Advances in Intelligent Systems and Computing

Volume 1092

Series Editor

Janusz Kacprzyk, Systems Research Institute, Polish Academy of Sciences,Warsaw, Poland

Advisory Editors

Nikhil R. Pal, Indian Statistical Institute, Kolkata, IndiaRafael Bello Perez, Faculty of Mathematics, Physics and Computing,Universidad Central de Las Villas, Santa Clara, CubaEmilio S. Corchado, University of Salamanca, Salamanca, SpainHani Hagras, School of Computer Science and Electronic Engineering,University of Essex, Colchester, UKLászló T. Kóczy, Department of Automation, Széchenyi István University,Gyor, HungaryVladik Kreinovich, Department of Computer Science, University of Texasat El Paso, El Paso, TX, USAChin-Teng Lin, Department of Electrical Engineering, National ChiaoTung University, Hsinchu, TaiwanJie Lu, Faculty of Engineering and Information Technology,University of Technology Sydney, Sydney, NSW, AustraliaPatricia Melin, Graduate Program of Computer Science, Tijuana Instituteof Technology, Tijuana, MexicoNadia Nedjah, Department of Electronics Engineering, University of Rio de Janeiro,Rio de Janeiro, BrazilNgoc Thanh Nguyen , Faculty of Computer Science and Management,Wrocław University of Technology, Wrocław, PolandJun Wang, Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong, Shatin, Hong Kong

The series “Advances in Intelligent Systems and Computing” contains publicationson theory, applications, and design methods of Intelligent Systems and IntelligentComputing. Virtually all disciplines such as engineering, natural sciences, computerand information science, ICT, economics, business, e-commerce, environment,healthcare, life science are covered. The list of topics spans all the areas of modernintelligent systems and computing such as: computational intelligence, soft comput-ing including neural networks, fuzzy systems, evolutionary computing and the fusionof these paradigms, social intelligence, ambient intelligence, computational neuro-science, artificial life, virtual worlds and society, cognitive science and systems,Perception and Vision, DNA and immune based systems, self-organizing andadaptive systems, e-Learning and teaching, human-centered and human-centriccomputing, recommender systems, intelligent control, robotics and mechatronicsincluding human-machine teaming, knowledge-based paradigms, learning para-digms, machine ethics, intelligent data analysis, knowledge management, intelligentagents, intelligent decision making and support, intelligent network security, trustmanagement, interactive entertainment, Web intelligence and multimedia.

The publications within “Advances in Intelligent Systems and Computing” areprimarily proceedings of important conferences, symposia and congresses. Theycover significant recent developments in the field, both of a foundational andapplicable character. An important characteristic feature of the series is the shortpublication time and world-wide distribution. This permits a rapid and broaddissemination of research results.

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More information about this series at http://www.springer.com/series/11156

Manuel F. Silva • José Luís Lima •

Luís Paulo Reis • Alberto Sanfeliu •

Danilo TardioliEditors

Robot 2019: Fourth IberianRobotics ConferenceAdvances in Robotics, Volume 1

123

EditorsManuel F. SilvaSchool of EngineeringPolytechnic Institute of PortoPorto, Portugal

José Luís LimaDepartment of Electrical EngineeringPolytechnic Institute of BragançaBragança, Portugal

Luís Paulo ReisFaculty of EngineeringUniversity of PortoPorto, Portugal

Alberto SanfeliuUPCUniversitat Politècnica de CatalunyaBarcelona, Spain

Danilo TardioliCentro Universitario de la Defensa (CUD)Zaragoza, Spain

ISSN 2194-5357 ISSN 2194-5365 (electronic)Advances in Intelligent Systems and ComputingISBN 978-3-030-35989-8 ISBN 978-3-030-35990-4 (eBook)https://doi.org/10.1007/978-3-030-35990-4

© Springer Nature Switzerland AG 2020, corrected publication 2020This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or partof the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmissionor information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilarmethodology now known or hereafter developed.The use of general descriptive names, registered names, trademarks, service marks, etc. in thispublication does not imply, even in the absence of a specific statement, that such names are exempt fromthe relevant protective laws and regulations and therefore free for general use.The publisher, the authors and the editors are safe to assume that the advice and information in thisbook are believed to be true and accurate at the date of publication. Neither the publisher nor theauthors or the editors give a warranty, expressed or implied, with respect to the material containedherein or for any errors or omissions that may have been made. The publisher remains neutral with regardto jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AGThe registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland

Preface

This book contains a selection of papers accepted for presentation and discussion atRobot 2019—Fourth Iberian Robotics Conference—held in Porto, Portugal,November 20–22, 2019. Robot 2019 is part of a series of conferences that are ajoint organization of SPR—Sociedade Portuguesa de Robótica/Portuguese Societyfor Robotics and SEIDROB—Sociedad Española para la Investigación y Desarrolloen Robótica/Spanish Society for Research and Development in Robotics. Theconference organization had also the collaboration of several universities andresearch institutes, including School of Engineering of the Polytechnic Institute ofPorto, Polytechnic Institute of Bragança, University of Porto, University Politécnicade Cataluña, University of Zaragoza/I3A, INESC TEC, Centro Universitario de laDefensa, CeDRI and LIACC.

Robot 2019 builds upon several previous successful events, including threebiannual workshops (Zaragoza—2007, Barcelona–2009 and Sevilla–2011) and thethree previous editions of the Iberian Robotics Conference held in Madrid in 2013,Lisbon in 2015 and Seville in 2017. The conference is focused on presenting theresearch and development of new applications, on the field of robotics, in theIberian Peninsula, although open to research and delegates from other countries.

