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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...
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,...
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...
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...
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...
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...
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