Intelligent Autonomous Systems 15: Proceedings of the 15th International Conference IAS-15 (Advances in Intelligent Systems and Computing Book 867)

This book presents the latest advances and research achievements in the fields of autonomous robots and intelligent systems, presented at the IAS-15 conference, held in Baden-Baden, Germany, in June 2018. It brings together contributions from researchers, engineers and practitioners from all over the world on the main trends of robotics: navigation, path planning, robot vision, human detection, and robot design – as well as a wide range of applications. This installment of the conference reflects the rise of machine learning and deep learning in the robotics field, as employed in a variety of applications and systems. All contributions were selected using a rigorous peer-review process to ensure their scientific quality. The series of biennial IAS conferences was started in 1986: since then, it has become an essential venue for the robotics community. Front Matter ....Pages i-xvii Front Matter ....Pages 1-1 A Viterbi-like Approach for Trajectory Planning with Different Maneuvers (Jörg Roth)....Pages 3-14 Improving Relaxation-Based Constrained Path Planning via Quadratic Programming (Franco Fusco, Olivier Kermorgant, Philippe Martinet)....Pages 15-26 Robust Path Planning Against Pose Errors for Mobile Robots in Rough Terrain (Yuki Doi, Yonghoon Ji, Yusuke Tamura, Yuki Ikeda, Atsushi Umemura, Yoshiharu Kaneshima et al.)....Pages 27-39 Stereo Vision-Based Optimal Path Planning with Stochastic Maps for Mobile Robot Navigation (Taimoor Shakeel Sheikh, Ilya M. Afanasyev)....Pages 40-55 Variance Based Trajectory Segmentation in Object-Centric Coordinates (Iori Yanokura, Masaki Murooka, Shunichi Nozawa, Kei Okada, Masayuki Inaba)....Pages 56-66 MILP-Based Dual-Arm Motion Planning Considering Shared Transfer Path for Pick-Up and Place (Jun Kurosu, Ayanori Yorozu, Masaki Takahashi)....Pages 67-77 Multiple Path Planner Integration for Obstacle Avoidance: MoveIt! and Potential Field Planner Synergy (Emanuele Sansebastiano, Angel P. del Pobil)....Pages 78-85 An Integrated Planning of Exploration, Coverage, and Object Localization for an Efficient Indoor Semantic Mapping (Diar Fahruddin Sasongko, Jun Miura)....Pages 86-98 Unsupervised Hump Detection for Mobile Robots Based On Kinematic Measurements and Deep-Learning Based Autoencoder (Oliver Rettig, Silvan Müller, Marcus Strand, Darko Katic)....Pages 99-110 Efficient Coverage of Unstructured Environments (Elias Khsheibun, Norman Kohler, Maren Bennewitz)....Pages 111-126 Front Matter ....Pages 127-127 Probabilistic Logic for Intelligent Systems (Thomas C. Henderson, Robert Simmons, Bernard Serbinowski, Xiuyi Fan, Amar Mitiche, Michael Cline)....Pages 129-141 Aggregating Models for Anomaly Detection in Space Systems: Results from the FCTMAS Study (Francesco Amigoni, Maurizio Ferrari Dacrema, Alessandro Donati, Christian Laroque, Michèle Lavagna, Alessandro Riva)....Pages 142-160 Detection of Motion Patterns and Transition Conditions for Automatic Flow Diagram Generation of Robotic Tasks (Guilherme de Campos Affonso, Kei Okada, Masayuki Inaba)....Pages 161-173 Least Action Sequence Determination in the