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2012 Brazilian Robotics Symposium and Latin American Robotics Symposium最新文献

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Dynamic Feedback Controller of an Unmanned Aerial Vehicle 一种无人机动态反馈控制器
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.49
E. Pfeifer, F. Kassab
{"title":"Dynamic Feedback Controller of an Unmanned Aerial Vehicle","authors":"E. Pfeifer, F. Kassab","doi":"10.1109/SBR-LARS.2012.49","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.49","url":null,"abstract":"The research interest in UAVs (Unmanned Aerial Vehicles) has grown in the past few years, comprising a wide range of applications. New technologies on MEMS (Micro-Electro-Mechanical Systems) sensors and signal processing techniques have been also strong influences on this type of research. This work is dedicated to the dynamic modeling and control implementation of a quad rotor UAV using linear control techniques for position tracking via image, ultrasonic, compass, acceleration and gyroscopic sensors, applying pole placement control technique. Simulation on the performance of the controller with a Kalman Filter is presented.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123178684","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: 11
Spatial and Perceptive Mapping Using Semantically Self-Organizing Maps Applied to Mobile Robots 基于语义自组织地图的移动机器人空间和感知映射
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.47
M. Figueiredo, S. Botelho, Paulo L. J. Drews-Jr, C. Haffele
{"title":"Spatial and Perceptive Mapping Using Semantically Self-Organizing Maps Applied to Mobile Robots","authors":"M. Figueiredo, S. Botelho, Paulo L. J. Drews-Jr, C. Haffele","doi":"10.1109/SBR-LARS.2012.47","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.47","url":null,"abstract":"Mapping is the technique used by robots to build up a map within an unknown environment, or to update previously build map within a known environment. The problem is related to integrate the information obtained by multiple sensors on a consistent model and describing it by a given representation. The main aspects of mapping are the interpretation of sensor data and the representation of the environment. Topological approaches divide the environment into significant areas, being the aim to capture the connectivity of these areas rather than creating a geometrically accurate map. In this context, this paper proposes a method for mapping generic environments (structured or not) based on several semantic maps. In our implementation, each map can be described as a topological map, which is modeled using self-organizing neural networks. The approach was implemented and validated in a set of environments using Pioneer robots, equipped with an omni directional camera and a GPS. All the results were obtained using the robot simulator We bots, due its facility to test extreme conditions. Issues related to high dimensionality, perceptive correspondence and dynamicity have been evaluated. The results show the capabilities of the method to reduce data dimensionality and the generalization of the proposal.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124732243","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
Multi-robot SLAM on Client-Server Architecture Client-Server架构下的多机器人SLAM
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.39
D. Castro, C. Morales, R. F. De La Rosa
{"title":"Multi-robot SLAM on Client-Server Architecture","authors":"D. Castro, C. Morales, R. F. De La Rosa","doi":"10.1109/SBR-LARS.2012.39","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.39","url":null,"abstract":"One of the most important challenges in mobile robotics is the estimation of the robot's position while it explores the environment. The SLAM (Simultaneous Localization and Mapping) technique solves this challenge while it builds an approximate map of the environment. This paper proposes a mono-robot SLAM solution applied by a group of mobile robots in a common environment. The robots are autonomous during navigation, they estimate their localization and they report their maps to a central process in order to build a unified map of the environment. This solution is constructed using a distributed approach aiming to reduce the time required to obtain a solution, and to increase the information used. This paper also presents results obtained from simulations and tests performed in an experimental environment.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125934875","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
Multi-robot Cooperation Based on Learning Social Models 基于学习社会模型的多机器人协作
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.50
R. Maia, L. Goncalves