Robot 2019 featured five plenary talks on state-of-the-art subjects on robotics byMirko Kovac, Director of the Aerial Robotics Laboratory, Reader inAero-structures at Imperial College London and Royal Society Wolfson Fellow,UK, on “Soft Aerial Robotics for Digital Infrastructure Systems;” Gianni A. DiCaro, Associate Teaching Professor at the Department of Computer Science of theCarnegie Mellon University, Qatar, on “Robot Swarms and theHuman-in-the-Loop;” Luis Merino, Associate Professor of Systems Engineeringand Automation and Co-Principal Investigator of the Service Robotics Laboratoryat the Universidad Pablo de Olavide, Spain, on “Human-Aware Decision Makingand Navigation for Service Robots;” Nuno Lau, Assistant Professor at AveiroUniversity, Portugal, on “Optimization and Learning in Robotics;” and ElonRimon, Professor in the Department of Mechanical Engineering at the Technion–Israel Institute of Technology, Israel, on “Perspectives on Minimalistic Robot HandDesign and a New Class of Caging-to-Grasping Algorithms.”

v

Robot 2019 featured 16 special sessions, plus a main/general robotics track. Thespecial sessions were about Aerial Robotics for Inspection and Maintenance;Agricultural Robotics and Field Automation; Autonomous Driving and DriverAssistance Systems; Autonomous Sailboats and Support Technologies;Collaborative Robots for Industry Applications; Core Concepts for an Ontology forAutonomous Robotics; Genealogy and Engineering Practice; Educational Robotics;Field Robotics In Challenging Environments; Future Industrial Robotics; IntelligentPerception and Manipulation; Machine Learning in Robotics; Mobile Robots forIndustrial Environments; Radar-Based Applications for Robotics; Rehabilitationand Assistive Robotics; Simulation in Robotics; and the Workshop on PhysicalAgents.

In total, after a careful review process with at least three independent reviews foreach paper, but in some cases 5 or 6 reviews, a total of 112 high-quality papers wereselected for publication, with a total number of 468 authors, from 24 countries,including Aland Islands, Australia, Belgium, Brazil, Canada, Colombia, Croatia,Czechia, Ecuador, Estonia, France, Germany, Italy, Japan, Netherlands, Pakistan,Portugal, Puerto Rico, Spain, Sweden, United Arab Emirates, UK, USA andVenezuela.

We would like to thank all special sessions’ organizers for their hard work onpromoting their special session, inviting the Program Committee, organizing thespecial session review process and helping to promote Robot 2019 Conference.This acknowledgment goes especially to Adrià Colomé, Alberto Olivares Alarcos,Alejandro Mosteo, Angel Sappa, Armando Sousa, Artur Pereira, Arturo de laEscalera, Begoña Arrue, Benedita Malheiro, Brígida Mónica Faria, Bruno Ferreira,Cristina Manuela Peixoto Santos, Danilo Tardioli, Eurico Pedrosa, Filipe Neves dosSantos, Francisco Bellas, Francisco Curado, Francisco Rovira Más, GermanoVeiga, Guillem Alenyà, Guillermo Heredia, Ismael García Varea, Jan Rosell, JoãoQuintas, Jon Agirre Ibarbia, Jorge Cabrera Gámez, José Lima, Juan C Moreno,Julita Bermejo-Alonso, Luis Merino, Luis Piardi, Luis Riazuelo, Manuel Silva,Miguel Ángel Cazorla Quevedo, Miguel Oliveira, Nuno Cruz, Nuno Lau, PabloBustos García de Castro, Paulo Goncalves, Pedro Guedes, Pedro Neto, RaulMorais, Ricardo Sanz, Roemi Fernandez, Vicente Matellán Olivera and VitorSantos.

We would also like to take the opportunity to thank the rest of the organizationmembers (André Dias, Benedita Malheiro, Luís Lima, Nuno Dias, Paulo Ferreira,Pedro Costa, Pedro Guedes and Teresa Costa) for their hard and valuable work onthe local arrangements, publicity, publication and financial issues. We also expressour gratitude to the members of all the Program Committees and additionalreviewers, as they were crucial for ensuring the high scientific quality of the eventand to all the authors and delegates that with their research work and participation

vi Preface

made this event a huge success. To the end of this preface, special thanks to oureditors, Springer, that was in charge of this conference proceedings edition and, inparticular, to Dr. Thomas Ditzinger.

October 2019 Manuel F. SilvaJosé Luís LimaLuís Paulo ReisAlberto SanfeliuDanilo Tardioli

The original version of the book was revised: The missing information has beenadded to the Organization page of the front matter. The correction to the book isavailable at https://doi.org/10.1007/978-3-030-35990-4_55

Preface vii

Organization

General/Program Chairs

Manuel F. Silva Polytechnic Institute of Porto, PortugalJosé Luís Lima Polythecnic Institute of Bragança, PortugalLuís Paulo Reis University of Porto, PortugalAlberto Sanfeliu University Politécnica de Cataluña, SpainDanilo Tardioli Centro Universitario de la Defensa/I3A

University of Zaragoza, Spain

Financial ChairBenedita Malheiro Polytechnic Institute of Porto, Portugal

Local Arrangements ChairTeresa Costa Polytechnic Institute of Porto, Portugal

Publications ChairsPaulo Ferreira Polytechnic Institute of Porto, PortugalPedro Guedes Polytechnic Institute of Porto, Portugal