Planning of Non-prehensile Manipulation with Multiple Mobile Robots (Changxiang Fan, Shouhei Shirafuji, Jun Ota)....Pages 174-185 Convolutional Channel Features-Based Person Identification for Person Following Robots (Kenji Koide, Jun Miura)....Pages 186-198 Service Robot Using Estimation of Body Direction Based on Gait for Human-Robot Interaction (Ayanori Yorozu, Masaki Takahashi)....Pages 199-209 Accurate Pouring with an Autonomous Robot Using an RGB-D Camera (Chau Do, Wolfram Burgard)....Pages 210-221 MS3D: Mean-Shift Object Tracking Boosted by Joint Back Projection of Color and Depth (Yongheng Zhao, Emanuele Menegatti)....Pages 222-236 Heterogeneous Multi-agent Routing Strategy for Robot-and-Picker-to-Good Order Fulfillment System (Hanfu Wang, Weidong Chen, Jingchuan Wang)....Pages 237-249 Multiple Mobile Robot Management System for Transportation Tasks in Automated Laboratories Environment (Ali A. Abdulla, Steffen Junginger, X. Gu, Norbert Stoll, Kerstin Thurow)....Pages 250-260 Front Matter ....Pages 261-261 A Rolling Contact Joint Lower Extremity Exoskeleton Knee (Jonas Beil, Tamim Asfour)....Pages 263-277 Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism (Omar El-Farouk E. Labib, Sarah W. El-Safty, Silvan Mueller, Thomas Haalboom, Marcus Strand)....Pages 278-288 Can Walking Be Modeled in a Pure Mechanical Fashion (Antonio D’Angelo)....Pages 289-301 Modular Robot that Modeled Cell Membrane Dynamics of a Cellular Slime Mold (Ryusuke Fuse, Masahiro Shimizu, Shuhei Ikemoto, Koh Hosoda)....Pages 302-313 Locomotion of Hydraulic Amoeba-Like Robot Utilizing Transition of Mass Distribution (Takashi Takuma, Kyotaro Hamachi)....Pages 314-324 Common Dimensional Autoencoder for Identifying Agonist-Antagonist Muscle Pairs in Musculoskeletal Robots (Hiroaki Masuda, Shuhei Ikemoto, Koh Hosoda)....Pages 325-333 Analysis of Variable-Stiffness Soft Finger Joints (Daniel Cardin-Catalan, Angel P. del Pobil, Antonio Morales)....Pages 334-345 Method for Robot to Create New Function by Uniting with Surrounding Objects (Yukio Morooka, Ikuo Mizuuchi)....Pages 346-357 Front Matter ....Pages 359-359 Configuration Depending Crosstalk Torque Calibration for Robotic Manipulators with Deep Neural Regression Models (Adrian Zwiener, Sebastian Otte, Richard Hanten, Andreas Zell)....Pages 361-373 Simulation of the SynTouch BioTac Sensor (Philipp Ruppel, Yannick Jonetzko, Michael Görner, Norman Hendrich, Jianwei Zhang)....Pages 374-387 Force Sensing for Multi-point Contact Using a Constrained, Passive Joint Based on the Moment-Equivalent Point (Shouhei Shirafuji, Jun Ota)....Pages 388-400 Simulation and Transfer of Reinforcement Learning Algorithms for Autonomous Obstacle Avoidance (Max Lenk, Paula Hilsendegen, Silvan Michael Müller, Oliver Rettig, Marcus Strand)....Pages 401-413 HI-VAL: Iterative Learning of Hierarchical Value Functions for Policy Generation (Roberto Capobianco, Francesco Riccio, Daniele Nardi)....Pages 414-427 Learning-Based Task Failure Prediction for Selective Dual-Arm Manipulation in Warehouse Stowing (Shingo Kitagawa, Kentaro Wada, Kei Okada, Masayuki Inaba)....Pages 428-439 Learning of Motion Primitives Using Reference-Point-Dependent GP-HSMM for Domestic Service Robots (Kensuke