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

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Planar target following control scheme based on path generation for nonholonomic terrestrial robots 基于路径生成的非完整地面机器人平面目标跟踪控制方案
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215278
A. Martins, P. Alsina, R. C. Pereira
{"title":"Planar target following control scheme based on path generation for nonholonomic terrestrial robots","authors":"A. Martins, P. Alsina, R. C. Pereira","doi":"10.1109/SBR-LARS-R.2017.8215278","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215278","url":null,"abstract":"This paper addresses the problem of controlling the posture of a dual wheeled mobile terrestrial robot, with movement constraints with the objective of detect and follow a planar moving target, using a single fixed vision sensor. The main challenge addressed is to keep the robot oriented in the same direction as the target. In order to accomplish it, a computationally simple control algorithm is proposed in order to generate maneuvers to reduce the orientation error between the robot and the target in the long run. The main contribution of the algorithm is to combine path generation and path following strategies that are suited to the constraints of the robot, and that can be switched according to the situation of the robot at each moment in order to keep the visibility of the target.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"19 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":"122120514","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
Offline and online synchronization of position derived signals for identification of dynamic systems 用于动态系统辨识的位置衍生信号的离线和在线同步
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215318
Leonam S. D. Pecly, Marcelo L. O. Souza, K. Hashtrudi-Zaad
{"title":"Offline and online synchronization of position derived signals for identification of dynamic systems","authors":"Leonam S. D. Pecly, Marcelo L. O. Souza, K. Hashtrudi-Zaad","doi":"10.1109/SBR-LARS-R.2017.8215318","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215318","url":null,"abstract":"System dynamics identification has an important role in engineering, such as for modeling and simulation of dynamic mechanisms and controller design. The accuracy of estimation certainly depends on how the input variables used for estimation are obtained and synchronized in time. In this way, the incorrect synchronization of position derived signals might become an issue. In this paper, the offline and online synchronization of position derived signals for identification of dynamic systems is studied. Seven possible combinations of backward, forward and central difference techniques are utilized for computing velocity and acceleration. Simulations of twenty sets of parameters for mass-damper-spring system are used to identify the best way to synchronize the data. The performance of the possibilities are evaluated in terms of parameter convergence and force prediction.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"96 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":"115315322","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
Calibration and multi-sensor fusion for on-road obstacle detection 道路障碍物检测的标定与多传感器融合
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215269
L. Rosero, F. Osório
{"title":"Calibration and multi-sensor fusion for on-road obstacle detection","authors":"L. Rosero, F. Osório","doi":"10.1109/SBR-LARS-R.2017.8215269","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215269","url":null,"abstract":"This article proposes a method for sensor calibration and obstacle detection in urban environments. The radar and 3D LIDAR were calibrated with relation to a stereo camera. Data from the radar, 3D LIDAR and stereo camera sensors were fused for the detection of obstacles and determination of their shapes. The data collected using both camera and 3D LIDAR are a point cloud that is segmented taking the radar detections as obstacle hypotheses. This sensor fusion approach decreases the processing, improves the obstacle detection and reduces false positives.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"3 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":"121083480","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: 9
Robust recursive lateral control for autonomous vehicles subject to parametric uncertainties 具有参数不确定性的自动驾驶汽车鲁棒递归横向控制
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215326
F. Barbosa, L. Marcos, J. N. Bueno, V. Grassi, M. Terra
{"title":"Robust recursive lateral control for autonomous vehicles subject to parametric uncertainties","authors":"F. Barbosa, L. Marcos, J. N. Bueno, V. Grassi, M. Terra","doi":"10.1109/SBR-LARS-R.2017.8215326","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215326","url":null,"abstract":"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 for autonomous vehicles subject to parametric uncertainties, the Robust Recursive Regulator was used and compared to a PI controller. Uncertainties were assumed to be based on velocity profile. Simulation results showed that the Robust Recursive Regulator presented smaller tracking errors and smoother driving, which demonstrates that it is a very promising control system for practical applications.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"317 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":"127005881","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: 0
Image classification system based on deep learning applied to the recognition of traffic signs for intelligent robotic vehicle navigation purposes 基于深度学习的图像分类系统应用于智能机器人车辆导航的交通标志识别
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215287
Diego Renan Bruno, F. Osório
{"title":"Image classification system based on deep learning applied to the recognition of traffic signs for intelligent robotic vehicle navigation purposes","authors":"Diego Renan Bruno, F. Osório","doi":"10.1109/SBR-LARS-R.2017.8215287","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215287","url":null,"abstract":"This paper presents a system for classifying images based on Deep Learning and applied in the recognition of traffic signals aiming to increase road safety increased road safety using autonomous and semi-autonomous intelligent robotic vehicles. This Advanced Driver Assistance System (ADAS) is a system created to automate vehicles, but also to help the human drivers to increase safety and the respect of traffic rules while driving the car. The system must be able to classify several different traffic signs (e.g. maximum speed allowed, stop, slow down, turn ahead, pedestrian), thus helping to make navigation within the local traffic rules. The obtained results are promising and very satisfactory, where we get 97.24% of test accuracy in a well known traffic sign benchmark dataset (INI — German Traffic Sign Benchmark).","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"1 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":"130155808","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: 21
Donnie robot: Towards an accessible and educational robot for visually impaired people 唐尼机器人:面向视障人士的无障碍教育机器人
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215273
Guilherme H. M. Marques, Daniel C. Einloft, Augusto Bergamin, Joice A. Marek, R. Maidana, M. B. Campos, I. Manssour, Alexandre M. Amory