Publicity ChairPedro Costa University of Porto, Portugal

Local Organizing CommitteeAndré Dias Polytechnic Institute of Porto, PortugalLuís Lima Polytechnic Institute of Porto, PortugalNuno Dias Polytechnic Institute of Porto, Portugal

ix

Aerial Robotics for Inspection and Maintenance

Organizing Committee

Guillermo Heredia University of Seville, SpainBegoña C. Arrue University of Seville, Spain

Program Committee

Alberto Vale University of Lisboa, PortugalAndré Oliveira Federal Technological University of Paraná,

BrazilArturo Torres-González Universidad de Sevilla, SpainAugusto Gómez Eguíluz Universidad de Sevilla, SpainBruno J. N. Guerreiro University of Lisboa, PortugalFernando Gomez-Bravo Universidad de Huelva, SpainFrancisco Javier Perez-Grau CATEC, SpainJa Acosta Universidad de Sevilla, SpainJesus Capitan Universidad de Sevilla, SpainJose Joaquin Acevedo Universidad de Sevilla, SpainJulián Estévez Universidad del País Vasco, SpainJulio L. Paneque Universidad de Sevilla, SpainMarco Wehrmeister Federal Technological University of Paraná,

BrazilP. J. Sanchez-Cuevas Universidad de Sevilla, SpainPablo Ramon Soria Universidad de Sevilla, SpainSaeed Rafee Nekoo Universidad de Sevilla, SpainShayok Mukhopadhyay American University of Sharjah, Dubai

Agricultural Robotics and Field Automation

Organizing Committee

Filipe Neves Santos INESC TEC, PortugalFrancisco Rovira Más Universitat Politècnica de València, SpainRaul Morais University of Trás-os-Montes e Alto Douro,

Portugal

Program Committee

Dimitrios Paraforos University of Hohenheim, GermanyJosenalde Oliveira Federal University of Rio Grande do Norte,

BrazilLuís Rocha INESC TEC, PortugalMarcelo Petry INESC TEC, INESC P&D Brasil, Federal

University of Santa Catarina, Brazil

x Organization

Nieves Pavon-Pulido Universidad Politécnica de Cartagena, SpainPaulo Moura Oliveira University of Trás-os-Montes e Alto Douro,

PortugalPedro Machado Nottingham Trent University, UKRoemi Fernandez Centre for Automation and Robotics CSIC-UPM,

SpainTatiana M. Pinho INESC TEC, Portugal

Autonomous Driving and Driver Assistance Systems

Organizing Committee

Vítor Santos University of Aveiro, PortugalAngel Sappa CVC Barcelona, SpainMiguel Oliveira University of Aveiro, PortugalArturo de la Escalera Universidad Carlos III de Madrid, Spain

Program Committee

Andry Pinto University of Porto, PortugalAngelos Amanatiadis Democritus University of Thrace, GreeceAntónio J. R. Neves University of Aveiro, PortugalCristiano Premebida Loughborough University, UKDavid Vázquez Bermúdez Computer Vision Center, SpainEurico Pedrosa University of Aveiro, PortugalFadi Dornaika University of the Basque Country, SpainFernando García University Carlos III, SpainFilipe Santos University of Porto, PortugalFrederic Lerasle LAAS-CNRS, FranceJoão Silva Altran Portugal, PortugalJorge Almeida University of Aveiro, PortugalJose A. Castellanos University of Zaragoza, SpainJosé Azevedo University of Aveiro, PortugalLuís Rocha INESC TEC, PortugalMarko Bertogna Univerity of Modena, ItalyPaulo Dias Univerity of Aveiro, PortugalPedro Navarro University Carlos III, SpainRafael Sanz Dominguez Universidad de Vigo, Spain

Organization xi

Autonomous Sailboats and Support Technologies

Organizing Committee

Benedita Malheiro School of Engineering of the Polytechnic Instituteof Porto, Portugal

Jorge Cabrera Universidad de Las Palmas de Gran Canaria,Spain

Manuel F. Silva School of Engineering of the Polytechnic Instituteof Porto, Portugal

Pedro Guedes School of Engineering of the Polytechnic Instituteof Porto, Portugal

Program Committee

Alexander Schlaefer Hamburg University of Technology, GermanyAnna Friebe Åland University of Applied Sciences, FinlandAntonio C. Domínguez-Brito Universidad de Las Palmas de Gran Canaria,

SpainBenoit Clement ENSTA Bretagne, FranceColin Sauze Aberystwyth University, UKErik Maehle University of Luebeck, GermanyFabrice Le Bars ENSTA Bretagne, FranceFlorian Haug Åland University of Applied Sciences, FinlandFrédéric Plumet Institut des Systemes Intelligents et de Robotique,

FranceHugo Ferreira INESC TEC, PortugalKostia Roncin ENSTA Bretagne, FranceMatias Waller Åland Universiy of Applied Sciences, FinlandMichael Schukat NUI Galway, IrelandNuno Cruz University of Porto & INESC TEC, PortugalOle Blaurock Fachhochschule Lübeck, GermanyOren Gal Technion, IsraelPaulo Ferreira School of Engineering of the Polytechnic Institute

of Porto, PortugalSophia Schillai University of Southampton, UKVincent Creuze University of Montpellier, FranceVitor Lobo Escola Naval – CINAV, Portugal

