2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)最新文献_第6页

A 2D/3D environment perception approach applied to sensor-based navigation of automated driving systems 一种应用于自动驾驶系统传感器导航的2D/3D环境感知方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215298

Danilo Alves de Lima, A. Victorino, Arthur De Miranda Neto

引用次数: 2

RRT-Edge: A compact approach for path planning of mobile robots RRT-Edge:一种紧凑的移动机器人路径规划方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215282

Alana de Santana Correia, Stephanie Kamarry, L. Molina, E. Carvalho, E. Freire

引用次数: 2

Seam tracking and welding bead geometry analysis for autonomous welding robot 自主焊接机器人焊缝跟踪与焊缝几何分析

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215324

Luciane B. Soares, Á. Weis, R. N. Rodrigues, Paulo L. J. Drews-Jr, B. Guterres, S. Botelho, N. L. Filho

引用次数: 22

A study on the effect of human proxemics rules in human following by a robot team 人体接近学规则在机器人队伍人体跟随中的作用研究

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215316

M. R. Batista, D. Macharet, R. Romero

引用次数: 2

A systematic mapping for the scenario of non-urban autonomous vehicle cooperation systems 非城市自动驾驶车辆协同系统场景的系统映射

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215294

Robison Cris Brito, J. F. Loureiro, E. Todt, Roberto Pereira

{"title":"A systematic mapping for the scenario of non-urban autonomous vehicle cooperation systems","authors":"Robison Cris Brito, J. F. Loureiro, E. Todt, Roberto Pereira","doi":"10.1109/SBR-LARS-R.2017.8215294","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215294","url":null,"abstract":"The cooperation between autonomous vehicles is receiving a growing attention from the academic literature. As a promising field, there is a need for studies that can provide both an overview and a structured analysis of the present literature. This paper presents a systematic mapping for the scenario of systems with cooperation of non-urban vehicles, presenting the steps for the accomplishment of that, the definition of research questions and search terms, selection of papers, categorization and retrieval of relevant information. For the present study, it was observed that approximately 10% of recovered articles deal with systems of vehicle cooperation, of which most publications occurred in the last year (2016), and the main research centers in this area are located in The United States, China and Italy, with isolated research from a few other countries. With this systematic mapping, it was possible to identify open space for a new research in the scenario of Vehicle Cooperation Systems, focused on nonurban vehicles, particularly using a group of UAVs applied to precision agriculture, as well as identifying the most promising technologies for this development. Finally, the main congresses / events to seek out / publish papers about this topic were presented at the end of this work.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"50 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":"125250955","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

Non-linear model predictive formation control applied to non-holonomic autonomous mobile robots 非线性模型预测编队控制在非完整自主移动机器人中的应用

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215304

A. Tavares, S. Madruga, A. Brito, T. Nascimento

引用次数: 1

Obstacle avoidance using stereo-based generic obstacle tracking 基于立体的通用障碍物跟踪避障方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215284

Daniela A. Ridel, P. Shinzato, Ana Rita Pereira, V. Grassi, D. Wolf

引用次数: 3

Cognitive and robotic systems: Speeding up integration and results 认知和机器人系统:加速整合和结果