Iwata, Tomoaki Nakamura, Takayuki Nagai)....Pages 440-451 Nonlinear Model Predictive Control for Two-Wheeled Service Robots (Shunichi Sekiguchi, Ayanori Yorozu, Kazuhiro Kuno, Masaki Okada, Yutaka Watanabe, Masaki Takahashi)....Pages 452-463 A Generalised Method for Adaptive Longitudinal Control Using Reinforcement Learning (Shashank Pathak, Suvam Bag, Vijay Nadkarni)....Pages 464-479 Reconstructing State-Space from Movie Using Convolutional Autoencoder for Robot Control (Kazuma Takahara, Shuhei Ikemoto, Koh Hosoda)....Pages 480-489 BSplines Properties with Interval Analysis for Constraint Satisfaction Problem: Application in Robotics (Rawan Kalawoun, Sébastien Lengagne, François Bouchon, Youcef Mezouar)....Pages 490-503 Front Matter ....Pages 505-505 Robot Vision System for Real-Time Human Detection and Action Recognition (Satoshi Hoshino, Kyohei Niimura)....Pages 507-519 Movement Based Classification of People with Stroke Through Automated Analysis of Three-Dimensional Motion Data (John W. Kelly, Steve Leigh, Carol Giuliani, Rachael Brady, Martin J. McKeown, Edward Grant)....Pages 520-533 Real-Time Marker-Less Multi-person 3D Pose Estimation in RGB-Depth Camera Networks (Marco Carraro, Matteo Munaro, Jeff Burke, Emanuele Menegatti)....Pages 534-545 People Finding Under Visibility Constraints Using Graph-Based Motion Prediction (AbdElMoniem Bayoumi, Philipp Karkowski, Maren Bennewitz)....Pages 546-557 Proposal and Validation of an Index for the Operator’s Haptic Sensitivity in a Master-Slave System (Dongbo Zhou, Kotaro Tadano)....Pages 558-572 Operating a Robot by Nonverbal Voice Expressed with Acoustic Features (Shizuka Takahashi, Ikuo Mizuuchi)....Pages 573-584 Reduced Feature Set for Emotion Recognition Based on Angle and Size Information (Patrick Dunau, Mike Bonny, Marco F. Huber, Jürgen Beyerer)....Pages 585-596 Multimodal Path Planning Using Potential Field for Human–Robot Interaction (Yosuke Kawasaki, Ayanori Yorozu, Masaki Takahashi)....Pages 597-609 Front Matter ....Pages 611-611 Deep Learning Waterline Detection for Low-Cost Autonomous Boats (Lorenzo Steccanella, Domenico Bloisi, Jason Blum, Alessandro Farinelli)....Pages 613-625 Context-Aware Recognition of Drivable Terrain with Automated Parameters Estimation (Jan Wietrzykowski, Piotr Skrzypczyński)....Pages 626-638 Crop Edge Detection Based on Stereo Vision (Johannes Kneip, Patrick Fleischmann, Karsten Berns)....Pages 639-651 Extracting Structure of Buildings Using Layout Reconstruction (Matteo Luperto, Francesco Amigoni)....Pages 652-667 Unknown Object Detection by Punching: An Impacting-Based Approach to Picking Novel Objects (Yusuke Maeda, Hideki Tsuruga, Hiroyuki Honda, Shota Hirono)....Pages 668-678 Efficient Semantic Segmentation for Visual Bird’s-Eye View Interpretation (Timo Sämann, Karl Amende, Stefan Milz, Christian Witt, Martin Simon, Johannes Petzold)....Pages 679-688 Concept Study for Vehicle Self-Localization Using Neural Networks for Detection of Pole-Like Landmarks (Achim Kampker, Jonas Hatzenbuehler, Lars Klein, Mohsen Sefati, Kai D. Kreiskoether, Denny Gert)....Pages 689-705 Cross Domain Image Transformation Using Effective Latent Space Association (Naeem Ul Islam, Sukhan Lee)....Pages 706-716 Global