Collaborative Robots for Industry Applications

Organizing Committee

Pedro Neto University of Coimbra, PortugalJosé Lima Polytechnic Institute of Bragança, Portugal

xii Organization

Program Committee

Adrian Burlacu The Gheorghe Asachi Technical Universityof Iasi, Romania

Luís Rocha INESC TEC, PortugalMihail Babcinschi University of Coimbra, PortugalMohammad Safeea University of Coimbra, PortugalNuno Mendes University of Coimbra, PortugalRichard Bearee Arts et Métiers ParisTech, FranceThadeu Brito Research Centre in Digitalization and Intelligent

Robotics, Portugal

Core Concepts for an Ontology for Autonomous Robotics.Genealogy and Engineering Practice

Organizing Committee

Paulo Goncalves Polytechnic Institute of Castelo Branco, PortugalJulita Bermejo-Alonso Universidad Isabel I, SpainRicardo Sanz Universidad Politécnica de Madrid, SpainJan Rosell Universitat Politècnica de Catalunya, SpainAlberto Olivares Alarcos Institut de Robòtica i Informàtica Industrial,

CSIC-UPC, SpainJoão Quintas Instituto Pedro Nunes, Portugal

Program Committee

Abdelghani Chibani Université Paris-Est Créteil, FranceCarlos Hernández Corbato Delft University of Technology, The NetherlandsCraig Schlenoff NIST, USADaniel Beffler University Bremen, GermanyEdson Prestes Federal University of Rio Grande do Sul, BrazilElisa Tosello University of Padua, ItalyFrancisco Ramos University of Castilla-La Mancha, SpainHelio Azevedo University of São Paulo, BrazilHirenkumar

Chandrakant NakawalaUniversity of Verona, Italy

Howard Li University of New Brunswick, CanadaJoanna Isabelle Olszewska University of West Scotland, UKJoel Luís Carbonera Federal University of Rio Grande do Sul, BrazilMehul Bhatt Örebro University, SwedenMihai Pomarlan Universität Bremen, GermanyMohammed Diab Universitat Politècnica de Catalunya, SpainPablo Bustos Universidad de Extremadura, SpainRoseli Romero University of São Paulo, BrazilRui P. Rocha University of Coimbra, Portugal

Organization xiii

Sandro Rama Fiorini IBM, USAStephen Balakirsky Georgia Institute of Technology, USATamás Haidegger Óbuda University, HungaryVeera Ragavan

Sampath KumarMonash University, Malaysia

Educational Robotics

Organizing Committee

Armando Sousa University of Porto, PortugalFrancisco Bellas University of A Coruña, Spain

Program Committee

Andres Faina IT University of Copenhagen, DenmarkÂngela Cardoso INEGI, PortugalCarlos V. Regueiro University of A Coruña, SpainDanijel Skocaj University of Ljubljana, SloveniaFélix de La Paz López Universidad Nacional de Educación a Distancia,

SpainFrancisco Martín Rico Universidad Rey Juan Carlos, SpainJosé Antonio Becerra Permuy University of A Coruña, SpainJose Santos University of A Coruña, SpainMunir Merdan Practical Robotics Institute Austria, AustriaOscar Fontenla-Romero University of A Coruña, SpainPeter Peer University of Ljubljana, SloveniaValter Costa INEGI, PortugalWilfried Lepuschitz Practical Robotics Institute Austria, Austria

Field Robotics in Challenging Environments

Organizing Committee

Luis Riazuelo Universidad de Zaragoza, SpainAlejandro Mosteo Centro Universitario de la Defensa, SpainDanilo Tardioli Centro Universitario de la Defensa, Spain

Program Committee

David Alejo Univesity Pablo de Olavide, SpainEduardo Montijano Universidad de Zaragoza, SpainFernando Caballero Benítez University of Seville, SpainFrancisco Lera University of Zaragoza, SpainLuis Almeida University of Porto, Portugal

xiv Organization

Luis Merino Pablo de Olavide University, SpainLuis Montano University of Zaragoza, SpainYarik Marchukov Universidad de Zaragoza, Spain

Future Industrial Robotics

Organizing Committee

Germano Veiga INESC TEC, PortugalJon Agirre Ibarbia TECNALIA, Spain

Program Committee

António Moreira University of Porto, PortugalArmando Sousa University of Porto, PortugalJosé Lima Polytechnic Institute of Bragança, PortugalLuis Piardi Research Center in Digitalization and Intelligent

Robotics, PortugalLuís Rocha INESC TEC, PortugalMarcelo Petry INESC TEC, INESC P&D Brasil, Federal

University of Santa Catarina, BrazilPedro Neto University of Coimbra, PortugalThadeu Brito Research Centre in Digitalization and Intelligent

Robotics, Portugal

General Robotics

Organizing Committee

Manuel F. Silva Polytechnic Institute of Porto, PortugalJosé Luís Lima Polythecnic of Bragança, PortugalLuís Paulo Reis University of Porto, Portugal

Program Committee

Alejandro R. Mosteo Centro Universitario de la Defensa de Zaragoza,Spain

Alicia Casals Institute for Bioengineering of Catalonia, SpainAna C. Murillo University of Zaragoza, SpainAndré Luís Marcato Federal University of Juiz de Fora, BrazilAndry Pinto INESC TEC, PortugalAngel Garcia-Olaya Universidad Carlos III de Madrid, SpainAntidio Viguria Center for Advanced Aerospace Technologies,

SpainAntonio Barrientos Universidad Politécnica de Madrid, Spain

Organization xv

António J. R. Neves University of Aveiro, PortugalAntónio Pedro Aguiar University of Porto, PortugalAntónio Valente University of Trás-os-Montes e Alto Douro,

