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About

Born at Porto, Portugal, November 7, 1962, graduated with a degree in Electrical Engineering  from the University of Porto in 1986. He then pursued graduate studies at the University of Porto, completing a M.Sc. degree in Electrical Engineering - Systems in 1991 and a Ph.D. degree in Electrical Engineering in 1998. From1986 to 1998 he also worked as an assistant lecturer in the Electrical Engineering Department of the University of Porto. He is currently an Associated Professor in Electrical Engineering, developing his research within the Robotic and Intelligent Systems Centre of INESC TEC (Centre Coordinator). His main research areas are Process Control and Robotics.

Interest
Topics
Details

Details

015
Publications

2019

Map-Matching Algorithms for Robot Self-Localization: A Comparison Between Perfect Match, Iterative Closest Point and Normal Distributions Transform

Authors
Sobreira, H; Costa, CM; Sousa, I; Rocha, L; Lima, J; Farias, PCMA; Costa, P; Paulo Moreira, AP;

Publication
Journal of Intelligent and Robotic Systems: Theory and Applications

Abstract
The self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics navigation field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to the algorithms accuracy, robustness and computational efficiency. In this paper, we present a comparison of three of the most used map-matching algorithms applied in localization based on natural landmarks: our implementation of the Perfect Match (PM) and the Point Cloud Library (PCL) implementation of the Iterative Closest Point (ICP) and the Normal Distribution Transform (NDT). For the purpose of this comparison we have considered a set of representative metrics, such as pose estimation accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to the presence of outliers in the robots sensors data. The test results were retrieved using our ROS natural landmark public dataset, containing several tests with simulated and real sensor data. The performance and robustness of the Perfect Match is highlighted throughout this article and is of paramount importance for real-time embedded systems with limited computing power that require accurate pose estimation and fast reaction times for high speed navigation. Moreover, we added to PCL a new algorithm for performing correspondence estimation using lookup tables that was inspired by the PM approach to solve this problem. This new method for computing the closest map point to a given sensor reading proved to be 40 to 60 times faster than the existing k-d tree approach in PCL and allowed the Iterative Closest Point algorithm to perform point cloud registration 5 to 9 times faster. © 2018 Springer Science+Business Media B.V., part of Springer Nature

2019

Optimal Perception Planning with Informed Heuristics Constructed from Visibility Maps

Authors
Pereira, T; Moreira, A; Veloso, M;

Publication
Journal of Intelligent and Robotic Systems: Theory and Applications

Abstract
In this paper we consider the problem of motion planning for perception of a target position. A robot has to move to a position from where it can sense the target, while minimizing both motion and perception costs. The problem of finding paths for robots executing perception tasks can be solved optimally using informed search. In perception path planning, the solution when considering a straight line without obstacles is used as heuristic. In this work, we propose a heuristic that can improve the search efficiency. In order to reduce the node expansion using a more informed search, we use the robot Approximate Visibility Map (A-VM), which is used as a representation of the observability capability of a robot in a given environment. We show how the critical points used in A-VM provide information on the geometry of the environment, which can be used to improve the heuristic, increasing the search efficiency. The critical points allow a better estimation of the minimum motion and perception cost for targets in non-traversable regions that can only be sensed from further away. Finally, we show the contributed heuristic with improvements dominates the base PA* heuristic built on the euclidean distance, and then present the results of the performance increase in terms of node expansion and computation time. © 2018 Springer Science+Business Media B.V., part of Springer Nature

2018

Landmark detection for docking tasks

Authors
Ferreira, F; Sobreira, H; Veiga, G; Moreira, A;

Publication
Advances in Intelligent Systems and Computing

Abstract
For docking manoeuvres, the detection of the objects to dock needs to be precise as the minimum deviation from the objective may lead to the failure of this task. The objective of this article is to test possible ways to detect a landmark using a laser rangefinder for docking manoeuvres. We will test a beacon-based localisation algorithm and an algorithm based on natural landmarks already implemented, however, we will apply modifications to such methods. To verify the possibility of docking using these methods, we will conduct experiments with a real robot. © Springer International Publishing AG 2018.

2018

Robot localization system in a hard outdoor environment

Authors
Conceição, T; dos Santos, FN; Costa, P; Moreira, AP;

Publication
Advances in Intelligent Systems and Computing

Abstract
Localization and mapping of autonomous robots in a hard and unstable environment (Steep Slope Vineyards) is a challenging research topic. Typically, the commonly used dead reckoning systems can fail due to the harsh conditions of the terrain and the Global Position System (GPS) accuracy can be considerably noisy or not always available. One solution is to use wireless sensors in a network as landmarks. This paper evaluates a ultra-wideband time-of-flight based technology (Pozyx), which can be used as cost-effective solution for application in agricultural robots that works in harsh environment. Moreover, this paper implements a Localization Extended Kalman Filter (EKF) that fuses odometry with the Pozyx Range measurements to increase the default Pozyx Algorithm accuracy. © Springer International Publishing AG 2018.

2018

Flexible work cell simulator using digital twin methodology for highly complex systems in industry 4.0

Authors
Tavares, P; Silva, JA; Costa, P; Veiga, G; Moreira, AP;

Publication
Advances in Intelligent Systems and Computing

Abstract
The continuous evolution in manufacturing processes has attracted substantial interest from both scientific and research community, as well as from industry. Despite the fact that streamline manufacturing relies on automation systems, most production lines within the industrial environment lack a flexible framework that allows for evaluation and optimisation of the manufacturing process. Consequently, the development of a generic simulators able to mimic any given workflow represent a promising approach within the manufacturing industry. Recently the concept of digital twin methodology has been introduced to mimic the real world through a virtual substitute, such as, a simulator. In this paper, a solution capable of representing any industrial work cell and its properties is presented. Here we describe the key stages of such solution which has enough flexibility to be applied to different working scenarios commonly found in industrial environment. © 2018, Springer International Publishing AG.

Supervised
thesis

2017

Metodologia de Otimização em Dois Níveis para a Geração de Sinal Sub-Ótimo de Excitação e Estimação de Parâmetros de Sistemas Não Lineares Restritos

Author
Exupery Barros Costa

Institution
UP-FEUP

2017

Grasp planning for handoff between robotic manipulators

Author
David Miguel Ribeiro de Sousa

Institution
UP-FEUP

2017

Navegação e controlo de robôs móveis com atrelagem de reboques automática

Author
Francisco Abílio Rodrigues Guerra Ferreira

Institution
UP-FEUP

2017

Boccia Game simulator - Applications for training cerebral palsy patients

Author
José Diogo Machado Ribeiro

Institution
UP-FEUP

2017

Implementação em Chão de Fábrica do Sistema de Corte de Rolos Calandrados

Author
Paulo Miranda Rebelo

Institution
UP-FEUP