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This article proposes a new dynamic planning navigation strategy for use with mobile terrestrial robots. The strategy was applied to situations in which the environment and obstacles were unknown. After each displacement event, the robot replanned its route using a control algorithm that minimized the distance to the target and maximized the distance between the obstacles. Using a spatial localization...
Recent advances in technology have led to robots with communication capability. These networked robots can provide a communication substrate by establishing a wireless network backbone. The wireless network is useful in many settings, such as urban search and rescue, fire fighting, military operations, and disaster response. Given a set of clients, such as fire-fighters, the network robots can establish...
This paper presents a computational system to perform, simultaneously, the control of th 3D position and trajectory of two commercial unmanned aerial vehicles (UAVs), the Parrot AR. Drone quad copter. The developed system runs in a main computer, allowing the automatic control of the vehicles in flight missions. In this work, are presented the experimental platform, the mathematical and the computational...
The color perception of a surface as invariant under changing illumination, called color constancy, is very important in applications such as outdoor navigation. Most color constancy approaches are targeted for single images obtained from cameras whose sensors are assumed to be narrow-band. Algorithms that take advantage of the related information in consecutive frames are rare and require the presence...
Path planning and execution are very important tasks for autonomous mobile robots. In the environment considered in this study, first the path must be planned from a source point to a destination point. Next, the control navigation is executed from a set of possible actions. Several works based on metric map can be found in the literature. This paper address an approach in which a path as a sequence...
This paper presents an intuitive way to control the position of a quad rotor, through a human-machine interface (HMI), based on a motion sensor, which uses the movements of the body to command the mobile platform (in such case, an aerial vehicle). The experimental results were obtained by using the Microsoft Kinect Sensor (for detection and tracking of the user), and after acquiring the data, the...
This work aims at identifying the low level model of a miniature quad rotor, using a sensor of force and torque in the three axes of the Cartesian system. To do that, the first step is to obtain the low level model of the rotorcraft. Then we obtained the coefficient Cf,t, which is a meaningful contribution of this work, since there are just a few works in the literature addressing such coefficient,...
Pipeline inspections are essential for an updated diagnosis in Oil and Gas Industry, but manual inspection in remote areas implies great expenses in the long term. Therefore, this process optimization requires autonomous and versatile systems, such as Self-reconfigurable Modular Robots (SMR). The SMR are autonomous machines with variable morphology, therefore they have the potential to deal with this...
Lateral localization of an autonomous vehicle within its lane is major information for its adequate control and navigation. Computer vision and robotics communities have used primarily images to Bird's Eye View for easier data manipulation than perspective image. Nevertheless, this technique usually assumes that the terrain is flat and needs calibration for its transformation matrix. In this paper...
Due to constant price reduction and miniaturization of the devices that compose a mobile robot, mobile robotics has become increasingly accessible for the public, and it is reasonable to assume that in the near future robots will be "living" among us. To create robots capable of living in human society, various disciplines have contributed to theoretical and technological frameworks, of...
This paper describes the design and development of a new humanoid robot named Newton, that is intended for applications in research and also to be used in the Robo Cup Kid Size League World Competition. Newton robot has been designed to work without any dedicated sub-controller implemented in low level hardware, often used to control the servomotors of the robot. Newton uses only a standard personal...
Rapidly-exploring Random Tree (RRT) algorithm has been used for motion planning in numerous and diverse robotic applications. For applications which demands higher motion resolution, the computational cost increases together with the number of motion primitives used to expand the RRT. In this paper we present a method based on optimization by elimination which is applied to the Rapidly-exploring Random...
In field of autonomous and intelligent vehicles, the goal of pedestrian classification is to reduce amount of accidents. The object classification accuracy depends on the type of classifier and the extracted object features used for classification. Support Vector Machines (SVM), is considered the most effective classifier for this task. However, it depends on a number of factors that require researchers...
This article proposes a reinforcement learning approach to dynamically model the player skills in applications that integrate games and rehabilitation robotic. The approach aims to match the game difficulty to the player skills, keeping proper motivation (flow) during a rehabilitation process. The traditional rehabilitation process involves repetitive exercises. Robots and serious games provide new...
This paper presents the development of a simplified model of the lower limbs of a biped robot, composed, basically, of a waist, two femurs, two tibiae and two feet. This mechanical structure has six degrees of freedom and has the approximate dimensions of a human being. The control system was implemented on the Robot Operating System (ROS). Contrariwise to most ROS controllers, a multi-input, multi-output...
Precision agriculture (PA) is nowadays one of the main strategies to fulfill the increasing food demand in the world. PA was defined as the set of technologies and procedures employed to optimize the agriculture production system. This article evaluate three types of rovers to be applied in precision agriculture, they are type Shrimp, Crab and Rocker Bogie. These rovers are modeled and simulated using...
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