PortugalArmando Sousa University of Porto, PortugalB. C. Arrue University of Seville, SpainCarlos Carreto Polytechnic Institute of Guarda, PortugalCarlos V. Regueiro University of A Coruña, SpainEstela Bicho University of Minho, PortugalFilomena Soares University of Minho, PortugalHugo Costelha Polytechnic Institute of Leiria, PortugalIsabel Ribeiro University of Lisboa, PortugalJoão Calado Instituto Superior de Engenharia de Lisboa,

PortugalJoao Sequeira University of Lisboa, PortugalJon Agirre Ibarbia TECNALIA, SpainJose A. Castellanos University of Zaragoza, SpainJosé Azevedo University of Aveiro, PortugalJosep Amat Universitat Politècnica de Catalunya, SpainLino Marques University of Coimbra, PortugalLuis Almeida University of Porto, PortugalLuís Correia University of Lisboa, PortugalLuis Merino Pablo de Olavide University, SpainLuis Moreno Universidad Carlos III de Madrid, SpainManuel Ferre CAR UPM-CSIC, SpainMarcelo Petry INESC TEC, INESC P&D Brasil, Federal

University of Santa Catarina, BrazilMicael Couceiro Ingeniarius, Ltd., PortugalMiguel Cazorla University of Alicante, SpainNuno Cruz University of Porto, PortugalOscar Reinoso Universidad Miguel Hernandez, SpainPaulo Farias Federal University of Bahia, BrazilPaulo Goncalves Polytechnic Institute of Castelo Branco, PortugalPedro Fonseca University of, PortugalPedro U. Lima University of Lisboa, PortugalRui Araújo University of Coimbra, PortugalRui P. Rocha University of Coimbra, PortugalUrbano Nunes University of Coimbra, PortugalVicente Feliu Universidad de Castilla-La Mancha, SpainVicente Matellán Olivera Universidad de León, SpainYaroslav Marchukov Universidad de Zaragoza, Spain

xvi Organization

Intelligent Perception and Manipulation

Organizing Committee

Roemi Fernandez Centre for Automation and Robotics CSIC-UPM,Spain

Filipe Neves Santos IINESC TEC, Portugal

Program Committee

Hector Montes Franceschi Universidad Tecnologica de Panama, PanamaLuis Emmi Centre National de la Recherche Scientifique,

FranceManuel Armada Centre for Automation and Robotics CSIC-UPM,

SpainPablo Gonzalez-De-Santos Centre for Automation and Robotics CSIC-UPM,

Spain

Machine Learning in Robotics

Organizing Committee

Brígida Mónica Faria Polytechnic Institute of Porto, PortugalLuis Merino Pablo de Olavide University, SpainGuillem Alenyà Institut de Robòtica i Informàtica Industrial

CSIC-UPC, SpainAdrià Colomé Universitat Politècnica de Catalunya, Spain

Program Committee

Alexandra Oliveira Polytechnic Institute of Porto, PortugalAna Lopes University of Coimbra, PortugalArmando Sousa University of Porto, PortugalCarme Torras Institut de Robòtica i Informàtica Industrial

CSIC-UPC, SpainFernando Caballero Benítez University of Seville, SpainLuís Paulo Reis University of Porto, PortugalManuel F. Silva Polytechnic Institute of Porto, PortugalMarcelo Petry INESC TEC, INESC P&D Brasil, Federal

University of Santa Catarina, BrazilNoé Pérez-Higueras Pablo de Olavide University, SpainNuno Lau University of Aveiro

Organization xvii

Mobile Robots for Industrial Environments

Organizing Committee

Luis Piardi Federal Technological University of Paraná,Brazil

José Lima Polytechnic Institute of Bragança, Portugal

Program Committee

Alberto Nakano Federal Technological University of Paraná,Brazil

Ana Pereira Polytechnic Institute of Bragança, PortugalAndré Oliveira Federal Technological University of Paraná,

BrazilAndré Scolari Federal University of Bahia, BrazilAndry Pinto INESC TEC, PortugalAntónio Valente University of Trás-os-Montes e Alto Douro,

PortugalGiovanni Muscato University of Catania, ItalyJoão Alberto Fabro Federal Technological University of Paraná,

BrazilJonas Queiroz University of Porto, PortugalJosé Rufino Polytechnic Institute of Bragança, PortugalJun Ota The University of Tokyo, JapanNelson Rodrigues University of Porto, PortugalPaulo Costa University of Porto, PortugalPedro Costa University of Porto, PortugalRonnier Rohrich Federal Technological University of Paraná,

BrazilThadeu Brito Research Centre in Digitalization and Intelligent

Robotics, PortugalVítor Hugo Pinto University of Porto, PortugalVítor Santos University of Aveiro, Portugal

Radar-Based Applications for Robotics

Organizing Committee

Francisco Curado University of Aveiro, PortugalEurico Pedrosa University of Aveiro, Portugal

Program Committee

Alberto Vale University of Lisboa, PortugalAna Maria Tome Universidade Aveiro, Portugal

xviii Organization

Bo Tan Tampere University, FinlandDaniel Albuquerque Polytechnic Institute of Viseu, PortugalEugénio A. M. Rocha University of Aveiro, PortugalFernando Alvarez University of Extremadura, SpainGiulio Reina University of Salento, ItalyJesus Urena University of Alcala, SpainJosé Vieira University of Aveiro, PortugalLino Marques University of Coimbra, PortugalNuno Lau University of Aveiro, PortugalPaulo Monteiro University of Aveiro, PortugalRafael Caldeirinha Polytechnic Institute of Leiria, PortugalTeodoro Aguilera University of Extremadura, Portugal

