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029
Publications

2021

Autonomous High-Resolution Image Acquisition System for Plankton

Authors
Resende, J; Barbosa, P; Almeida, J; Martins, A;

Publication
2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Abstract

2021

Emergency Landing Spot Detection Algorithm for Unmanned Aerial Vehicles

Authors
Loureiro, G; Dias, A; Martins, A; Almeida, J;

Publication
Remote Sensing

Abstract
The use and research of Unmanned Aerial Vehicle (UAV) have been increasing over the years due to the applicability in several operations such as search and rescue, delivery, surveillance, and others. Considering the increased presence of these vehicles in the airspace, it becomes necessary to reflect on the safety issues or failures that the UAVs may have and the appropriate action. Moreover, in many missions, the vehicle will not return to its original location. If it fails to arrive at the landing spot, it needs to have the onboard capability to estimate the best area to safely land. This paper addresses the scenario of detecting a safe landing spot during operation. The algorithm classifies the incoming Light Detection and Ranging (LiDAR) data and store the location of suitable areas. The developed method analyses geometric features on point cloud data and detects potential right spots. The algorithm uses the Principal Component Analysis (PCA) to find planes in point cloud clusters. The areas that have a slope less than a threshold are considered potential landing spots. These spots are evaluated regarding ground and vehicle conditions such as the distance to the UAV, the presence of obstacles, the area’s roughness, and the spot’s slope. Finally, the output of the algorithm is the optimum spot to land and can vary during operation. The proposed approach evaluates the algorithm in simulated scenarios and an experimental dataset presenting suitability to be applied in real-time operations.

2021

LiDAR-based Power Assets Extraction based on Point Cloud Data

Authors
Amado, M; Lopes, F; Dias, A; Martins, A;

Publication
IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021, Santa Maria da Feira, Portugal, April 28-29, 2021

Abstract

2021

Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications

Authors
Moura, A; Antunes, J; Dias, A; Martins, A; Almeida, J;

Publication
IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021, Santa Maria da Feira, Portugal, April 28-29, 2021

Abstract

2020

Teaching robotics with a simulator environment developed for the autonomous driving competition

Authors
Fernandes, D; Pinheiro, F; Dias, A; Martins, A; Almeida, J; Silva, E;

Publication
Advances in Intelligent Systems and Computing

Abstract
Teaching robotics based on challenge of our daily lives is always more motivating for students and teachers. Several competitions of self-driving have emerged recently, challenging students and researchers to develop solutions addressing the autonomous driving systems. The Portuguese Festival Nacional de Robótica (FNR) Autonomous Driving Competition is one of those examples. Even though the competition is an exciting challenger, it requires the development of real robots, which implies several limitations that may discourage the students and compromise a fluid teaching process. The simulation can contribute to overcome this limitation and can assume an important role as a tool, providing an effortless and costless solution, allowing students and researchers to keep their focus on the main issues. This paper presents a simulation environment for FNR, providing an overall framework able to support the exploration of robotics topics like perception, navigation, data fusion and deep learning based on the autonomous driving competition. © Springer Nature Switzerland AG 2020.

Supervised
thesis

2021

In situ real-time Zooplankton Detection and Classification

Author
PEDRO NUNO DE QUEIRÓS SALCEDAS DE CARVALHO GERALDES

Institution
IPP-ISEP

2020

Sistema Autónomo de Aquisição de Imagens de Alta Resolução de Plâncton

Author
JOÃO FILIPE AMORIM RESENDE

Institution
IPP-ISEP

2020

Interface Homem-Máquina Multi Robótica em Unity3D

Author
RUI RODRIGO SERRA FIGUEIRINHA

Institution
IPP-ISEP

2020

Sistema Autónomo de Recolha de Informação Genética para Meio Aquático

Author
PEDRO EMANUEL JORGE BARBOSA

Institution
IPP-ISEP

2019

IMAGE ENHANCEMENT FOR UNDERWATER MINING APPLICATIONS

Author
SHRAVAN DEV RAJESH

Institution
IPP-ISEP