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215337

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

{"title":"Cognitive and robotic systems: Speeding up integration and results","authors":"Helio Azevedo, J. P. R. Belo, R. Romero","doi":"10.1109/SBR-LARS-R.2017.8215337","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215337","url":null,"abstract":"Nowadays, state-of-the-art robots are capable of millimetric motion accuracy by performing highly repetitive tasks, however, as a constraint they operate in highly structured environments where objects are in known and predictable locations. Thus, it is not surprising that robots are more often used in high-volume operations such as painting and welding, rather than operations where diversity of actions, direct contact with humans, and variability of the environment meet fundamental requirements. Social robotics is an area of research that aims to make viable the direct interaction of robots with humans in unstructured environments. It uses several techniques, such as, machine learning, cognitive modeling, artificial intelligence, knowledge representation and ontology. One factor that compromises the rapid evolution of social robotics is the difficulty in modeling cognitive systems due to the volume and complexity of information produced by a chaotic world full of sensory information. In addition, the validation of results with the use of real environments involving buildings, streets and people presents a high cost of installation and maintenance. This article offers two strategies to speed up the evolution of social robotics. The first involves the definition of OntCog ontology that models the senses captured by the agent robotic sensors. This modeling facilitates the reproduction of experiments associated with cognitive models and the comparison among different implementations. The second is associated with the development of Robot House Simulator (RHS), which provides an environment where a robot and a human character can interact socially with increasing levels of cognitive processing. An unprecedented feature of this simulator is to provide information about all the senses of the robot, actually only the sense of vision or touch has been considered in the existing robotic simulators.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"7 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":"126137584","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

An embedded system design for a two-axis camera platform control used in unmanned aerial vehicles 一种用于无人机的两轴摄像机平台控制的嵌入式系统设计

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215289

Franco P. L. Franco, D. Loubach, A. Fioravanti

{"title":"An embedded system design for a two-axis camera platform control used in unmanned aerial vehicles","authors":"Franco P. L. Franco, D. Loubach, A. Fioravanti","doi":"10.1109/SBR-LARS-R.2017.8215289","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215289","url":null,"abstract":"The use of unmanned aerial vehicles (UAVs) to perform various tasks such as product delivery, aerial photography, surveillance and precision agriculture has become increasingly common. Most of the UAV applications use cameras to carry out these tasks. Generally, the cameras are stabilized by platforms known as gimbals, i.e. camera platform, which in turn must react to UAV attitude to minimize the disturbance in the camera. Therefore, the gimbal control becomes essential to allow capturing stable pictures and videos with almost no image processing. Considering this context, this paper introduces a low-cost (i.e., ≈ USD 110) embedded system design and implementation for a two-axis camera platform control used in UAVs. The proposed implementation takes into account the background of three different domains: mechanical, computing and electronics. The main goal is to have a gimbal able to stabilize a camera, with respect to UAV attitude, using permanent magnetic synchronous motors as actuators. Our design also uses an inertial measurement unit (IMU) as a sensor and a proportional-integral-derivative (PID) controller. Simulated and experimental results show that the developed embedded system was able to successfully respond to a simulated UAV flight envelope, reacting in real-time and minimizing those disturbances.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"159 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":"114539832","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

Distributed publisher-subscriber architectures performance for robotics virtual reality applications: A case study on MQTT 机器人虚拟现实应用程序的分布式发布者-订阅者体系结构性能:MQTT案例研究

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215340

Leandro R. Mattioli, D. S. Souza, M. J. Cunha, Alexandre Cardoso

{"title":"Distributed publisher-subscriber architectures performance for robotics virtual reality applications: A case study on MQTT","authors":"Leandro R. Mattioli, D. S. Souza, M. J. Cunha, Alexandre Cardoso","doi":"10.1109/SBR-LARS-R.2017.8215340","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215340","url":null,"abstract":"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 improvements to the robotics field. This paper presents an alternative for developing such distributed and evolutive applications by defining a minimalistic set of commands for physical and virtual robots and integrating them with a publisher-subscriber network, commonly used with Internet of Things. This allows several configurations, depending on the available modules and on which elements subscribe to each topic. Thus, we discuss the performance of a small network comprising 3 agents: one input application acting as a real-time publisher and two subscribers associated with a physical and a virtual robot. All machine clocks are synchronized with the IEEE 1588-2008 protocol and the application packages are stored with timestamps on log files for evaluating metrics such as the package transmission rate and the latency. Results indicate that the overall performance on a local area network for this kind of application is beyond the physical robot's maximum update rate. Further tests might consider other time syncing mechanisms, wireless networks and different configurations with more network nodes.","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":"115397243","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