{"title":"Donnie robot: Towards an accessible and educational robot for visually impaired people","authors":"Guilherme H. M. Marques, Daniel C. Einloft, Augusto Bergamin, Joice A. Marek, R. Maidana, M. B. Campos, I. Manssour, Alexandre M. Amory","doi":"10.1109/SBR-LARS-R.2017.8215273","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215273","url":null,"abstract":"Robotics has been used to draw the attention of young students to computing and engineering. Unfortunately, most hardware and software resources used to teach programming and robotics are not adequate for students with visual impairment (VI). For instance, most programming environments for young students are highly visual and the commercial robotics kits were not built for people with VI. This paper describes the main design requirements so that both the proposed robot hardware and the software can also be used by people with VI. The hardware part is the focus of this paper, a robot called Donnie. It consists of open hardware, a design with low-cost and easy to find parts, and a 3D printed structure. Our main contribution is the presentation of a low-cost Arduino-based robot, compatible with Player robotic framework and integrated with sound feedback and text-to-speech.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"27 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":"132095511","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: 9
Towards comparison of Kalman filter methods for localisation in underwater environments 水下环境下卡尔曼滤波定位方法的比较
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215339
Romulo Thiago Silva da Rosa, G. B. Zaffari, P. Evald, Paulo L. J. Drews-Jr, S. Botelho
{"title":"Towards comparison of Kalman filter methods for localisation in underwater environments","authors":"Romulo Thiago Silva da Rosa, G. B. Zaffari, P. Evald, Paulo L. J. Drews-Jr, S. Botelho","doi":"10.1109/SBR-LARS-R.2017.8215339","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215339","url":null,"abstract":"Kalman Filters are utilised for filtering and estimation in a large set of application. Here, this methodology is utilised for trajectory estimation of an underwater robot. In this work, three Kalman Filter methods are proposed for trajectory estimation. There are: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Central Difference Kalman Filter (CDKF). Simulation results are presented and discussed, where UKF and CDKF presented better performance than EKF with data that were collected from our dataset. However, UKF had a slightly smaller execution time than CDKF with almost the same error.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"19 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":"122379863","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
Collaborative quadricopter-mobile robots ground scan using ARTAGS visual pose estimation 基于ARTAGS视觉姿态估计的协同四旋翼移动机器人地面扫描
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215327
Á. Cantieri, R. Rohrich, A. Oliveira, J. A. Fabro, M. A. Wehrmeister
{"title":"Collaborative quadricopter-mobile robots ground scan using ARTAGS visual pose estimation","authors":"Á. Cantieri, R. Rohrich, A. Oliveira, J. A. Fabro, M. A. Wehrmeister","doi":"10.1109/SBR-LARS-R.2017.8215327","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215327","url":null,"abstract":"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 applications of this kind. This work proposes the use of an autonomous quadri-copter and “dummy” small ground robots on a collaborative task that uses virtual reality tags to estimate robot positions and orientations on a simulation scene and provide information for their control. The robots are “dummy” because do not have any embedded odometer. The position and orientation data are achieved by the drone and transmitted via ROS to a computational system that runs a PID control for each individual robot. The simulation runs on a V-REP scene and use a C++ code to control the mobile robots moves.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"23 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":"123533497","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
Stability comparison for a suspended load by one and two UAVs 一架和两架无人机悬载稳定性比较
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8319464
I. H. Pizetta, A. Brandão, M. Sarcinelli-Filho
{"title":"Stability comparison for a suspended load by one and two UAVs","authors":"I. H. Pizetta, A. Brandão, M. Sarcinelli-Filho","doi":"10.1109/SBR-LARS-R.2017.8319464","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8319464","url":null,"abstract":"This work compares the performance of two loadcarrying systems using unmanned aerial vehicles (UAVs), one considering just one UAV carrying the load and the other considering that the load is carried by two UAVs. In both cases the load is suspended by cables and can oscillate freely in the 3D space, according to its dynamics. The modeling was developed using the equations of Euler-Lagrange and a nonlinear controller based on feedback linearization is adopted to guide the UAVs to accomplish the flight tasks rejecting the disturbance caused by the load.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"44 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":"123000547","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
Progressive saliency-oriented object localization based on interlaced random color distance maps 基于交错随机颜色距离图的渐进式显著性目标定位
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215293
M. Lie, Hugo Vieira Neto, H. Gamba, G. Borba
{"title":"Progressive saliency-oriented object localization based on interlaced random color distance maps","authors":"M. Lie, Hugo Vieira Neto, H. Gamba, G. Borba","doi":"10.1109/SBR-LARS-R.2017.8215293","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215293","url":null,"abstract":"The human visual system employs an information selection mechanism, visual attention, so that higher-level cognitive processes can be restricted to a potentially important subset of the incoming information. This mechanism is amenable to efficient computational implementation and, consequently, it has been incorporated into many technological applications. Among these applications is autonomous mobile robotics, in which efficient vision systems are paramount given their limited computational resources and energy autonomy requirements. Robots have employed visual attention for directing gaze and accelerating object detection, among other tasks. However, it has always been approached as a single rigid input-output stage. In this work, a bottom-up, unsupervised visual attention model based on progressive processing is presented. It adopts an incremental approach, in which a rough output is rapidly computed, and then successively refined, providing graceful-degradation, which might be particularly useful by robots based on the subsumption architecture. Progressive processing is achieved at a pixel saliency estimation level by adopting a method based on color distance to random pixel samples, and at a scale level through bidimensional interlacing. The proposed approach is assessed in the SIVAL dataset, and compared to other two visual attention models commonly employed in robot vision, presenting highly competitive performance.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"87 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":"122220003","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: 0
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