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We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper...
Nowadays, it is notorious the increasing use of autonomous vehicles in different outdoor field applications such as agriculture, the mining industry, environmental monitoring, among others. In this context, the determination of the traversability level of a terrain is a fundamental task for safe and efficient navigation of Autonomous Ground Vehicles (AGVs) in unstructured unknown outdoor environments...
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM), for which a number of algorithms from different classes are available as ROS packages ready to be used on any compatible robot. Considering that there is often a need...
Virtual Reality has been traditionally explored in many robotics systems, with applications such as off-line programming, trajectory planning, teleoperation, education, design, natural user interfaces and rehabilitation. Implementing these features in an all-in-one monolithic solution can be complex and slow. Also, new trends in automation, notably the Internet of Things, represent promissing technological...
Due to the complexity of the mathematical and computational reproduction of collision movements performed by solids objects in the real world, alternately a common approach is to use dynamic models compound of elastic (spring) and dissipative (damper) forces with the theory of rigid bodies. In this paper, the modeling of translational and rotational movement of a solid cube in free fall colliding...
Due to low-cost and simplicity, differential drive mobile robot are very popular in academic and hobby environments. However, in some applications, such as robot soccer, these robots need to move quickly and aggressively, thus requiring the use of techniques from control systems theory, where an accurate mathematical model is paramount. On the other hand, given budget limitations, the components used...
The number of roundabouts has been increased as they have demonstrated improvements over unsignalized and signalized intersections regarding safety, traffic flow, access management, etc. In this sense, autonomous vehicles should satisfactorily deal with the problem of path planning at these circular intersections. Approaches proposed in literature employ optimization techniques to improve the level...
The cooperation between autonomous vehicles is receiving a growing attention from the academic literature. As a promising field, there is a need for studies that can provide both an overview and a structured analysis of the present literature. This paper presents a systematic mapping for the scenario of systems with cooperation of non-urban vehicles, presenting the steps for the accomplishment of...
This paper presents the specifications for a network architecture of a squadron of Unmanned Aerial Vehicles to be used to scan rocket impact areas. It presents the main features of communication networks for multi UAV systems and the details of its application. In this context, we propose a network architecture based on XBee Pro 900HP S3B modules integrated to a hardware platform controlled by embedded...
Educational use of mobile robots is among the most explored subtopics of Human-Robot Interaction (HRI), given the potential attention calling possibilities drawn by its novelty aspect. In educational environments is expected that social robots enhance learning, such as virtual agents that have been used. However, the real effect of applying a physical robot has not been well exploited. This paper...
The use of unmanned aerial vehicles (UAVs) to perform various tasks such as product delivery, aerial photography, surveillance and precision agriculture has become increasingly common. Most of the UAV applications use cameras to carry out these tasks. Generally, the cameras are stabilized by platforms known as gimbals, i.e. camera platform, which in turn must react to UAV attitude to minimize the...
The exploration of unknown environments is an important task for an autonomous robot. When exploring an unknown environment, robots face a common trade-off between visiting already mapped areas or exploring new areas. This can be done by using a planning stage in conjunction with the SLAM algorithm. This is normally called integrated exploration. In this paper, we propose a novel integrated exploration...
Real-time processing of sensor data collected from moving vehicles is crucial to the development of active navigational systems. In this paper we develop a fast solution to the task of mosaic construction from aerial images, that allows the embedded generation of a faithful representation of the surveyed area. Most current solutions are off-line (i.e. all data is first collected and then processed...
This paper deals with the optimal design of a flexible planar parallel robot based on kinematic and dynamic criteria simultaneously. The complete kinematic and dynamic model permits to establish the workspace size and the elasto-dynamic performance, respectively. Consequently, the optimal design consists in a multi-objective optimization that is solved by using the multi-objective genetic algorithm...
Unmanned Aerial Vehicles (UAVs) with different configurations exist to supply requirements for diverse applications. One of them is the tailsitter that gathers complementary advantages from Vertical Takeoff and Landing (VTOL) and fixed-wing UAVs. In this paper, we present a new design of a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding). This UAV is composed of typical actuators...
In recent years there has been a growing interest in studying biologically-inspired models for localization that can cope with the stochasticity of natural environments. Most of the works available have considered 2D navigation tasks in static and structured environments, such as the lab maze or the corridors of a building. Reactive navigation is usually employed, so the robot avoids colliding the...
This paper aims to present a visual servoing control strategy that uses visual information, acquired by a fiducial system, to solve the regulation to an arbitrary pose problem in differential driven mobile robots. In addition, in order to make this system more robust and immune to occlusion, we will use an Extended Kalman Filter to fuse odometric data and the data acquired from several landmarks....
This article proposes a method for sensor calibration and obstacle detection in urban environments. The radar and 3D LIDAR were calibrated with relation to a stereo camera. Data from the radar, 3D LIDAR and stereo camera sensors were fused for the detection of obstacles and determination of their shapes. The data collected using both camera and 3D LIDAR are a point cloud that is segmented taking the...
Kalman Filters are utilised for filtering and estimation in a large set of application. Here, this methodology is utilised for trajectory estimation of an underwater robot. In this work, three Kalman Filter methods are proposed for trajectory estimation. There are: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Central Difference Kalman Filter (CDKF). Simulation results are presented...
The application of Artificial Intelligence methods is becoming indispensable in several domains, for instance in credit card fraud detection, voice recognition, autonomous cars and robotics. However, some methods fail in performances or solving some problems, and hybrid approaches can outperform the results when compared to traditional ones. In this paper we present a hybrid approach, named qualitative...
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