Registration of Point Clouds for Mapping (Carlos Sánchez, Simone Ceriani, Pierluigi Taddei, Erik Wolfart, Vítor Sequeira)....Pages 717-729 Cluster ICP: Towards Sparse to Dense Registration (Mohamed Lamine Tazir, Tawsif Gokhool, Paul Checchin, Laurent Malaterre, Laurent Trassoudaine)....Pages 730-747 Markerless Ad-Hoc Calibration of a Hyperspectral Camera and a 3D Laser Scanner (Felix Igelbrink, Thomas Wiemann, Sebastian Pütz, Joachim Hertzberg)....Pages 748-759 Predicting the Next Best View for 3D Mesh Refinement (Luca Morreale, Andrea Romanoni, Matteo Matteucci)....Pages 760-772 Front Matter ....Pages 773-773 Grasping Strategies for Picking Items in an Online Shopping Warehouse (Nataliya Nechyporenko, Antonio Morales, Angel P. del Pobil)....Pages 775-785 Learning Based Industrial Bin-Picking Trained with Approximate Physics Simulator (Ryo Matsumura, Kensuke Harada, Yukiyasu Domae, Weiwei Wan)....Pages 786-798 Tool Exchangeable Grasp/Assembly Planner (Kensuke Harada, Kento Nakayama, Weiwei Wan, Kazuyuki Nagata, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar)....Pages 799-811 Daily Assistive Robot Uses a Bag for Carrying Objects with Pre-contact Sensing Gripper (Naoya Yamaguchi, Shun Hasegawa, Kei Okada, Masayuki Inaba)....Pages 812-824 Design of an Adaptive Force Controlled Robotic Polishing System Using Adaptive Fuzzy-PID (Hsien-I Lin, Vipul Dubey)....Pages 825-836 Efficient, Collaborative Screw Assembly in a Shared Workspace (Christian Juelg, Andreas Hermann, Arne Roennau, Rüdiger Dillmann)....Pages 837-848 KittingBot: A Mobile Manipulation Robot for Collaborative Kitting in Automotive Logistics (Dmytro Pavlichenko, Germán Martín García, Seongyong Koo, Sven Behnke)....Pages 849-864 User-Friendly Intuitive Teaching Tool for Easy and Efficient Robot Teaching in Human-Robot Collaboration (Hyunmin Do, Taeyong Choi, Dong Il Park, Hwi-su Kim, Chanhun Park)....Pages 865-876 A Critical Reflection on the Expectations About the Impact of Educational Robotics on Problem Solving Capability (Francesca Agatolio, Michele Moro, Emanuele Menegatti, Monica Pivetti)....Pages 877-888 Inferring Capabilities by Experimentation (Ashwin Khadke, Manuela Veloso)....Pages 889-901 Triggering Robot Hand Reflexes with Human EMG Data Using Spiking Neurons (J. Camilo Vasquez Tieck, Sandro Weber, Terrence C. Stewart, Arne Roennau, Rüdiger Dillmann)....Pages 902-916 A Localizability Constraint-Based Path Planning Method for Unmanned Aerial Vehicle (Behnam Irani, Weidong Chen, Jingchuan Wang)....Pages 917-932 Using IMU Sensor and EKF Algorithm in Attitude Control of a Quad-Rotor Helicopter (Jongwoo An, Jangmyung Lee)....Pages 933-942 Unmanned Aerial Vehicles in Wireless Sensor Networks: Automated Sensor Deployment and Mobile Sink Nodes (Juan Marchal Gomez, Thomas Wiedemann, Dmitriy Shutin)....Pages 943-953 A Multi-layer Autonomous Vehicle and Simulation Validation Ecosystem Axis: ZalaZONE (Zsolt Szalay, Zoltán Hamar, Peter Simon)....Pages 954-963 Towards Large Scale Urban Traffic Reference Data: Smart Infrastructure in the Test Area Autonomous Driving Baden-Württemberg (Tobias Fleck, Karam Daaboul, Michael Weber, Philip Schörner, Marek Wehmer, Jens Doll et al.)....Pages 964-982 Back Matter ....Pages 983-985