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As the global population rapidly ages with longer life expectancy and declining birth rates, the need for healthcare services and caregivers for older adults is increasing. Current research envisions addressing this shortage by introducing domestic service robots to assist with daily activities. The successful integration of robots as domestic service providers in our lives requires them to possess efficient manipulation capabilities, provide effective physical assistance, and have adaptive control frameworks that enable them to develop social understanding during human-robot interaction. In this context, human factors, especially quantifiable ones, represent a necessary component. The objective of this paper is to conduct an unbiased review encompassing studies on human factors studied in research involving physical interactions and strong manipulation capabilities. We identified the prevalent human factors in physical human-robot interaction (pHRI), noted the factors typically addressed together and determined the frequently utilized assessment approaches. Additionally, we gathered and categorized proposed quantification approaches based on measurable data for each human factor. We also formed a map of common contexts and applications addressed in pHRI for a comprehensive understanding and easier navigation of the field. We found out that most of the studies in direct pHRI (when there is direct physical contact) focus on social behaviors with belief being the most commonly addressed human factor type. Task collaboration is moderately investigated, while physical assistance is rarely studied. In contrast, indirect pHRI (when the physical contact is mediated via a third item) studies often involve industrial settings, with physical ergonomics being the most frequently investigated human factor. More research is needed on human factors in direct and indirect physical assistance applications, including studies that combine physical social behaviors with physical assistance tasks. We also found that while the predominant approach in most studies involves the use of questionnaires as the main method of quantification, there is a recent trend that seeks to address quantification approaches based on measurable data.

Preprint ARTICLE | doi:10.20944/preprints202306.0102.v1

Generalized Virtual Displacement Principles of Deformed Objects with Methods of Analytical Mechanics

Jingli Fu, Chun Xiang, Zuoyuan Yin

Subject: Computer Science And Mathematics, Robotics Keywords: virtual displacement principle; deformed object; constitutive relationship; analytical mechanics

Online: 1 June 2023 (14:02:19 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.1862.v1

A Research on Manipulator Path Tracking based on Deep Reinforcement Learning

Pengyu Zhang, Jie Zhang, Jiangming Kan

Subject: Computer Science And Mathematics, Robotics Keywords: path tracking; deep reinforcement learning; maximum entropy; inverse kinematics

Online: 26 May 2023 (05:24:45 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.1376.v1

End-to-End Multimodal Sensor Dataset Collection Framework for Autonomous Vehicles

Junyi Gu, Artjom Lind, Tek Raj Chhetri, Mauro Bellone, Raivo Sell

Subject: Computer Science And Mathematics, Robotics Keywords: multimodal sensors; autonomous driving; dataset collection framework; sensor calibration and synchronization; sensor fusion

Online: 19 May 2023 (04:33:56 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.1306.v1

Field Complete Coverage Path Planning Based on Improved Genetic Algorithm for Transplanting Robot

Xizhi Wu, Jinqiang Bai, Fengqi Hao, Guanghe Cheng, Yongwei Tang, Xiuhua Li

Subject: Computer Science And Mathematics, Robotics Keywords: Improved genetic algorithm; Complete coverage path planning; Autonomous agricultural robot

Online: 18 May 2023 (08:47:18 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.0736.v1

Comparison of Robot-Assisted and Manual Cannula Insertion in Simulated Big-Bubble Deep Anterior Lamellar Keratoplasty

Yinzheng Zhao, M. Ali Nasseri, Anne-Marie Jablonka, Niklas A. Maierhofer, Hessam Roodaki, Abouzar Eslami, Mathias Maier, Daniel Zapp

Subject: Computer Science And Mathematics, Robotics Keywords: robotic assistance; intraoperative OCT; DALK

Online: 10 May 2023 (10:26:06 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0415.v2

Assessing the Value of Multimodal Interfaces: A Study on Human-Machine Interaction in Weld Inspection Workstations

Paul Chojecki, Dominykas Strazdas, David Przewozny, Niklas Gard, Detlef Runde, Niklas Hoerner, Ayoub Al-Hamadi, Peter Eisert, Sebastian Bosse

Subject: Computer Science And Mathematics, Robotics Keywords: human–machine interaction; multimodal interface; human–robot interaction; spatial computing