Rehabilitation and Assistive Robotics

Organizing Committee

Brígida Mónica Faria Polytechnic Institute of Porto, PortugalCristina Santos University of Minho, PortugalJuan C. Moreno Cajal Institute, Spain

Program Committee

Alejandro Linares-Barranco University of Seville, SpainAlexandra Oliveira Polytechnic Institute of Porto, PortugalAlicia Casals Institute for Bioengineering of Catalonia, SpainAntonio J. Del-Ama National Hospital for Spinal Cord Injury, SpainEduardo Iáñez Miguel Hernández University of Elche, SpainFilomena Soares University of Minho, PortugalLuís Paulo Reis University of Porto, PortugalManuel F. Silva Polytechnic Institute of Porto, PortugalMarcelo Petry INESC TEC, INESC P&D Brasil, Federal

University of Santa Catarina, BrazilMarco Ceccarelli University of Rome Tor Vergata, ItalyNicolas Garcia-Aracil Universidad Miguel Hernandez, Spain

Simulation in Robotics

Organizing Committee

Nuno Lau University of Aveiro, PortugalArtur Pereira University of Aveiro, Portugal

Organization xix

Program Committee

Antonio Morales Universitat Jaume I, SpainBlas M. Vinagre University of Extremadura, SpainBrígida Mónica Faria Polytechnic Institute of Porto, PortugalEnrique Valero Heriot Watt University, UKEurico Pedrosa University of Aveiro, PortugalJoao Fabro Federal Technological University of Parana,

BrazilJosé Lima Polytechnic Institute of Bragança, PortugalNicolas Jouandeau Paris8 University, FrancePaulo Gonçalves Polytechnic Institute of Castelo Branco, PortugalRichard Duro University of A Coruña, SpainRosaldo Rossetti University of Porto, Portugal

XXth Workshop on Physical Agents

Organizing Committee

Vicente Matellán Olivera Universidad de León, SpainMiguel Ángel Cazorla

QuevedoUniversidad de Alicante, Spain

Pablo Bustos Garcíade Castro

Universidad de Extremadura, Spain

Ismael Garcia-Varea Universidad de Castilla la Mancha, Spain

Program CommitteeAgapito Ledezma Universidad Carlos III de Madrid, SpainAntonio Bandera University of Malaga, SpainCamino Fernández Llamas Universidad de León, SpainCarlos V. Regueiro University of Coruña, SpainCristina Romero González Universidad de Castilla-La Mancha, SpainDomeneç Puig Valls Universitat Rovira i Virgili, SpainEugenio Aguirre University of Granada, SpainFernando Fernandez Universidad Carlos III de Madrid, SpainFrancisco J. Rodríguez Lera Universidad de León, SpainFrancisco Martín Rico Universidad Rey Juan Carlos, SpainHumberto Martinez Barbera Universidad de Murcia, SpainJoaquín López Fernández University of Vigo, SpainJose Manuel Lopez-Guede Basque Country University, SpainJose Maria Cañas Plaza Universidad Rey Juan Carlos, SpainJuan Pedro Bandera Rubio Universidad de Málaga, SpainLluís Ribas-Xirgo Universitat Autònoma de Barcelona, SpainLuis M. Bergasa Universidad de Alcalá, Spain

xx Organization

Manuel Ocaña Miguel Universidad de Alcalá de Henares, SpainPedro Jesús Reche López Universidad de Jaén, SpainPedro Núñez Universidad de Extremadura, SpainPilar Bachiller Universidad de Extremadura, SpainRoberto Iglesias Rodríguez University of Santiago de Compostela, Spain

Additional ReviewersAlireza Asvadi Université de Bretagne Occidentale, FranceAna Lopes Polytechnic Institute of Tomar, PortugalAnis Koubaa Prince Sultan University, Saudi ArabiaCarlos Gómez-Huélamo University of Alcalá, SpainDaniele Di Vito University of Cassino and Southern Lazio, ItalyEdmanuel Cruz University of Alicante, SpainFélix Escalona University of Alicante, SpainFrancisco Gomez-Donoso University of Alicante, SpainFrancisco J Rodríguez Lera University of León, SpainGledson Melotti Federal Institute of Espírito Santo, BrazilJuan Monroy University of A Coruña, SpainKai Li Polytechnic Institute of Porto, PortugalLuís Ramos Pinto University of Porto, PortugalLuka Čehovin Zajc University of Ljubljana, SloveniaMiguel Armando Riem

De OliveiraUniversity of Aveiro, Portugal

Mihail Babcinschi University of Coimbra, PortugalNara Doria Federal Institute of Sergipe, BrazilPedro Miraldo University of Lisboa, PortugalPedro Santos University of Porto, PortugalRamon Fernandes Federal University of Bahia, BrazilRicardo Sutana de Mello BrazilRichard Duro University of A Coruña, SpainTiago Trindade Ribeiro Federal University of Bahia, BrazilVítor Hugo Pinto University of Porto, Portugal

Organization xxi

Contents

Aerial Robotics for Inspection and Maintenance

Design Optimization of a Ducted-Drone to PerformInspection Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3João Vilaça, Alberto Vale, and Filipe Cunha

Positioning System for Pipe Inspection with Aerial RobotsUsing Time of Flight Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Manuel Perez, Alejandro Suarez, Guillermo Heredia, and Anibal Ollero

Online Detection and Tracking of Pipes During UAV Flightin Industrial Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28Augusto Gómez Eguíluz, Julio Lopez Paneque,José Ramiro Martínez-de Dios, and Aníbal Ollero

