English

Subjects (All):

Automatic control.

Robotics.

Automation.

Computational intelligence.

Control, Robotics, Automation.

Computational Intelligence.

Local Subjects:

Control, Robotics, Automation.

Computational Intelligence.

Robotics.

Physical Description:

1 online resource (573 pages)

Edition:

1st ed. 2024.

Place of Publication:

Cham : Springer Nature Switzerland : Imprint: Springer, 2024.

Summary:

This book contains a selection of papers accepted for presentation and discussion at ROBOT2023, the Sixth Iberian Robotics Conference, held in the University of Coimbra, Coimbra, Portugal, during November 22nd-24th, 2023. ROBOT2023 is part of a series of conferences that are jointly organized by Sociedade Portuguesa de Robótica (SPR) / Portuguese Society for Robotics and by Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) / Spanish Society for Research and Development in Robotics. These conferences, now occurring with a yearly periodicity, provide a forum to roboticists mostly from Iberia, but also from other parts of the world, to present and discuss their research results, new developments, and applications in the field of Robotics. The volume 1 of this book contains 45 papers addressing fundamental aspects of mobile robotics and robot manipulation while volume 2 contains 45 papers covering the application of robotics in different domains and environments.

Contents:

Intro

Preface

Organization

Contents

Aerial Robotics

Control Framework for Take-Off of UAVs with Suspended Load in Pipeline Inspection

1 Introduction

2 Problem Statement

3 Dynamics

3.1 Tethered UAV

3.2 UAV with Suspended Crawler

4 Control

4.1 Tethered UAV

4.2 UAV with Suspended Crawler

5 Simulations

6 Conclusion

References

Control Barrier Functions in Multirotors: A Safety Filter for Obstacle Avoidance

2 System Modeling

2.1 Single Integrator Model

2.2 First-Order Model of the Velocity Control Loop

3 Control Barrier Functions

3.1 Theoretical Framework

3.2 CBF for the Single Integrator Model

3.3 CBF for the First Order Model

4 Validation

4.1 System Description

4.2 Experimental Identification

4.3 Simulations

4.4 Experiments

5 Conclusion

A Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGV

2 Background and Related Works

3 Materials and Methods

3.1 Proposed Controller Approaches

3.2 Definition of Controller's Gain

4 Results and Discussion

5 Conclusions and Future Work

Moving Horizon Estimation SLAM for Agile Vehicles in 3-D Environments

2 System Dynamics

2.1 Notation

2.2 Motion Model

2.3 Observation Model

3 Moving Horizon Estimation SLAM Filter

3.1 Simulation

4 Comparative Results and Discussion

Advance Reconnaissance of UGV Path Planning Using Unmanned Aerial Vehicle to Carry Our Mission in Unknown Environment

2 Description of Unmanned Platforms

2.1 Manned-Unmanned TAERO Vehicle

2.2 Unmanned Reconnaissance Aerial Vehicle

3 Cooperation Structure UGV-UAV

4 Analysis of Operational Environment Data

4.1 Route Planning.

4.2 Search and Reconnaissance

4.3 Target Geolocation

4.4 Formation of Robotics Agents

4.5 Precision Landing

Data-Driven Control Strategies for Rotary Wing Aerial Vehicles

2 Theoretical Background

2.1 Quadrotor Model

2.2 Linear Quadratic Regulator

2.3 Model Predictive Control

3 Data-Enabled Predictive Control

3.1 Algorithm

3.2 Regularised Algorithm

3.3 Data Collection

4 Implementation and Results

4.1 Influence of Hyperparameters

4.2 Comparison of the Performance of Control Methods

5 Conclusions

Non-cooperative Model Predictive Control for Capturing a Remotely Piloted Target Drone

2 Vehicles Models

3 NMPC for Drone Capture

3.1 Single Vehicle NMPC

3.2 Differential Game for Drone Capture

4 Results and Analysis

UAV-Assisted Navigation for Insect Traps in Olive Groves

2 Related Works

3.1 Experimental Setup in an Outdoor Environment

4.1 Correction in Position Measurements

4.2 Analysis of the Routes Covered by the UAV

Flapping-Wing Aerial Manipulation Robot with Perching-Launching Capabilities: Integrated Modeling and Control

2 System Description

2.1 Flapping Wing Aerial Manipulator with Perching Mechanism

2.2 Kinematics

3 Dynamic Model

3.1 Gliding

3.2 Perching

3.3 Manipulation

3.4 Launching

4 System Control

5 Simulation Results

5.1 Flapping-Gliding

5.2 Perching

5.3 Manipulation

Adaptive Control for a Quadrotor with Ceiling Effect Estimate

3 Control

4 Controller Stability

5 Simulation Results.

6 Conclusion

Coordinated Tracking of a Stationary Target in the Presence of Wind with Collision Avoidance Guarantees

