Intro
Preface
Organization
Contents
Multi-sensorial Environment Perception in Urban Environment
1 Introduction
2 Lidar Based Urban Scene Analysis
2.1 Ground-Obstacle Classification
2.2 Fast Object Separation and Bounding Box Estimation
2.3 Deep Learning Based Object Recognition in the RMB Lidar Data
2.4 Semantic MLS Point Cloud Classification with a 3D CNN Model
2.5 Multimodal Point Cloud Registration
2.6 Frame Level Cross-modal Change Detection
2.7 Automatic Targetless Lidar-Camera Calibration
3 Evaluation of the Proposed Algorithms

3.1 Experiments on RMB Lidar Based Object Perception
3.2 Evaluation of Semantic MLS Point Cloud Segmentation
3.3 Experiments on Point Cloud Registration
3.4 Experiments on Multimodal Change Detection
3.5 Evaluation of Lidar-Camera Calibration
4 Conclusions of the Paper
References
An Extended Visual Intelligence Scheme for Disassembly in Automated Recycling Routines
1 Introduction
2 Related Work
3 Methods
3.1 Datasets
3.2 Wire Segmentation
3.3 Screw Classification
4 Bookkeeping
5 Experimental Evaluation
5.1 Evaluation Method
5.2 Generalization

6 Discussion and Conclusion
References
Multi-agent Path Finding and Acting with Small Reflex-Based Mobile Robots
1 Introduction
1.1 Contribution
2 Overview of MAPF
2.1 Classical Discrete MAPF
2.2 Cumulative Objectives in MAPF
2.3 Real-World Complications
3 Optimal MAPF Solvers
3.1 SAT Based Solver
4 Physical Robot: Ozobot Evo
4.1 Important Hardware
4.2 Movement and Line Following
5 Novel Approach
5.1 ESO-Nav: Reflex-Based Navigation
5.2 Improvements from Previous Work
5.3 Expected Problems
6 From Discrete Planning to Physical Acting

6.1 Overview
6.2 Environment
6.3 MAPF Solver
6.4 Acting via Path Animation
6.5 Modifying Ozobot Behavior
7 Experimental Evaluation
7.1 Maps
7.2 Results
7.3 Compilation-Based Approach
8 Conclusion
References
Design and Experimental Analysis of an Adaptive Cruise Control
1 Introduction
2 Adaptive Cruise Control
2.1 Fuzzy Logic Approach
2.2 Fuzzy Logic-Based ACC
2.3 Designing of Low-Level Control
3 Experimental Setup
3.1 AutoMiny
3.2 Lab Setup
3.3 Steering Control
4 Evaluation
4.1 Steering Control
4.2 Distance Control Mode

4.3 Speed Control Mode
5 Conclusions
References
Human-Likeness Indicator for Robot Posture Control and Balance
1 Introduction
1.1 Overview
1.2 Description of the Approach
1.3 Human Data-Set
1.4 Performance Indicator
2 Materials and Methods
2.1 Humanoid Robot
2.2 Control System
2.3 Test Protocol
3 Results
4 Discussion
5 Conclusions
References
Visual Guidance of an On-Orbit Free-Floating Manipulator Using a Mobile Camera
1 Introduction
2 Robotic Spacecraft