TCP Muscle Tensors: Theoretical Analysis and PotentialApplications in Aerial Robotic Systems . . . . . . . . . . . . . . . . . . . . . . . . . 40Alejandro Ernesto Gomez-Tamm, Pablo Ramon-Soria, B. C. Arrue,and Aníbal Ollero

Autonomous Drone-Based Powerline Insulator Inspectionvia Deep Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Anas Muhammad, Adnan Shahpurwala, Shayok Mukhopadhyay,and Ayman H. El-Hag

Aerodynamic Effects in Multirotors Flying Close to Obstacles:Modelling and Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63P. J. Sanchez-Cuevas, Victor Martín, Guillermo Heredia,and Aníbal Ollero

Development of a Semi-autonomous Aerial Vehiclefor Sewerage Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Angél R. Castaño, Honorio Romero, Jesús Capitán, Jose Luis Andrade,and Aníbal Ollero

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Proposal of an Augmented Reality Tag UAV Positioning Systemfor Power Line Tower Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87Alvaro Rogério Cantieri, Marco Aurélio Wehrmeister,André Schneider Oliveira, José Lima, Matheus Ferraz, and Guido Szekir

Evaluation of Lightweight Convolutional Neural Networksfor Real-Time Electrical Assets Detection . . . . . . . . . . . . . . . . . . . . . . . . 99Joel Barbosa, André Dias, José Almeida, and Eduardo Silva

Agricultural Robotics and Field Automation

Cleaning Robot for Free Stall Dairy Barns: Sequential Controlfor Cleaning and Littering of Cubicles . . . . . . . . . . . . . . . . . . . . . . . . . . 115Ilja Stasewitsch, Jan Schattenberg, and Ludger Frerichs

A Version of Libviso2 for Central Dioptric Omnidirectional Cameraswith a Laser-Based Scale Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . 127André Aguiar, Filipe Santos, Luís Santos, and Armando Sousa

Deep Learning Applications in Agriculture: A Short Review . . . . . . . . . 139Luís Santos, Filipe N. Santos, Paulo Moura Oliveira, and Pranjali Shinde

Forest Robot and Datasets for Biomass Collection . . . . . . . . . . . . . . . . . 152Ricardo Reis, Filipe Neves dos Santos, and Luís Santos

An Autonomous Guided Field Inspection Vehicle for 3D WoodyCrops Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164José M. Bengochea-Guevara, Dionisio Andújar, Karla Cantuña,Celia Garijo-Del-Río, and Angela Ribeiro

Autonomous Driving and Driver Assistance Systems

NOSeqSLAM: Not only Sequential SLAM . . . . . . . . . . . . . . . . . . . . . . . 179Jurica Maltar, Ivan Marković, and Ivan Petrović

Web Client for Visualization of ADAS/AD Annotated Data-Sets . . . . . . 191Duarte Barbosa, Miguel Leitão, and João Silva

A General Approach to the Extrinsic Calibration of IntelligentVehicles Using ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203Miguel Oliveira, Afonso Castro, Tiago Madeira, Paulo Dias,and Vitor Santos

Self-awareness in Intelligent Vehicles: Experience BasedAbnormality Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216Divya Kanapram, Pablo Marin-Plaza, Lucio Marcenaro, David Martin,Arturo de la Escalera, and Carlo Regazzoni

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Joint Instance Segmentation of Obstacles and Lanes UsingConvolutional Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229Leonardo Cabrera Lo Bianco, Abdulla Al-Kaff, Jorge Beltrán,Fernando García Fernández, and Gerardo Fernández López

Scalable ROS-Based Architecture to Merge Multi-source LaneDetection Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242Tiago Almeida, Vitor Santos, and Bernardo Lourenço

Improving Localization by Learning Pole-Like LandmarksUsing a Semi-supervised Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255Tiago Barros, Luís Garrote, Ricardo Pereira, Cristiano Premebida,and Urbano J. Nunes

Detection of Road Limits Using Gradients of the AccumulatedPoint Cloud Density . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267Daniela Rato and Vitor Santos

Autonomous Sailboats and Support Technologies

Force Balances for Monitoring Autonomous Rigid-Wing Sailboats . . . . 283Matias Waller, Ulysse Dhomé, Jakob Kuttenkeuler, and Andy Ruina

Acoustic Detection of Tagged Angelsharks froman Autonomous Sailboat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295Jorge Cabrera-Gámez, Antonio C. Domínguez-Brito, F. Santana-Jorge,Diego Gamo, David Jiménez, A. Guerra, and José Juan Castro

Airfoil Selection and Wingsail Design for an Autonomous Sailboat . . . . 305Manuel F. Silva, Benedita Malheiro, Pedro Guedes, and Paulo Ferreira

Collaborative Robots for Industry Applications

Augmented Reality System for Multi-robot Experimentationin Warehouse Logistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319Marcelo Limeira, Luis Piardi, Vivian Cremer Kalempa, André Schneider,and Paulo Leitão

Collision Avoidance System with Obstacles and Humansto Collaborative Robots Arms Based on RGB-D Data . . . . . . . . . . . . . . 331Thadeu Brito, José Lima, Pedro Costa, Vicente Matellán, and João Braun

Human Manipulation Segmentation and CharacterizationBased on Instantaneous Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343Anthony Remazeilles, Irati Rasines, Asier Fernandez, and Joseph McIntyre

Spherical Fully Covered UAV with Autonomous Indoor Localization . . . 355Agustin Ramos, Pedro Jesus Sanchez-Cuevas, Guillermo Heredia,and Anibal Ollero