Online: 10 May 2023 (09:42:13 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.0535.v1

Design Path for a Social Robot for Emotional Communication for Children with Autism Spectrum Disorder (ASD)

Sandra Cano, Jaime Díaz-Arancibia, Jeferson Arango-López, Julia Elena Libreros, Matías García

Subject: Computer Science And Mathematics, Robotics Keywords: Human-Robot Interaction; Autism Spectrum Disorder; User-Centered Design

Online: 8 May 2023 (11:57:31 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.0431.v1

Performance Improvement of Multi-Robot Data Transmission in Aggregated Robot Processing Architecture With Caches and QoS Balancing Optimization

Abdul Jalil, Jun Kobayashi, Takeshi Saitoh

Subject: Computer Science And Mathematics, Robotics Keywords: Multi-Robot; Aggregated Robot Processing; Caches; QoS; Optimization; ROS 2

Online: 8 May 2023 (03:26:34 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.1096.v1

Non-Commutative Logic for Collective Decision-Making with Perception Bias

Evgeny Kagan, Alexander Novoselsky, Daria Ramon, Alexander Rybalov

Subject: Computer Science And Mathematics, Robotics Keywords: mobile robots; swarm dynamics; multivalued logic; non-commutative algebra; decision-making; uncertainty; irrational decisions

Online: 28 April 2023 (03:32:47 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0804.v1

PCRMLP : A Two-Stage Network for Point Cloud Registration in Urban Scenes

Jingyang Liu, Yucheng Xu, Lu Zhou, Lei Sun

Subject: Computer Science And Mathematics, Robotics Keywords: registration; point clouds; urban scene; deep learning

Online: 23 April 2023 (13:59:52 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0662.v1

The Framework of Modeling and Simulation based-on Swarm Ontology for Autonomous Unmanned Systems

Xinghai Gao, Gang Xiao, Kai Xie, Weijia Wang, Yuhua Fu, Chuangye Chang, Zhouqi Wang

Subject: Computer Science And Mathematics, Robotics Keywords: swarm ontology; autonomous system; model-driven; multi-paradigm modeling; model-base systems engineering

Online: 21 April 2023 (03:09:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0527.v1

LiDAR Inertial Odometry Based on Indexed Point and Delayed Removal Strategy in High Dynamic Environments

Wanliang Wang, Weizhuang Wu

Subject: Computer Science And Mathematics, Robotics Keywords: lidar-inertial slam; dynamic objects; sliding-window; dynamic scenarios

Online: 19 April 2023 (03:19:30 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0415.v1

Comparison of Uni- and Multimodal Interfaces for Spatial Human-Robot Interaction

Paul Chojecki, Dominykas Strazdas, David Przewozny, Niklas Gard, Detlef Runde, Niklas Hoerner, Ayoub Al-Hamadi, Peter Eisert, Sebastian Bosse

Subject: Computer Science And Mathematics, Robotics Keywords: human–machine interaction; multimodal interface; human–robot interaction; spatial computing

Online: 17 April 2023 (07:04:35 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0219.v1

Research on SLAM and Path Planning Method of Inspection Robot in Complex Scenarios

Xiaohui Wang, Xi Ma, Zhaowei Li

Subject: Computer Science And Mathematics, Robotics Keywords: complex scenes; inspection robot; SLAM; path planning

Online: 11 April 2023 (10:12:35 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202302.0382.v2

HTC-Grasp: A Hybrid Transformer-CNN Architecture for Robotic Grasp Detection

Qiang Zhang, Jianwei Zhu, Xueying Sun, Mingmin Liu

Subject: Computer Science And Mathematics, Robotics Keywords: Robotic Grasp; Transformer; attentional mechanism

Online: 13 March 2023 (04:00:50 CET)

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Preprint ARTICLE | doi:10.20944/preprints202303.0019.v1

Crash Risk Modelling and Analysis of Drone Operation inIndonesia’s Outermost and Underdeveloped Areas using Bayesian Network Approach

Toto Indriyanto, Aziz Fathurrahman, Seno Sahisnu Rawikara, Yazdi Ibrahim Jenie, Ony Arifianto, Rianto Adhy Sasongko

