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.
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.
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