Towards Autonomous Robotic Systems

The volume LNAI 13054 constitutes the refereed proceedings of the 22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021, held in Lincoln, UK, in September 2021.The 45 full papers were carefully reviewed and selected from 66 submissions. Organized in the topical sections "Algorithms" and "Systems", they discuss significant findings and advances in the following areas: artificial intelligence; mechatronics; image processing and computer vision; special purpose and application-based systems; user interfaces and human computer interaction. The conference was held virtually due to the COVID-19 pandemic.

Inhalt

Algorithms.- A Study on Dense and Sparse (Visual) Rewards in Robot Policy Learning.- An Open-Source Multi-Goal Reinforcement Learning Environment for Robotic Manipulation with Pybullet.- CPG-Actor: Reinforcement Learning for Central Pattern Generators .- Deep semantic segmentation of 3D plant point clouds.- Grasp Stability Prediction for a Dexterous Robotic Hand combining RGB-D Vision and Haptic Bayesian Exploration.- Improving SLAM in Pipe Networks by Leveraging Cylindrical Regularity.- CRH*: A Deadlock Free Framework for Scalable Prioritised Path Planning in Multi-Robot Systems.- TASK-BASED AD-HOC TEAMWORK with ADVERSARY.- Human-Robot Cooperative Lifting using IMUs and Human Gestures.- Reinforcement Learning-based Mapless Navigation with Fail-safe Localisation.- Collaborative Coverage for a Network of Vacuum Cleaner Robots.- Network-Aware Genetic Algorithms for the Coordination of MALE UAV Networks.- Self-organised Flocking of Robotic Swarm in Cluttered Environments.- Exploring Feedback Modalities in a Mobile Robot for Telecare.- Demonstrating the Differential Impact of Flock Heterogeneity on Multi-Agent Herding.- Evaluation of an OpenCV Implementation of Structure from Motion on Open Source Data.- Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards.- Lidar-only localization in 3D Pose-Feature Map.- Toward robust visual odometry using prior 2D map information.- Comparison of Concentrated and Distributed Compliant Elements in a 3D Printed Gripper.- Perception of a humanoid robot as an interface for auditory testing.- Deep Learning Traversability Estimator for Mobile Robots in Unstructured Environments.- Systems.- Predicting Artist Drawing Activity via Multi-Camera Inputs for Co-Creative Drawing.- 3D printed mechanically modular two-degree-of-freedom robotic segment utilizing variable-stiffness actuators.- Design of a Multimaterial 3D-printed Soft Actuator with Bi-directional Variable Stiffness.- Designing a Multi-Locomotion Modular Snake Robot.- Deep robot path planning from demonstrations for breast cancer examination.- Priors inspired by Speed-Accuracy Trade-Offs for Incremental Learning of Probabilistic Movement Primitives.- Tactile Dynamic Behaviour Prediction Based on Robot Action.- State space analysis of variable-stiffness tendon drive with non-back-drivable worm-gear motor actuation.- Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator.- Collision Avoidance with Optimal Path Replanning for Mobile Robots.- An Autonomous Mapping Approach for Confined Spaces using Flying Robots.- Maximising availability of transportation robots through intelligent allocation of parking spaces.- A Minimalist Solution to the Multi-Robot Barrier Coverage Problem.- Scheduling Multi-robot Missions with JointTasks and Heterogeneous Robot Teams.- Area Coverage in Two-Dimensional Grid Worlds Using Computation-Free Agents.- Online Scene Visibility Estimation as a Complement to SLAM in UAVs.- Statics Optimization of a Hexapedal Robot Modelled as a Stewart Platform.- EtherCAT implementation of a variable-stiffness tendon drive with non-back-drivable worm-gear motor actuation.- Growing Robotic Endoscope for early Breast Cancer Detection: Robot Motion Control.- Design and Charachterisation of a Variable-Stiffness Soft Actuator Based on Tendon Twisting.- WhiskEye: A biomimetic model of multisensoryspatial memory based on sensory reconstruction.- Equipment Detection based Inspection Robot for Industrial Plants.- Inference of Mechanical Properties of Dynamic Objects through Active Perception.