|  | Vol-3417 urn:nbn:de:0074-3417-7 Copyright © 2023 for the individual papers by the papers' authors. Copyright © 2023 for the volume as a collection by its editors. This volume and its papers are published under the Creative Commons License Attribution 4.0 International (CC BY 4.0).

# AIRO 2022
Artificial Intelligence and Robotics 2022

### Proceedings of the 9th Italian Workshop on Artificial Intelligence and Robotics
co-located with the the 21th International Conference of the Italian Association for Artificial Intelligence (AIxIA 2022)

### Udine, Italy, November 30, 2022.

Edited by

### Salvatore Anzalone *
Gloria Beraldo **
Luca Buoncompagni ***
Alberto Castellini ****
Alberto Finzi *****

* Université Paris 8, Laboratoire CHArt, 2, Rue de la Liberté - 93526 Saint Denis, France
** Consiglio Nazionale delle Ricerche , Istituto di Scienze e Tecnologie della Cognizione, via S. Martino della Battaglia 44, 00185 Roma, Italy
*** Università di Genova, Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi, viale F. Causa 15, 16145 Genova, Italy
**** Università di Verona, Dipartimento di Informatica, Ca Vignal 2, Strada le Grazie 15, 37134 Verona, Italy
***** Università di Napoli "Federico II", Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, via Claudio 21, 80125 Napoli, Italy

## Table of Contents

- Preface
  Summary: There were 17 papers submitted for peer-review to this workshop. Out of these, 16 papers were accepted for this volume, 0 as regular papers, 15 as short papers, one as a poster.

### Session 1: Human-Robot Interaction

- Towards an Holistic Human Perception System for Close Human-Robot Collaboration (short paper) 1-7
  Matteo Terreran, Leonardo Barcellona, Davide Allegro, Stefano Ghidoni
- Optimising the Continuous Control of Brain-actuated Robotic Devices (short paper) 8-18
  Gloria Beraldo, Paolo Forin, Luca Tonin

### Session 2: Social Robotics

- A Cloud Architecture for Emotion Recognition Based on the Appraisal Theory (short paper) 19-24
  Marco Demutti, Vincenzo D’Amato, Carmine Tommaso Recchiuto, Luca Oneto, Antonio Sgorbissa
- Culture Awareness in Intelligent Systems (short paper) 25-30
  Ariel Gjaci, Luca Oneto, Carmine Tommaso Recchiuto, Antonio Sgorbissa
- Multiparty Verbal Interaction Between Humans and Artificial Agents (short paper) 31-37
  Lucrezia Grassi, Carmine Tommaso Recchiuto, Antonio Sgorbissa

### Session 3: Planning, Learning and Robotics

- Monte Carlo Tree Search Planning for Continuous Action and State Spaces (short paper) 38-47
  Federico Bianchi, Lorenzo Bonanni, Alberto Castellini, Alessandro Farinelli
- Inductive Learning of Surgical Task Knowledge from Intra-operative Expert Feedback (short paper) 48-54
  Daniele Meli, Marco Bombieri, Diego Dall’Alba, Paolo Fiorini

### Session 4: Multi-robots

- Quantum Robotic Swarms: What, Why, and How (short paper) 55-63
  Maria Mannone, Valeria Seidita, Antonio Chella
- MAPF and MAPD: Recent Developments and Future Directions (short paper) 64-69
  Francesco Amigoni, Davide Azzalini, Nicola Basilico, Benedetta Flammini

### Session 5: Perception and Navigation

- Visual Odometry with Depth-Wise Separable Convolution and Quaternion Neural Networks (short paper) 70-80
  Giorgio De Magistris, Danilo Comminiello, Christian Napoli, Janusz Starczewski
- Low Obstacle Avoidance for Lower Limb Exoskeletons (short paper) 81-87
  Edoardo Trombin, Stefano Tortora, Francesco Bettella, Alessandra Del Felice Luca Tonin Emanuele Menegatti
- Fall Detection using NAO Robot Pose Estimation in RoboCup SPL Matches (short paper) 88-95
  Cristian Zampino, Flavio Biancospino, Michele Brienza, Francesco Laus, Gianluca Di Stefano, Rocchina Romano, Andrea Pennisi, Vincenzo Suriani, Domenico Daniele Bloisi

### Session 6: Industrial Robotics and Applications

- HMM-based Anomaly Interpretation for Intelligent Robots in Industry 4.0 (short paper) 96-103
  Alberto Castellini, Cristian Morasso, Alessandro Farinelli
- Trustworhty AI and Robotics: a Knowledge Engineering Perspective (short paper) 104-111
  Andrea Orlandini, Elisa Foderaro, Alessandro Umbrico, Amedeo Cesta
- An Autonomous Robotized Cell for Polymer Foaming (short paper) 112-117
  Riccardo Caccavale, Ernesto Di Maio, Alberto Finzi, Andrea Fontanelli, Valerio Loianno, Massimiliano Maria Villone
- How to Get Rid of Knowledge Engineers and Be Happy: a HRC Use Case (poster)
  Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, Andrea Orlandini

2023-06-01: submitted by Alberto Finzi, metadata incl. bibliographic data published under Creative Commons CC0
2023-06-13: published on CEUR Workshop Proceedings (CEUR-WS.org, ISSN 1613-0073) |valid HTML5|