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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.
This paper presents an approach to the formation control problem for autonomous non-holonomic mobile robots using a Non-linear Model Predictive Formation Control (NMPFC) algorithm that employs a leader-follower scheme. An explanation of the the NMPFC problem is given, after which the results of both simulations and experiments with a three robot formation employing the developed algorithm are discussed...
3D objects classification and retrieval are a growing research topic with many application in different areas, such as robotics, virtual/augmented reality, medicine and physics. In robotics, 3D objects can serve as robust landmarks for pose estimation and localization, so robust 3D object recognition methods are very important tools in this field. Co-occurrence matrices were used for texture classification...
This article presents a comparison of four nonlinear controllers for positioning tasks of a unicycle-like mobile robot. The controller performance is analyzed through three indexes: IAE, ITAE and IASC. The analysis is performed experimentally. Initially, the controller gains are tuned by simulation until IAE index is less than 5% comparatively. Next, the controllers are run in practice and ITAE and...
The 3D object recognition is an important research field in robotics. The real world object classification, retrieval, localization and tracking from images (2D or 3D data) are very useful application of computer vision in many areas, for instance, robotics, industry, education, augmented reality and medicine. Locate and recognize 3D objects in the environment can serve to create robust landmarks...
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...
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...
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...
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...
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 proposes a modeling for articulated robots based in an adaptation of the Kuramotos model. In order to simplify and help new people interested in work with it, mathematical models were made for the differential equations of first and second order from these. The modeling of this problem was based on computational modeling for solving ordinary differential equations. Among the available methods,...
Welding is a process recognized by the laborious work and hazardous work environment it takes place, but it is an important process in different industrial scenarios, like the shipbuilding industry. The use of robots has been increasing in recent years, reducing the human interference necessary for the process. This paper proposes a system for automated seam tracking and a geometric welding bead analysis...
This paper proposes a 3D model-based vision system for detecting a manipulator's gripper on a scene, tracking it as it moves and continuously determining its state (opened or closed), information that is used to signal that an object can be grasped. Build upon the Robot Operating System (ROS), it mainly comprises a registration pipeline, a tracking algorithm and a state classifier based on a proposed...
The use of collaborative robot systems to perform specific tasks is a strong research area on robotic systems. Robot platforms are becoming cheaper, increasing the number of applications and new tasks variations on research labs. A collaborative system that join together small mobile robots to scan some specific area and a drone to set their position on the ground is a good example of the possible...
Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
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