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Towards Endowing Collaborative Robots with Fast Learningfor Minimizing Tutors’ Demonstrations: What and When to Do? . . . . . 368Ana Cunha, Flora Ferreira, Wolfram Erlhagen, Emanuel Sousa,Luís Louro, Paulo Vicente, Sérgio Monteiro, and Estela Bicho

Core Concepts for an Ontology for Autonomous Robotics

An Ontology for Failure Interpretation in Automated Planningand Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381Mohammed Diab, Mihai Pomarlan, Daniel Beßler, Aliakbar Akbari,Jan Rosell, John Bateman, and Michael Beetz

Deducing Qualitative Capabilities with Generic OntologyDesign Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391Bernd Krieg-Brückner and Mihai Codescu

Meta-control and Self-Awareness for the UX-1 AutonomousUnderwater Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404Carlos Hernandez Corbato, Zorana Milosevic, Carmen Olivares,Gonzalo Rodriguez, and Claudio Rossi

An Apology for the “Self” Concept in AutonomousRobot Ontologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416Ricardo Sanz, Julita Bermejo-Alonso, Claudio Rossi, Miguel Hernando,Koro Irusta, and Esther Aguado

Knowledge and Capabilities Representation for Visually GuidedRobotic Bin Picking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429Paulo J. S. Gonçalves, J. R. Caldas Pinto, and Frederico Torres

Educational Robotics

Factors Influencing the Sustainability of Robot SupportedMath Learning in Basic School . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443Janika Leoste and Mati Heidmets

Teaching Mobile Robotics Using the Autonomous DrivingSimulator of the Portuguese Robotics Open . . . . . . . . . . . . . . . . . . . . . . 455Valter Costa, Peter Cebola, Pedro Tavares, Vitor Morais,and Armando Sousa

The Role of Educational Technologist in Robot SupportedMath Lessons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467Janika Leoste and Mati Heidmets

Robot@Factory Lite: An Educational Approachfor the Competition with Simulated and Real Environment . . . . . . . . . . 478João Braun, Lucas A. Fernandes, Thiago Moya, Vitor Oliveira,Thadeu Brito, José Lima, and Paulo Costa

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Web Based Robotic Simulator for Tactode Tangible BlockProgramming System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490Márcia Alves, Armando Sousa, and Ângela Cardoso

Development of an AlphaBot2 Simulator for RPi Cameraand Infrared Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502Ana Rafael, Cássio Santos, Diogo Duque, Sara Fernandes,Armando Sousa, and Luís Paulo Reis

Artificial Intelligence Teaching Through Embedded Systems:A Smartphone-Based Robot Approach . . . . . . . . . . . . . . . . . . . . . . . . . . 515Luis F. Llamas, Alejandro Paz-Lopez, Abraham Prieto, Felix Orjales,and Francisco Bellas

Human-Robot Scaffolding, an Architecture to Supportthe Learning Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528Enrique González, John Páez, Fernando Luis-Ferreira, João Sarraipa,and Ricardo Gonçalves

Azoresbot: An Arduino Based Robot for Robocup Competitions . . . . . . 542José Cascalho, Armando Mendes, Alberto Ramos, Francisco Pedro,Nuno Bonito, Domingos Almeida, Pedro Augusto, Paulo Leite,Matthias Funk, and Arturo Garcia

BulbRobot – Inexpensive Open Hardware and Software RobotFeaturing Catadioptric Vision and Virtual Sonars . . . . . . . . . . . . . . . . . 553João Ferreira, Filipe Coelho, Armando Sousa, and Luís Paulo Reis

Field Robotics In Challenging Environments

Trajectory Planning for Time-Constrained Agent Synchronization . . . . 567Yaroslav Marchukov and Luis Montano

Graph-Based Robot Localization in Tunnels Using RF Fadings . . . . . . . 580Teresa Seco, María Teresa Lázaro, Carlos Rizzo, Jesús Espelosín,and José Luis Villarroel

A RGBD-Based System for Real-Time Robotic Defects Detectionon Sewer Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593Luis Merino, David Alejo, Simón Martinez-Rozas,and Fernando Caballero

Detecting Indoor Smoldering Fires with a Mobile Robot . . . . . . . . . . . . 606Carolina Soares da Conceição, João Macedo, and Lino Marques

Future Industrial Robotics

Perception of Entangled Tubes for Automated Bin Picking . . . . . . . . . . 619Gonçalo Leão, Carlos M. Costa, Armando Sousa, and Germano Veiga

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Applying Software Static Analysis to ROS: The Case Studyof the FASTEN European Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632Tiago Neto, Rafael Arrais, Armando Sousa, André Santos,and Germano Veiga

Autonomous Robot Navigation for Automotive Assembly Task:An Industry Use-Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645Héber Sobreira, Luís Rocha, José Lima, Francisco Rodrigues,A. Paulo Moreira, and Germano Veiga

Smart Data Visualisation as a Stepping Stone for Industry4.0 - a Case Study in Investment Casting Industry . . . . . . . . . . . . . . . . 657Ana Beatriz Cruz, Armando Sousa, Ângela Cardoso, Bernardo Valente,and Ana Reis

Development of an Autonomous Mobile Towing Vehiclefor Logistic Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669Cláudia Rocha, Ivo Sousa, Francisco Ferreira, Héber Sobreira, José Lima,Germano Veiga, and A. Paulo Moreira

Correction to: Robot 2019: Fourth Iberian Robotics Conference . . . . . . C1Manuel F. Silva, José Luís Lima, Luís Paulo Reis, Alberto Sanfeliu,and Danilo Tardioli

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

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