{"title":"Multi-robot Cooperation Based on Learning Social Models","authors":"R. Maia, L. Goncalves","doi":"10.1109/SBR-LARS.2012.50","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.50","url":null,"abstract":"IDeM-MRS is a cooperation formalism for multi-robot systems to efficiently solve tasks in indoors environments. This formalism is based on learning social models of real individuals and it coordinates the group allowing knowledge assimilation and accommodation through experiences exchange. Some issues are particularly investigated, such as the realist multi-robot environment representation (involving the global mission, the tasks that belong to this mission and the active robots) and a task selection form based on theories and social learning approaches, which allow the cooperative and efficient execution by robots. IDeM-MRS can be used for different types of missions, from the simplest to more complex ones. The experiments and results validate the efficiency of this formalism compared to the traditional empirical model.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117255632","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: 1
Cognitive-Merged Statistical Pattern Recognition Method for Image Processing in Mobile Robot Navigation 移动机器人导航图像处理中的认知融合统计模式识别方法
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.52
L. Lulio, M. L. Tronco, A. Porto
{"title":"Cognitive-Merged Statistical Pattern Recognition Method for Image Processing in Mobile Robot Navigation","authors":"L. Lulio, M. L. Tronco, A. Porto","doi":"10.1109/SBR-LARS.2012.52","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.52","url":null,"abstract":"In this project, the main focus is to apply image processing techniques in computer vision to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126841444","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: 7
Vision-Based Autonomous Topological Navigation in Outdoor Environments 基于视觉的户外自主拓扑导航
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.22
D. Sales, F. Osório
{"title":"Vision-Based Autonomous Topological Navigation in Outdoor Environments","authors":"D. Sales, F. Osório","doi":"10.1109/SBR-LARS.2012.22","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.22","url":null,"abstract":"In this paper, we present a proposal of an autonomous topological navigation system for structured outdoor environments. This system uses a camera as the main sensor, and an association of Finite State Machines (FSM) with Artificial Neural Networks (ANN) for path features detection. The environment is represented by a Topological map in which each state is related to a specific track shape. This way, the robot can become able to autonomously reach any destination, going through a sequence of these states, as for example straight path, right and left turns and intersections. The experiments were performed in a real structured outdoor environment in order to validate and evaluate this approach. The proposed system demonstrated to be a promising approach for path features detection.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126979620","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
Ortholeg Project - Development of an Active Orthosis Prototype for Lower Limbs Ortholeg项目-下肢主动矫形器原型的开发
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.46
Márcio Valerio Araújo, Glaumo N. da Silva, Lennedy C. Soares, P. Alsina
{"title":"Ortholeg Project - Development of an Active Orthosis Prototype for Lower Limbs","authors":"Márcio Valerio Araújo, Glaumo N. da Silva, Lennedy C. Soares, P. Alsina","doi":"10.1109/SBR-LARS.2012.46","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.46","url":null,"abstract":"Currently the increasing number of robotic devices for application in the mobility of people who had suffered some type of spinal cord injury, it is necessary to develop new equipment more adaptable, safe and efficient. Robotic devices that aid in locomotion of paraplegic people can play their function, they must be able to reproduce the lost movements with most of fidelity and security. This paper presents a prototype of an active orthosis for lower limbs developed by the robotic and dedicated systems group of Department of Computing Engineering and Automation (DCA/UFRN) named Ortholeg. The proposed orthosis is an orthopedic device with the main objective of providing walking capacity to people with partial or total loss of limbs movements. The orthosis was projected to reproduce the movements of human gait. The movements of the joints of the orthosis are controlled by DC motors equipped with mechanical reductions, whose purpose is to reduce rotational speed and increase the torque, thus generating smooth movements. An embedded electronic system for sensory data acquisition and motor control was projected.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124183215","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: 11
Reinforcement Learning with Case-Based Heuristics for RoboCup Soccer Keepaway 基于案例的启发式强化学习在机器人世界杯足球赛中的应用
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.9
Luiz A. Celiberto, J. Matsuura, R. López de Mántaras, Reinaldo A. C. Bianchi