Subject: Computer Science And Mathematics, Robotics Keywords: Drone operation; Bayesian network; Risk modelling; Risk analysis; Indonesia

Online: 1 March 2023 (10:24:40 CET)

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Preprint ARTICLE | doi:10.20944/preprints202302.0401.v1

Bilateral Cross-Modal Fusion Network for Robot Grasp Detection

Qiang Zhang, Xueying Sun, Mingmin Liu, Zhiwei Fan

Subject: Computer Science And Mathematics, Robotics Keywords: robot grasp detection; cross-modality fusion; channel interaction

Online: 23 February 2023 (06:53:53 CET)

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Preprint ARTICLE | doi:10.20944/preprints202302.0382.v1

HTC-Grasp: A Hybrid Transformer-CNN Architecture for Robotic Grasp Detection

Qiang Zhang, Jianwei Zhu, Xueying Sun, Mingmin Liu

Subject: Computer Science And Mathematics, Robotics Keywords: Robotic Grasp; Transformer; attentional mechanism

Online: 22 February 2023 (09:11:59 CET)

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Preprint REVIEW | doi:10.20944/preprints202212.0305.v1

Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: Present, Challenges, and Future Prospects

Halid Kadi, Kasim Terzic

Subject: Computer Science And Mathematics, Robotics Keywords: robotics; cloth-like deformable objects; deep reinforcement learning; deep imitation 12 learning; human-robot interaction; knot theory; general embodied AI

Online: 16 December 2022 (12:51:23 CET)

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Preprint ESSAY | doi:10.20944/preprints202212.0114.v1

Robots with Quantum Minds: From the Psychology of Fiction to the Physical Roots of Biology

Johan F. Hoorn

Subject: Computer Science And Mathematics, Robotics Keywords: fictional characters; quantum computing; human affective behavior

Online: 7 December 2022 (03:01:34 CET)

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Preprint ARTICLE | doi:10.20944/preprints202211.0511.v1

Escaping Local Minima Via Appraisal Driven Responses

Malte Damgaard, Rasmus Pedersen, Thomas Bak

Subject: Computer Science And Mathematics, Robotics Keywords: Cognitive Robotics; Cognitive Architecture; Appraisals; Reflective Control; Deliberate Control; Reactive Control; Variational Inference; Deadlocks; Probabilistic Programming Idiom; The Standard Model of the Mind

Online: 28 November 2022 (10:08:42 CET)

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Preprint ARTICLE | doi:10.20944/preprints202211.0015.v1

LightMAN: A Lightweight Microchained Fabric for Assurance and Resilience Oriented Urban Air Mobility Networks

Ronghua Xu, Sixiao Wei, Yu Chen, Genshe Chen, Khanh Pham

Subject: Computer Science And Mathematics, Robotics Keywords: Unmanned Aerial Vehicle (UAV); Lightweight Blockchain; Drone Security; assurance; authentication; resilience

Online: 1 November 2022 (04:07:30 CET)

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Preprint ARTICLE | doi:10.20944/preprints202206.0427.v1

A Motion Capture and Imitation Learning-based Approach to Robot Control

Peteris Racinskis, Janis Arents, Modris Greitans

Subject: Computer Science And Mathematics, Robotics Keywords: imitation learning; motion capture; robotics; artificial neural networks; RNN

Online: 30 June 2022 (11:15:14 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202205.0304.v1

Event-Based Emergency Detection for Safe Drone

Isaac Kim, Hyun-Geun Kim, In-Young Kim, Sung-Yup Ohn, Sung-Do Chi

Subject: Computer Science And Mathematics, Robotics Keywords: Safe-drone; Emergency Detection; Time-window; Event-based Control; UAV(Unmanned Aerial Vehicle)/Quadrotor Drone

Online: 23 May 2022 (10:57:36 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202204.0081.v1

How do Roboticists Imagine a Robotised Future? A Case Study on a Japanese HRI Research Project

Yu-Hsin Chang, Felix Carros, Mehrbod Manavi, Martin Rathmann

Subject: Computer Science And Mathematics, Robotics Keywords: Social Robot; Empirical Research; Human-Robot Interaction; Human-Computer Interaction; Ethnomethodology; Robot development; HCI; HRI; Qualitative Research

