Towards autonomous robotic systems : 16th annual conference, TAROS 2015, Liverpool, UK, September 8-10, 2015 : proceedings

This book constitutes the refereed proceedings of the 16th Annual Conference on Towards Autonomous Robotics, TAROS 2015, held in Liverpool UK, in September 2015. The 16 revised full papers presented together with 18 short papers were carefully reviewed and selected from 59 submissions. The overall program covers various aspects of robotics, including navigation, planning, sensing and perception, flying and swarm robots, ethics, humanoid robotics, human-robot interaction, and social robotics. Front Matter....Pages I-XIII Endurance Optimisation of Battery-Powered Rotorcraft....Pages 1-12 An Overview of Anthropomorphic Robot Hand and Mechanical Design of the Anthropomorphic Red Hand – A Preliminary Work....Pages 13-18 An Interactive Approach to Monocular SLAM....Pages 19-25 Symmetry Reduction Enables Model Checking of More Complex Emergent Behaviours of Swarm Navigation Algorithms....Pages 26-37 Inertia Properties of a Prosthetic Knee Mechanism....Pages 38-43 Development and Characterisation of a Multi-material 3D Printed Torsion Spring....Pages 44-49 Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios....Pages 50-55 Hybrid Insect-Inspired Multi-Robot Coverage in Complex Environments....Pages 56-68 From AgentSpeak to C for Safety Considerations in Unmanned Aerial Vehicles....Pages 69-81 Joint Torques and Velocities in a 3-mass Linear Inverted Pendulum Model of Bipedal Gait....Pages 82-93 Limits and Potential of an Experience Metric Space in a Mobile Domestic Robot....Pages 94-99 A Novel Approach to Environment Mapping Using Sonar Sensors and Inverse Problems....Pages 100-111 Applying Energy Autonomous Robots for Dike Inspection....Pages 112-123 Advancing Evolutionary Coordination for Fixed-Wing Communications UAVs....Pages 124-135 A Generic Approach to Self-localization and Mapping of Mobile Robots Without Using a Kinematic Model....Pages 136-142 Improving Active Vision System Categorization Capability Through Histogram of Oriented Gradients....Pages 143-148 ROBO-GUIDE: Towards Safe, Reliable, Trustworthy, and Natural Behaviours in Robotic Assistants....Pages 149-154 Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments....Pages 155-160 Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks....Pages 161-166 Standardized Field Testing of Assistant Robots in a Mars-Like Environment....Pages 167-179 Towards Intelligent Lower Limb Prostheses with Activity Recognition....Pages 180-185 Discretizing the State Space of Multiple Moving Robots to Verify Visibility Properties....Pages 186-191 Design of a Continuously Varying Electro-Permanent Magnet Adhesion Mechanism for Climbing Robots....Pages 192-197 An Approach to Supervisory Control of Multi-Robot Teams in Dynamic Domains....Pages 198-203 Robotic Garment Folding: Precision Improvement and Workspace Enlargement....Pages 204-215 Computing Time-Optimal Clearing Strategies for Pursuit-Evasion Problems with Linear Programming....Pages 216-228 The Benefits of Explicit Ontological Knowledge-Bases for Robotic Systems....Pages 229-235 Task-Based Variation of Active Compliance of Arm/Hand Robots in Physical Human Robot Interactions....Pages 236-245 Auction-Based Task Allocation for Multi-robot Teams in Dynamic Environments....Pages 246-257 UAV Guidance: A Stereo-Based Technique for Interception of Stationary or Moving Targets....Pages 258-269 A Novel Path Planning Approach for Robotic Navigation Using Consideration Within Crowds....Pages 270-282 Adaptive Sampling-Based Motion Planning for Mobile Robots with Differential Constraints....Pages 283-295 Collaborating Low Cost Micro Aerial Vehicles: A Demonstration....Pages 296-302 Vision-Based Trajectories Planning for Four Wheels Independently Steered Mobile Robots with Maximum Allowable Velocities....Pages 303-309 Back Matter....Pages 311-312