2 Preliminaries

3 Problem Formulation

4 Main Results

4.1 Convergence of the Path of a UA to the Stand-off Radius

4.2 Maintaining Constant Phase Difference Between Two UA

4.3 Collision Avoidance Between Two UA Using CBF Approach

4.4 Periodic and Event-Based Communication Between Two UA

5 Numerical Simulation

Marine Robotics

Ocean Relief-Based Heuristic for Robotic Mapping

2 Background

3 The Ocean Relief-Based Heuristic

4 Evaluation

4.1 Comparison with Potential Fields

4.2 Comparison with A*

Artificial Intelligence for Automated Marine Growth Segmentation

2 Related Work

2.1 Learning-Based Architectures for Image Segmentation

2.2 Overcoming Underwater Vision Challenges

3 Image Segmentation for Marine Growth Prediction

3.1 Analyzing the Underwater Dataset

3.2 Mitigating the Impacts of Underwater Challenges

3.3 Learning-Based Architecture for Marine Growth Segmentation

4.1 Experimental Setup

4.2 Initial Dataset Experiments

4.3 Expanded Dataset Experiments

4.4 Testing Generalization Capabilities

Enhancing Underwater Inspection Capabilities: A Learning-Based Approach for Automated Pipeline Visibility Assessment

2.1 Underwater Environment Scenes

2.2 Image Classification

3 Enhancing Underwater Inspection Capabilities

3.1 Evaluating Pipeline Visibility

3.2 Deep Learning Approach to Classify Underwater Visibility

3.3 Collecting Data from a Real Underwater Inspection Mission

4 Results and Discussion.

4.1 Experimental Setup

4.2 Experimental Results

Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles

2 Robot Dynamics and Kinematics

3 Proposed Method: Adaptive Finite-Time Control

4 Stability Analysis

5 Simulation Study

Development of an Autonomous Surface System for Permanent and Persistent Monitoring of Vehicles in the Water Column

2 Specifications Definition and Sizing

2.1 Requirements

3 Design and Simulation

3.1 Systems and Sensors

3.2 Propulsion and Production of Energy

3.3 Electric Schematics

3.4 Command and Control (C2)

3.5 Internal Structure

3.6 Hull

4 Conclusion

Robotics in Defense

Automatic People Detection Based on RGB and Thermal Imagery for Military Applications

2 Data and Experimental Setup

2.1 Dataset

2.2 Environment Context and Testing Scenarios

3 People Detector

4 Experiments

4.1 Performance Metrics

4.2 Baseline (RGB Model)

4.3 Training and Validation (Thermal Model)

4.4 Results Evaluation

5 Final Remarks

The Automatic Seaman: From Speech2text to Text2Task

2 Autonomous System Components

2.1 Speech-to-Text

2.2 Intent Detection

2.3 Action Control

3 Experimental Setup

3.1 System Implementation

3.2 Evaluation and Discussion

Man-Machine Symbiosis UAV Integration for Military Search and Rescue Operations

2 Man-Machine Symbiosis Concept and Architecture

2.1 Concept

2.2 Conceptual Man-Machine Symbiosis Architecture

3 Implementation

3.1 Vital Kit

3.2 Android App and Fall Detection Algorithm

3.3 Network Architecture

3.4 UAV STORK for Search and Rescue Military Operations.

4 Results

Cybersecurity Threats in Military Robotic and Autonomous Systems

2 Military Robotic and Autonomous Systems

2.1 Use Cases

2.2 Trends

3 Cybersecurity in Military Robotic and Autonomous Systems

3.1 Military RAS and Cyberspace

3.2 Cyber Threats to RAS

4 Discussion

U-Net/ResNet-50 Network with Transfer Learning for Semantic Segmentation in Search and Rescue

2 Methodology

2.1 Model Description

2.2 Implementation Details

2.3 Datasets

2.4 Evaluation Metric

2.5 SAR Model Training

3 U-Net/ResNet-50 Model Validation

4 SAR Results

4.1 Adaptation of Urban Scenarios to SAR-Related Classes

4.2 Model Performance in SAR Scenarios

APH-YOLOv7t: A YOLO Attention Prediction Head for Search and Rescue with Drones

3 Methodology

3.1 Preprocessing the Data and YOLOv7

3.2 APH-YOLOv7t with CBAM

4 Experimental Results

4.1 YOLOv7 on Heridal Data - Results

4.2 YOLOv7 on Mobdrone and SeaDronesSee Data - Results

5 Discussion

ISR Missions in Maritime Environment Using UAS - Contributions of the Portuguese Air Force Academy Research Centre

2 Portuguese Air Force Research Centre

3 UAS Airframe Design

3.1 Class I Fixed Wing UAS

3.2 Tactical Fixed Wing, VTOL UAS

4 Hardware Architecture

5 ISR Sensors and Applications

5.1 Computer Vision

5.2 Other Sensors

6 Control System Architecture

6.1 Motion Control Modes Overview

6.2 Target Searching

6.3 Target Tracking

6.4 Control Architecture Framework

7 Conclusions

An Integrated Method for Landing Site Selection and Autonomous Reactive Landing for Multirotors

1 Introduction.

2 Background.

Notes:

Includes index.

ISBN:

3-031-59167-4