Online: 8 April 2022 (12:48:04 CEST)

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Preprint REVIEW | doi:10.20944/preprints202202.0123.v1

Practical Self-Driving Cars: Survey of the State-of-the-Art

Debanjan Saha, Shuvodeep De

Subject: Computer Science And Mathematics, Robotics Keywords: cnn; ann; robotics; machine learning; ann; artificial intelligence

Online: 8 February 2022 (15:42:51 CET)

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Preprint ARTICLE | doi:10.20944/preprints202202.0053.v1

Study of Variational Inference for Flexible Distributed Probabilistic Robotics

Malte Rørmose Damgaard, Rasmus Pedersen, Thomas Bak

Subject: Computer Science And Mathematics, Robotics Keywords: Distributed Robotics; Probabilistic Robotics; Variational Inference; Message-Passing Algorithm; Stochastic Variational Inference

Online: 3 February 2022 (13:48:14 CET)

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Preprint ARTICLE | doi:10.20944/preprints202112.0134.v1

Gender Identification in a Two-Level Hierarchical Speech Emotion Recognition System for an Italian Social Robot

Antonio Guerrieri, Eleonora Braccili, Federica Sgrò, Giulio Meldolesi

Subject: Computer Science And Mathematics, Robotics Keywords: Human Robot Interaction (HRI); social robot; Speech Emotion Recognition (SER); Gender Recognition, affective states

Online: 8 December 2021 (14:31:07 CET)

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Preprint ARTICLE | doi:10.20944/preprints202111.0530.v1

Building 2D Model of Compound Eye Vision for Machine Learning

Leonid B. Sokolinsky, Artem E. Starkov

Subject: Computer Science And Mathematics, Robotics Keywords: robot vision; compound eye; two-dimensional model; distance measurement; azimuth measurement; deep learning; training data set generation; deep neural network

Online: 29 November 2021 (12:28:15 CET)

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Preprint ARTICLE | doi:10.20944/preprints202111.0182.v1

DOES: A Deep Learning-Based Approach to Estimate Roll and Pitch at Sea

Fabiana Di Ciaccio, Paolo Russo, Salvatore Troisi

Subject: Computer Science And Mathematics, Robotics Keywords: AHRS; Computer Vision; Dataset Acquisition; Deep Learning; Orientation Estimation.

Online: 9 November 2021 (14:35:21 CET)

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Preprint ARTICLE | doi:10.20944/preprints202109.0007.v1

Robot-Enhanced Language Learning for Children in Norwegian Day-Care Centers

Till Halbach, Trenton Schulz, Wolfgang Leister, Ivar Solheim

Subject: Computer Science And Mathematics, Robotics Keywords: Social robot; mobile app; e-learning; language education; kindergarden, pre-school

Online: 1 September 2021 (11:46:18 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202106.0037.v1

Implementation of NAO Robot Maze Navigation Based on Computer Vision and Collaborative Learning

Daniela Magallán-Ramirez, Areli Rodriguez-Tirado, Jorge David Martínez-Aguilar, Carlos Francisco Moreno-García, David Balderas, Edgar Omar López-Caudana

Subject: Computer Science And Mathematics, Robotics Keywords: robot navigation; computer vision; camera calibration; mapping; path planning; communication; NAO robot; educational innovation; higher education

Online: 1 June 2021 (14:49:11 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202105.0764.v1

Reactive Obstacle-Avoidance Systems for Wheeled Mobile Robots based on Artificial Intelligence

A. Medina-Santiago, Luis Alberto Morales-Rosales, Carlos Arturo Hernández-Gracidas, Ignacio Algredo-Badillo, Ana Dalia Pano-Azucena, Jorge Antonio Orozco Torres

Subject: Computer Science And Mathematics, Robotics Keywords: Artificial intelligence; Motion Control; Reactive Obstacle-Avoidance; Wheeled Mobile Robots

Online: 31 May 2021 (12:13:07 CEST)

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Preprint TECHNICAL NOTE | doi:10.20944/preprints202103.0782.v1