{"title":"Reinforcement Learning with Case-Based Heuristics for RoboCup Soccer Keepaway","authors":"Luiz A. Celiberto, J. Matsuura, R. López de Mántaras, Reinaldo A. C. Bianchi","doi":"10.1109/SBR-LARS.2012.9","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.9","url":null,"abstract":"In this paper we propose to combine Case-based Reasoning and Heuristically Accelerated Reinforcement Learning to speed up a Reinforcement Learning algorithm in a Transfer Learning problem. To do so, we propose a new algorithm called SARSA Accelerated by Transfer Learning - SATL, which uses Reinforcement Learning to learn how to perform one task, stores the policy for this problem as a case-base and then uses the learned case-base as heuristics to speed up the learning performance in a related, but different, task. A set of empirical evaluations were conducted in transferring the learning between two domains with multiple agents: an expanded version of Littman's simulated robot soccer and the RoboCup Soccer Keep away. A policy learned by one agent in the Littman's soccer is used to speed up the agent learning in the Keep away soccer. The results show that the use of this new algorithm can lead to a significant improvement in the performance of the learning agents.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121587449","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: 8
An FPGA-Based Robotics Platform for Educational and Research Applications 基于fpga的教育与研究机器人平台
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.58
M. D. A. Siqueira, J. Conforto, M. B. R. Vallim
{"title":"An FPGA-Based Robotics Platform for Educational and Research Applications","authors":"M. D. A. Siqueira, J. Conforto, M. B. R. Vallim","doi":"10.1109/SBR-LARS.2012.58","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.58","url":null,"abstract":"This paper presents a robotics platform in its hardware and software aspects. The platform applications are for both educational and research fields. It includes three modules: mechanical module, hardware module and software module, being the latter two modules the subject of this paper. The hardware is based on FPGA and described through VHDL, aiming flexibility of prototyping and feasibility of structural changes. We use a DE2 development board to base the prototype and a Nios II soft processor to run application algorithms. In order to read analog signals, we employ a PWM reading technique. Based on a Lego Mindstorms NXT ® motor we calculated a mathematical model and projected PI control modules for them. On all this hardware approach is developed a programming environment for the platform. The environment is based on programmable blocks, that once logically united generate a hidden C source file as firmware of the robot. Downloads of application are performed through the USB-Blaster component and tools provided by the Altera Company.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124062801","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: 4
A Local Search Approach for Improving Multi-Robot Routing in Exploration Missions 一种改进探索任务中多机器人路径的局部搜索方法
2012 Brazilian Robotics Symposium and Latin American Robotics Symposium Pub Date : 2012-10-16 DOI: 10.1109/SBR-LARS.2012.21
Rodolfo C. Cavalcante, T. Noronha, L. Chaimowicz
{"title":"A Local Search Approach for Improving Multi-Robot Routing in Exploration Missions","authors":"Rodolfo C. Cavalcante, T. Noronha, L. Chaimowicz","doi":"10.1109/SBR-LARS.2012.21","DOIUrl":"https://doi.org/10.1109/SBR-LARS.2012.21","url":null,"abstract":"Cooperative multi-robot exploration is one of the fundamental problems in mobile robotics. A typical exploration problem is that in which robots have a model of the environment and they must visit a set of virtual, fixed target points in order to perform some task there. The assignment of multiple robots to target points in order to minimize the team costs, such as traveled distances, is an NP-Hard problem. Negotiation-based methods such as auctions have been widely used in literature, because they are easy to implement and present low communication and computational requirements. However, due to their simplicity, these methods produce sub optimal solutions. This paper presents a local search algorithm which can be combined with auctions to improve the solution quality of the assignment without increasing the communication requirements. The approach proposed in this paper is compared with three other auction-based allocation methods proposed in literature and the experiments showed that the local search was able to outperform the other approaches, minimizing the team costs in terms of traveled distances during the mission.","PeriodicalId":311395,"journal":{"name":"2012 Brazilian Robotics Symposium and Latin American Robotics Symposium","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132515586","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
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