2013 Latin American Robotics Symposium and Competition最新文献

Control System Design for Autonomous Underwater Vehicle 自主水下航行器控制系统设计

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.61

V. Pshikhopov, M. Medvedev, A. Gaiduk, B. Gurenko

引用次数: 24

A Multi-robot Exploration Approach Based on Distributed Graph Coloring 一种基于分布式图着色的多机器人探索方法

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.71

Fabricio Carvalho, Rodolfo C. Cavalcante, M. Vieira, L. Chaimowicz, M. Campos

{"title":"A Multi-robot Exploration Approach Based on Distributed Graph Coloring","authors":"Fabricio Carvalho, Rodolfo C. Cavalcante, M. Vieira, L. Chaimowicz, M. Campos","doi":"10.1109/LARS.2013.71","DOIUrl":"https://doi.org/10.1109/LARS.2013.71","url":null,"abstract":"The assignment of target points to multiple robots in exploration missions is a combinatorial problem that is known to be NP-Hard. Negotiation-based methods, such as auctions, have been extensively investigated in the literature, but the provided solution is usually sub-optimal. In this study, we propose an approach which models the multi-robot exploration task as a distributed graph coloring problem, where the targets to be visited in the environment are the nodes of a graph that must be colored and each robot represents a different color to be used in the coloring process. As result, the coloring approach is able to minimize the exploration costs of the team, since it captures the synergy among targets and assigns them to a small number of robots. The proposed algorithm was tested in several experiments performed in environments with cluttered and clustered arrangements of targets, and compared the outcomes with those of a distributed auction approach on the same setting. The results show that our method compares favorably, and indicate that distributed coloring is a promising approach for reducing the costs for exploration task using multi-robot systems.","PeriodicalId":136670,"journal":{"name":"2013 Latin American Robotics Symposium and Competition","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134270808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

Hierarchical Reinforcement Learning Approach for Motion Planning in Mobile Robotics 移动机器人运动规划的分层强化学习方法

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.62

Andrea Buitrago-Martinez, Fernando De la Rosa, Fernando Lozano-Martinez

引用次数: 11

Feature Transform Technique for Combining Landmark Detection and Tracking of Visual Information of Large Rain Forest Areas 结合大热带雨林区域视觉信息地标检测与跟踪的特征变换技术

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.53

F. Pinage, Jose Reginaldo Hughes Carvalho, Emory Raphael Viana Freitas, José Pinheiro de Queiroz Neto

{"title":"Feature Transform Technique for Combining Landmark Detection and Tracking of Visual Information of Large Rain Forest Areas","authors":"F. Pinage, Jose Reginaldo Hughes Carvalho, Emory Raphael Viana Freitas, José Pinheiro de Queiroz Neto","doi":"10.1109/LARS.2013.53","DOIUrl":"https://doi.org/10.1109/LARS.2013.53","url":null,"abstract":"Researchers have been spending a lot of effort in increasing the level of autonomy of Unmanned Aerial Systems (UASs). There is a sort of important scenarios where an autonomous drone would be very effective. One of these scenarios of applications is the long term monitoring of the Amazon rain forest. The uniform pattern of the canopy defines a mission difficult to be performed by a human operator. Imagine someone in front of a monitor seeing for hours long the very same thing: treetops. In such situation, an embedded vision system capable to drive the vehicle while taking decision of what is not fitting to a standard canopy pattern plays a critical role on both remotely operated and autonomous navigation modes. The goal of this work is to present a scheme based on image processing able to extract natural landmarks in forest areas, and to track them during posterior missions over the same area, as reference for the onboard navigation system. The scheme is composed of two main steps: 1) Nonrelevant features suppression based on wavelet, to eliminate the canopy uniform pattern, and 2) Key points extraction by SIFT algorithm, to extract new landmarks or to track existing ones. Preliminary results demonstrated that this system can increase the robustness of mission execution in scenarios where usually only GPS references are available.","PeriodicalId":136670,"journal":{"name":"2013 Latin American Robotics Symposium and Competition","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123745819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Gait Cycle Modeling for an Active Orthosis Using Principal Component Analysis 基于主成分分析的主动矫形器步态周期建模

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.67

Nicholas De Bastos Melo, P. Alsina, Carlos Eduardo Trabuco Dórea, M. V. De Araujo

引用次数: 6

Topological Mobile Robot Navigation Using Artificial Landmarks 基于人工地标的拓扑移动机器人导航

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.54

David Esparza, J. Savage

引用次数: 1

Adaptive Control System Design for Robotic Aircrafts 机器人飞行器自适应控制系统设计

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.59

V. Pshikhopov, V. Krukhmalev, M. Medvedev, R. Fedorenko, S. Kopylov, A. Budko, V. Chufistov

引用次数: 29

Platform Proposal for Control Systems Practices with Smart Mobile Devices 智能移动设备控制系统实践平台提案

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.60

Alexander S. Rondon, Seminario S. Guillermo

引用次数: 0

Ground Control Station for Multiple UAVs Flight Simulation 多无人机飞行仿真地面控制站

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.70

A. Angonese, P. F. Ferreira Rosa

{"title":"Ground Control Station for Multiple UAVs Flight Simulation","authors":"A. Angonese, P. F. Ferreira Rosa","doi":"10.1109/LARS.2013.70","DOIUrl":"https://doi.org/10.1109/LARS.2013.70","url":null,"abstract":"This work describes the development of a computational system for a GCS (Ground Control Station) able to control the flight and navigation of multiple UAVs (Unmanned Aerial Vehicles), implementing features for formation flying and obstacle avoidance. The system was structured in two modules, the mission planning and the multiple flight control module. The mission planning consisted of two other, the formation planning and the path planning module. They were based on the NASA World Wind API, which enabled the use of these modules as a Geographic Information System - GIS, allowing the setting formation and path planning, directly on 3D maps. For the multiple flight control module, we developed a potential field based methodology. In this module, the formation coordinates are projected to the waypoints defined in the path planning, as virtual attraction coordinates for the aircraft. While the UAVs are attracted to the individual waypoints, the repulsive field takes care to avoid collision of the aircrafts along the planned trajectory. We built a simulation environment for testing and validation of the proposed methodology. With the simulator, it is possible to perform a mission planning and evaluate the potential field parameters settings, through the visualization of the simulated flight before a mission. Another feature of this environment is the integration of the GCS with the flight simulator X-Plane, which communicates through the open source interface X-Pi (Interface Xplane), deploying multiple flights in such nearly real-like situation.","PeriodicalId":136670,"journal":{"name":"2013 Latin American Robotics Symposium and Competition","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115742578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Real-Time Localization of Mobile Robots in Indoor Environments Using a Ceiling Camera Structure 基于天花板摄像机结构的室内移动机器人实时定位

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI: 10.1109/LARS.2013.58

Rafaella C. A. Nascimento, Bruno M. F. Silva, L. Gonçalves

引用次数: 5