Low-cost Delivery and Telepresence Robot for COVID-19 Crisis

Arnon Jumlongkul

Subject: Computer Science And Mathematics, Robotics Keywords: COVID-19; delivery robot; healthcare robot; telepresence robot; Smart hospital

Online: 31 March 2021 (16:04:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202103.0189.v1

Facial Emotion Recognition from an Unmanned Flying Social Robot for Home Care of Dependent People

Anselmo Martínez, Lidia Belmonte, Arturo S. García, Antonio Fernández-Caballero, Rafael Morales

Subject: Computer Science And Mathematics, Robotics Keywords: Flying Social Robot; Autonomous Unmanned Aerial Vehicle (UAV); Emotion Recognition; Convolution Neural Network (CNN); Virtual Reality (VR); Unity; MATLAB/Simulink; Python

Online: 5 March 2021 (11:52:50 CET)

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Preprint ARTICLE | doi:10.20944/preprints202102.0581.v1

Robotic Process Automation with Optoklik

Danijel Radošević, Nikola Mrvac, Andrija Bernik

Subject: Computer Science And Mathematics, Robotics Keywords: Optoklik; Robotic Process Automation; RPA; scripting

Online: 25 February 2021 (13:34:05 CET)

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Preprint REVIEW | doi:10.20944/preprints202010.0286.v2

Human-Like Arm Motion Generation: A Review

Gianpaolo Gulletta, Wolfram Erlhagen, Estela Bicho

Subject: Computer Science And Mathematics, Robotics Keywords: human-like motion; humanoid robots; arm motion planning; literature review

Online: 10 November 2020 (10:38:49 CET)

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Preprint REVIEW | doi:10.20944/preprints202010.0286.v1

Human-Like Arm Motion Generation: A Review

Gianpaolo Gulletta, Wolfram Erlhagen, Estela Bicho

Subject: Computer Science And Mathematics, Robotics Keywords: human-like motion; humanoid robots; arm motion planning; literature review

Online: 13 October 2020 (15:34:20 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202010.0174.v1

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Lidia Maria Belmonte, Arturo Simón García, Rafael Morales, José Luis de la Vara, Antonio Fernández-Caballero

Subject: Computer Science And Mathematics, Robotics Keywords: Unmanned Aerial Vehicle (UAV); Social Robot; Feeling of Safety and Comfort; Trajectory Planning; Virtual Reality; MATLAB/Simulink®; MQTT

Online: 8 October 2020 (11:06:18 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202007.0498.v1

A Contextual Emotion Appraisal System Based on a Sentential Cognitive System for Robots

Hyunsik Ahn, Sung Park

Subject: Computer Science And Mathematics, Robotics Keywords: emotion appraisal system; contextual emotion appraisal; cognitive robotics; sentential cognitive system; HRI

Online: 22 July 2020 (05:18:22 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202005.0221.v1

Real-world Comparison of Visual Odometry Methods

Alexandre Alapetite, Zhongyu Wang, John Paulin Hansen, Marcin Zajączkowski, Mikolaj Patalan

Subject: Computer Science And Mathematics, Robotics Keywords: odometry; camera; positioning; navigation; indoor; robot

Online: 13 May 2020 (04:45:54 CEST)

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Working Paper ARTICLE

Simultaneous Estimation and Planning for Differential Drive Robot - Technical Report

Tai Hoang

Subject: Computer Science And Mathematics, Robotics Keywords: SLAM; Trajectory Optimization; Motion Planning; Gaussian Process; STEAP; GPMP2; Mobile Robot; Differential Drive Robot

Online: 7 January 2020 (05:25:17 CET)

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Preprint REVIEW | doi:10.20944/preprints201911.0385.v1

Teamwork for Multi-Robot Systems in Dynamic Environments

Kurt Geihs

Subject: Computer Science And Mathematics, Robotics Keywords: autonomous robots; multi-robot systems; teamwork; coordination

Online: 30 November 2019 (09:47:30 CET)

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Preprint ARTICLE | doi:10.20944/preprints201911.0194.v1

A Robot's Response Acceleration Using the Metric Dimension Problem

Elsayed Badr, Khalid Aloufi

Subject: Computer Science And Mathematics, Robotics Keywords: parallel processing; MPI cluster; metric dimension; resolving set; NP-complete

