2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)最新文献

A hybrid approach to learn, retrieve and reuse qualitative cases 学习、检索和重用定性案例的混合方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215309

T. P. D. Homem, D. Perico, P. Santos, Anna Helena Reali Costa, Reinaldo A. C. Bianchi, R. L. D. Mántaras

引用次数: 1

A pose prediction approach to mobile objects in 2D costmaps 二维成本图中移动目标的姿态预测方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215314

M. Teixeira, Nicolas Dalmedico, A. Oliveira, L. Arruda, Flávio Neves

引用次数: 4

RHS simulator for robotic cognitive systems 机器人认知系统的RHS模拟器

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215306

J. P. R. Belo, R. Romero, Helio Azevedo

引用次数: 6

Towards robotic cognition using deep neural network applied in a goalkeeper robot 基于深度神经网络的守门员机器人认知研究

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8319463

I. J. da Silva, Claudio O. Vilão, Anna Helena Reali Costa, Reinaldo A. C. Bianchi

{"title":"Towards robotic cognition using deep neural network applied in a goalkeeper robot","authors":"I. J. da Silva, Claudio O. Vilão, Anna Helena Reali Costa, Reinaldo A. C. Bianchi","doi":"10.1109/SBR-LARS-R.2017.8319463","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8319463","url":null,"abstract":"Developing a vision system combined with a decision system for a humanoid robot, capable of playing soccer in the RoboCup domain, has been proved to be a challenging task. The computational limitations imposed by a embedded computer inside the robot and special conditions, such as the use of colored objects, led teams to use techniques based on color segmentation for vision and conditional statements for decision. However, the current league trend is to insert the robots into more and more realistic environments. This will require the robot to, given an image provided by its camera, to abstract all the information it needs to make a decision regardless of the environment. Most robotic vision systems at RoboCup relies on traditional computer vision techniques: thresholding; windowing; segmentation; and classification that requires hours of labeling to training and testing. This paper proposes a system that does not require to locate objects coordinates in the image - a deep neural network will identify most important features resulting as an output that is a decision. Results show that Deep Neural Network (DNNs) enabled the system to be more simple, robust (with less parameters to be set by hand) and achieved a performance that is compatible with the dynamics of the humanoid robot soccer. This system was tested in a real robot and simulator.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"2 6‐7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113955710","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: 6

Optimal design of flexible parallel robot based on kinematic and dynamic criteria 基于运动学和动力学准则的柔性并联机器人优化设计

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215276

Victor R. Bolzon, F. A. Lara-Molina

引用次数: 4

Strategies for search and rescue multirobot system based on place/transition Petri nets and RFID distributed database 基于地点/过渡Petri网和RFID分布式数据库的多机器人搜救系统策略

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215338

J. P. Fonseca, Carlos E. A. Silva, A. Sousa, J. Tavares

{"title":"Strategies for search and rescue multirobot system based on place/transition Petri nets and RFID distributed database","authors":"J. P. Fonseca, Carlos E. A. Silva, A. Sousa, J. Tavares","doi":"10.1109/SBR-LARS-R.2017.8215338","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215338","url":null,"abstract":"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 and protocols, software modeling, workflow and business processes, supply chains and flexible manufacturing systems. Petri nets inside RFID distributed database, or PNRD, is a formal data structure, which relates Petri net with radio frequency identification components. It was initially designed for logistical and manufacturing processes, facilitating automatic monitoring and traceability of spurious events to objects identified by a tag and passing through pre-defined locations where the antennas and readers are installed. On the scope of search and rescue operations on trails and crossings, it is proposed to use a modified PNRD to assist in the traceability of users and, with that, direct the robots' local search in case of people disappearance. The environment is then analyzed, and it is comprised of heterogeneous robotic agents from the viewpoint of modeling agent behavior, embedding models in microcontrollers and monitoring the system's evolution. The initial experimental results of the proposed methodology are presented and analyzed.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131691368","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

Autonomous 2D SLAM and 3D mapping of an environment using a single 2D LIDAR and ROS 使用单个2D激光雷达和ROS进行自主2D SLAM和3D环境映射

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215333

Manuel Gonzalez Ocando, N. Certad, Said Alvarado, A. Terrones

引用次数: 24

Tablets and humanoid robots as engaging platforms for teaching languages 平板电脑和人形机器人是教学语言的迷人平台

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215290

D. Tozadore, A. H. M. Pinto, C. M. Ranieri, M. R. Batista, R. Romero

引用次数: 7

Study on detection of boats using satellite imagery for use on unmanned aerial vehicles 无人机用卫星图像探测船只的研究

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215300

B. Silva, M. Nogueira, P. Alsina, Glauberto L. A. Albuquerque, João B. D. Dantas, A. Medeiros, G. S. Santiago

引用次数: 1

Design of fractional PID controller in time-domain for a fixed-wing unmanned aerial vehicle 固定翼无人机分数阶PID时域控制器设计

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215335

Ercllio Inacio Moreira, P. M. Shiroma

{"title":"Design of fractional PID controller in time-domain for a fixed-wing unmanned aerial vehicle","authors":"Ercllio Inacio Moreira, P. M. Shiroma","doi":"10.1109/SBR-LARS-R.2017.8215335","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215335","url":null,"abstract":"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 optimization of fractional PID controller can start from parameters obtained by any method developed to classical PID. Thereafter it has two additional parameters that adjust the integral and derivatives orders allowing us to fine tune the controller. In this work we developed a fractional PID to control the lateral channel of a small-fixed wing UAV based on a time-domain optimization criteria. The controller was validated using FlighGear flight simulator, using the SenecaII aircraft. The results show that the identification of the system model plays a crucial role in the performance, and that the approximation from fractional order to integer order can degrade the performance of the controller.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"263 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123471268","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: 5