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Due to their social influence, several areas research search and rescue field. Mobile robotics is one of them that analyzes and seeks more efficient solutions for search and rescue operations. Multirobot systems are considered to make the procedures more efficient and safe, both for the victim and for the crew. Petri nets are widely diffused for designing discrete events systems, such as networks...
Nowadays, state-of-the-art robots are capable of millimetric motion accuracy by performing highly repetitive tasks, however, as a constraint they operate in highly structured environments where objects are in known and predictable locations. Thus, it is not surprising that robots are more often used in high-volume operations such as painting and welding, rather than operations where diversity of actions,...
This work presents the development of a system that performs the detection of boats from aerial images acquired by satellites. This will serve as a knowledge base for the implementation of a system to be implemented in a fleet of unmanned aerial vehicle. The main purpose of the system is to detect ships that are in the risk zone of rocket trajectory launched from Barreira do Inferno Launch Center...
Path planning and on-line navigation are some of the most-studied tasks in autonomous robotics. Since cellular automata (CA) are totally discrete models, they have also been recently considered for path planning. In order that the task be performed in a more decentralized manner, a local decision making approach is used in the CA-based models, where the next move is decided based on robot's sensors...
This paper presents an approach to trajectory tracking control for autonomous vehicles subject to parametric uncertainties. Such uncertainties may have the potential to significantly decrease the performance of the system, even to the point of destabilizing it. Therefore, these parametric variations must be taken into account during the design of the controller. To solve the trajectory tracking problem...
Motor control in humanoid robots is a challenging task due to the high number of degrees of freedom that must be dealt with; most solutions presented for the motion control area rely, heavily, on domain specific information about the robot or the concrete motor task to be developed, which makes it difficult or not viable to scale up in most cases. Learning by demonstration arises as an easier alternative...
This work makes a study in the usage of a learning machine and computer vision for the control of the movements of an robotic arm. The technique chosen for the learning process was the Map of Kohonen, because it is a classic technique with a self-learning capacity. The solution investigated was part of a huge problem: the learning process of tasks by articulated robots, for example the pick-and-place...
In the past years Unmanned Aerial Vehicles (UAVs) have received considerable attention from the scientific community. The trajectory control is a fundamental block that a flight control system must properly address. However, a recent approach based on fractional calculus has shed a new light into this area, allowing the well tested PID controller to be improved even further. One advantage is that...
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
Computer Vision and Machine Learning are the key to develop autonomous robots. While engaged with a IEEE Open Challenge, in which the robots need to recognize a miniature of a cow, we saw a solution in these areas. The main contribution of this paper is the algorithm implemented to identify and follow a known object, the miniature of a cow. We are constructing an application based on Image Processing...
When a prosthesis that has a complicated process of selecting grip modes is presented to an amputee, he tends to give up using the device. Nowadays, most of the commercial interfaces for prosthetic hands are based on electromyography (EMG), and they are difficult to control due to the complexity of the activation methods. The multimodal approaches proposed in the literature to succeed in dealing with...
ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve...
This paper presents the design of a low cost quadcopter prototype intended as a research platform that allows the study of control algorithms for autonomous flight. The dynamics of this quadcopter were described with a mathematical model, and the prototype's parameters were identified through a series of proposed methods and test-beds. A sensor array that is theoretically capable of estimating the...
Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
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