Online: 17 November 2019 (01:04:25 CET)

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Preprint ARTICLE | doi:10.20944/preprints201910.0231.v1

Solar Powered Automatic Pattern Design Grass Cutting Robot System Using Arduino

Dost Muhammad Khan, Zain Mumtaz, Majid Saleem, Zeeshan Ilyas, Qinglu Ma, Sahrish Ghaffar, Saleem ullah

Subject: Computer Science And Mathematics, Robotics Keywords: Android; arduino; bluetooth; grass cutter; sensors; speech recognition

Online: 20 October 2019 (02:03:44 CEST)

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We present an Arduino-based automatic robotic system which is used for cutting grass or lawns, mostly healthy grass which needs to cut neatly like in a public park or a private garden. The purpose of this proposed project is to design a programmable automatic pattern design grass cutting robot with solar power which no longer requires time-consuming manual grass-cutting, and that can be operated wirelessly using an Android Smartphone via Bluetooth from a safe distance which is capable of cutting the grass in indeed required shapes and patterns; the cutting blade can also be adjusted to maintain the different length of the grass. The main focus was to design a prototype that can work with a little or no Physical user interaction. The proposed work is accomplished by using an Arduino microcontroller, DC geared Motors, IR obstacle detection sensor, motor shield, relay module, DC battery, solar panel, and Bluetooth module. The grass-cutting robot system can be moved to the location in the lawn remotely where the user wants to cut the grass directly or in desired patterns. The user can press the desired pattern button from the mobile application, and the system will start cutting grass in the similar design such as a circle, spiral, rectangle, and continue pattern. Also, with the assistance of sensors positioned at the front of the vehicle, an automatic barrier detection system is introduced to enhance safety measurements to prevent any risks. IR obstacle detector sensors are used to detect obstacles, if any obstacle is found in front of the robot while traveling; it avoids the barrier by taking a right/right turn or stop automatically appropriately, thereby preventing the collision. Also, the main aim of this project is the formation of a grass cutter that relieves the user from mowing their own grasses and reduces environmental and noise pollution. The proposed system is designed as a lab-scale prototype to experimentally validate the efﬁciency, accuracy, and affordability of the systems. The experimental results prove that the proposed work has all in one capability (Simple and Pattern based grass cutting with mobile-application, obstacle detection), is very easy to use, and can be easily assembled in a simple hardware circuit. We note that the systems proposed can be implemented on a large scale under real conditions in the future, which will be useful in robotics applications and cutting grass in playing grounds such as cricket, football, and hockey, etc.

Preprint ARTICLE | doi:10.20944/preprints201909.0100.v1

Face Detection with a portable architecture in Real Time

Francesco De Feo, Pasquale De Luca

Subject: Computer Science And Mathematics, Robotics Keywords: Face detection; Drone; Real Time

Online: 9 September 2019 (12:04:50 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201907.0035.v1

Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis

Bruno M. F. da Silva, Rodrigo S. Xavier, Luiz M. G. Gonçalves

Subject: Computer Science And Mathematics, Robotics Keywords: ROS; SLAM; RGB-D sensors; experimental analysis

Online: 2 July 2019 (08:43:16 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201905.0264.v1

Robot Path Planning Agent for Evaluating Collaborative Machine Behavior

Baoping Ma, Haoyue Yang, Jingcheng Wei, Qingmin Meng

Subject: Computer Science And Mathematics, Robotics Keywords: machine behavior, mobile robots, navigation, path planning, artificial potential field, artificial neural network

Online: 22 May 2019 (08:39:55 CEST)

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Preprint REVIEW | doi:10.20944/preprints201905.0251.v1

A Survey of Behavioural Models for Social Robots

Olivia Nocentini, Laura Fiorini, Giorgia Acerbi, Alessandra Sorrentino, Gianmaria Mancioppi, Filippo Cavallo

Subject: Computer Science And Mathematics, Robotics Keywords: social robots; behavioural models; assistive robotics; cognitive architectures; empathy; human-robot interaction

Online: 20 May 2019 (12:31:23 CEST)

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Working Paper ARTICLE

Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planing Performance in Mobile Robot Applications

