2005
Autores
Sousa, AJ; Costa, PJ; Moreira, AP; Carvalho, AS;
Publicação
ETFA 2005: 10th IEEE International Conference on Emerging Technologies and Factory Automation, Vol 1, Pts 1 and 2, Proceedings
Abstract
Localization is essential to modern autonomous robots in order to enable effective completion of complex tasks over possibly large distances in low structured environments. In this paper, a Extended Kalman Filter is used in order to implement self-localization. This is done by merging odometry and localization information, when available. The used landmarks are colored poles that can be recognized while the robot moves around performing normal tasks. This paper models measurements with very different characteristics in distance and angle to markers and shows results of the self-localization method. Results of simulations and real robot tests are shown.
2000
Autores
Costa, P; Moreira, A; Sousa, A; Marques, P; Costa, P; Matos, A;
Publicação
ROBOCUP-99: ROBOT SOCCER WORLD CUP III
Abstract
This paper describes the 5dpo-2000 team, The paper will be divided into three main sections, corresponding to three main blocks: the Global Level, the Local Level and the Interface Level. These Levels, their subsystems and some implementation details will be described next.
2008
Autores
Goncalves, J; Lima, J; Oliveira, H; Costa, P;
Publicação
2008 IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, PROCEEDINGS
Abstract
This paper describes the sensor and actuator modeling of a realistic wheeled mobile robot simulator The motivation of developing such simulator is to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time. The mobile robot simulator was developed in Object Pascal with its dynamics based on the ODE (Open Dynamics Engine), allowing to develop robot software for a three wheel omnidirectional robot equipped with Infra-Red distance sensors and brushless motors.
2008
Autores
Oliveira, HP; Sousa, AJ; Moreira, AP; Costa, PJ;
Publicação
ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1
Abstract
Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.
2023
Autores
Pinto, VH; Ribeiro, FM; Brito, T; Pereira, AI; Lima, J; Costa, P;
Publicação
2023 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC
Abstract
The robot presented in this paper was developed with the main focus on participating in robotic competitions. Therefore, the subsystems here presented were developed taking into account performance criteria instead of simplicity. Nonetheless, this paper also presents background knowledge in some basic concepts regarding robot localization, navigation, color identification and control, all of which are key for a more competitive robot.
2022
Autores
Magalhães, SC; Moreira, AP; Costa, P;
Publicação
CoRR
Abstract
The access to the final selection minute is only available to applicants.
Please check the confirmation e-mail of your application to obtain the access code.