Hai Van Pham, Philip Moore, Dinh Xuan Truong

Subject: Computer Science And Mathematics, Robotics Keywords: mobile robotic systems; coverage path planning; smooth-STC algorithm; robotic C-space path planning

Online: 26 March 2019 (09:37:15 CET)

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Working Paper ARTICLE

Unsupervised Visual Representation Learning for Indoor Scenes with a Siamese ConvNet and Graph Constraints

Mengyun Liu, Ruizhi Chen, Haojun Ai, Yujin Chen, Deren Li

Subject: Computer Science And Mathematics, Robotics Keywords: indoor scene recognition; unsupervised representation learning; Siamese network; graph constraints

Online: 19 March 2019 (13:11:09 CET)

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Indoor scene recognition has great significance for intelligent applications such as mobile robots, location-based services (LBS) and so on. Wherever we are or whatever we do, we are under a specific scene. The human brain can easily discern a scene with a quick glance. However, for a machine to achieve this purpose, on one hand, it often requires plenty of well-annotated data which is time-consuming and labor-intensive. On the other hand, it is hard to learn effective visual representations due to large intra-category variation and inter-categories similarity of indoor scenes. To solve these problems, in this paper, we adopted an unsupervised visual representation learning method which can learn from unlabeled data with a Siamese Convolutional Neural Network (Siamese ConvNet) and graph-based constraints. Specifically, we first mined relationships between unlabeled samples with a graph structure. And then, these relationships can be used as supervision for representation learning with a Siamese network. In this method, firstly, a k-NN graph would be constructed by taking each image as a node in the graph and its k nearest neighbors are linked to form the edges. Then, with this graph, cycle consistency and geodesic distance would be considered as criteria for positive and negative pairs mining respectively. In other words, by detecting cycles in the graph, images with large differences but in the same cycle can be considered as same category (positive pairs). By computing geodesic distance instead of Euclidean distance from one node to another, two nodes with large geodesic distance can be regarded as in different categories (negative pairs). After that, visual representations of indoor scenes can be learned by a Siamese network in an unsupervised manner with the mined pairs as inputs. In order to evaluate the proposed method, we tested it on two scene-centric datasets, MIT67 and Places365. Experiments with different number of categories have been conducted to excavate the potential of proposed method. The results demonstrated that semantic visual representations for indoor scenes can be learned in this unsupervised manner. In addition, with the learned visual representations, indoor scene recognition models trained with the learned representations and a few of labeled samples can achieve competitive performance compared to the state-of-the-art approaches.

Preprint ARTICLE | doi:10.20944/preprints201902.0094.v1

Designing an Engaging Robotic Teaching Assistant for Adults Using the Engagement Profile

Martin Cooney, Wolfgang Leister

Subject: Computer Science And Mathematics, Robotics Keywords: robot; robotic teaching assistant; teaching; user engagement; evaluation

Online: 11 February 2019 (16:30:51 CET)

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Preprint ARTICLE | doi:10.20944/preprints201902.0084.v1

Estimation and Planning Differential Drive Robot Simultaneously - Technical Report

Tai Hoang

Subject: Computer Science And Mathematics, Robotics Keywords: SLAM; Trajectory Optimization; Motion Planning; Gaussian Process; STEAP; GPMP2; Mobile Robot; Differential Drive Robot

Online: 11 February 2019 (09:00:14 CET)

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Preprint ARTICLE | doi:10.20944/preprints201901.0282.v1

Artificial Swarm Intelligence and Cooperative Robotic Systems

Iaroslav Omelianenko

Subject: Computer Science And Mathematics, Robotics Keywords: artificial intelligence; neuro-evolution; swarm intelligence; robotic swarm; cooperative robotics; free-energy principle; active inference; evolutionary computation; novelty search

Online: 28 January 2019 (15:51:25 CET)

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Preprint ARTICLE | doi:10.20944/preprints201810.0586.v1

GaIn: Human Gait Inference for Lower Limbic Prostheses for Patients Suffering From Double Trans-Femoral Amputation

Roman Chereshnev, Attila Kertész-Farkas

Subject: Computer Science And Mathematics, Robotics Keywords: human activity recognition; gait analysis; human gait inference; wearable sensors; limb amputation; lower limbic prosthesis; machine learning; recurrent neural networks

Online: 25 October 2018 (04:51:27 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201810.0039.v1

Efficacy and Utilization of Unmanned Aerial System (Uas) as Operational Tools for Disaster Management in India

Kunal Sharma, Rahul Devarani, Ajay Gangwar, Raja Chakrabarty

Subject: Computer Science And Mathematics, Robotics Keywords: Disaster, Operational Strategies, UAV, Drones, Man Made & Natural Disaster, CBRNE

Online: 3 October 2018 (11:08:43 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201808.0554.v1

A Robotic Context Query-processing Framework based on Spatio-temporal Context Ontology

Seok-Jun Lee, In-Cheol Kim

Subject: Computer Science And Mathematics, Robotics Keywords: intelligent service robot; robotic context query; context ontology

Online: 31 August 2018 (16:12:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201808.0430.v1

Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

Zhijun Zhang, Yaru Niu, Ziyi Yan, Shuyang Lin

Subject: Computer Science And Mathematics, Robotics Keywords: Humanoid robot; whole-body imitation; social learning; motion mapping; teleoperation for tasks; similarity evaluation

Online: 24 August 2018 (09:59:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201808.0416.v1

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Ruiqin Li, Hongwei Meng, Shaoping Bai, Yinyin Yao, Jianwei Zhang

Subject: Computer Science And Mathematics, Robotics Keywords: hexapod walking robot; 3-UPU parallel mechanism; kinematics; stability; gait planning

Online: 23 August 2018 (13:31:36 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201808.0125.v1

Applied Robot Coverage Path Planning with Multiple Decision Making Capability under Uncertainty using Knowledge Inference with Hedge Algebras

Hai Van Pham, Philip Moore

Subject: Computer Science And Mathematics, Robotics Keywords: robotics; coverage path-planning; knowledge reasoning and inference; hedge algebras; decision-support systems

Online: 6 August 2018 (14:06:19 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201807.0558.v1

ERIKA – Early Robotics Introduction at Kindergarten Age

Stefan Schiffer, Alexander Ferrein

Subject: Computer Science And Mathematics, Robotics Keywords: robotics; kindergarten; education; robot operating system; ROS; Pepper; , human-robot interaction; HRI

Online: 30 July 2018 (05:31:12 CEST)

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Preprint REVIEW | doi:10.20944/preprints201805.0293.v1

A Review: Simultaneous Localization and Mapping in Application to Autonomous Robot

Olusanya Agunbiade, Tranos Zuva

Subject: Computer Science And Mathematics, Robotics Keywords: autonomous robot; illumination variance; kidnap robot; dynamic environment; navigation; simultaneous localization and mapping

Online: 22 May 2018 (08:37:12 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201712.0099.v1

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

Yue Hu, Katja Mombaur

Subject: Computer Science And Mathematics, Robotics Keywords: humanoid robot; bipedal locomotion; optimal control; optimization

Online: 15 December 2017 (05:02:00 CET)

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Preprint ARTICLE | doi:10.20944/preprints201712.0022.v1

Why not Robot Teachers: Artificial Intelligence for Addressing Teacher Shortage

Bosede I. Edwards, Adrian David Cheok

Subject: Computer Science And Mathematics, Robotics Keywords: AIED; independent robot teachers; robotics; embodied pedagogical agents; full-fledged robot teachers

Online: 4 December 2017 (08:54:09 CET)

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Preprint ARTICLE | doi:10.20944/preprints201711.0085.v1

Analytical Modeling and Control of Rectilinear Snake Robots

Sindhuja Sankaran, Saravanan S.V.

Subject: Computer Science And Mathematics, Robotics Keywords: rectilinear; PID; friction; spring-mass system; dynamics

Online: 14 November 2017 (05:23:06 CET)

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Preprint ARTICLE | doi:10.20944/preprints201702.0105.v1

Can A Robot Have Free Will?

Keith D. Farnsworth

Subject: Computer Science And Mathematics, Robotics Keywords: self-organization; downward causation; autocatalytic set; goal-oriented behaviour; autopoiesis; biological computing

Online: 28 February 2017 (12:08:07 CET)

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Computer Science and Mathematics