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About

I was born in  Leiria, Portugal, in July, 1985. I graduated with a M.Sc. degree in Electrical Engineering from the University of Porto in 2009. Since then, I have been developing my research within the Robotic and Intelligent Systems Unit of INESC-Porto (the Institute for Systems and Computer Engineering of Porto). My main research area is navigation and control of indoor autonomous vehicles.

Interest
Topics
Details

Details

001
Publications

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.

2017

Autonomous Interactive Object Manipulation and Navigation Capabilities for an Intelligent Wheelchair

Authors
Shafii, N; Farias, PCMA; Sousa, I; Sobreira, HM; Reis, LP; Moreira, AP;

Publication
Progress in Artificial Intelligence - 18th EPIA Conference on Artificial Intelligence, EPIA 2017, Porto, Portugal, September 5-8, 2017, Proceedings

Abstract
This paper aims to develop grasping and manipulation capability along with autonomous navigation and localization in a wheelchair-mounted robotic arm to serve patients. Since the human daily environment is dynamically varied, it is not possible to enable the robot to know all the objects that would be grasped. We present an approach to enable the robot to detect, grasp and manipulate unknown objects. We propose an approach to construct the local reference frame that can estimate the object pose for detecting the grasp pose of an object. The main objective of this paper is to present the grasping and manipulation approach along with a navigating and localization method that can be performed in the human daily environment. A grid map and a match algorithm is used to enable the wheelchair to localize itself using a low-power computer. The experimental results show that the robot can manipulate multiple objects and can localize itself with great accuracy. © Springer International Publishing AG 2017.

2017

Approach for supervising self-localization processes in mobile robots

Authors
Farias, PCMA; Sousa, I; Sobreira, H; Moreira, AP;

Publication
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Abstract
In this paper it will be presented a proposal of a supervisory approach to be applied to the global localization algorithms in mobile robots. One of the objectives of this work is the increase of the robustness in the estimation of the robot’s pose, favoring the anticipated detection of the loss of spatial reference and avoiding faults like tracking derail. The proposed supervisory system is also intended to increase accuracy in localization and is based on two of the most commonly used global feature based localization algorithms for pose tracking in robotics: Augmented Monte Carlo Localization (AMCL) and Perfect Match (PM). The experimental platform was a robotic wheelchair and the navigation used the sensory data from encoders and laser rangers. The software was developed using the ROS framework. The results showed the validity of the proposal, since the supervisor was able to coordinate the action of the AMCL and PM algorithms, benefiting the robot’s localization system with the advantages of each one of the methods. © Springer International Publishing AG 2017.

2016

2D Cloud Template Matching - A comparison between Iterative Closest Point and Perfect Match

Authors
Sobreira, H; Rocha, L; Costa, C; Lima, J; Costa, P; Paulo Moreira, AP;

Publication
2016 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2016)

Abstract
Self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to algorithms accuracy, robustness and computational efficiency. In this paper we present the comparison of two of the most used map-matching algorithm, which are the Iterative Closest Point and the Perfect Match. This category of algorithms are normally applied in localization based on natural landmarks. They were compared using an extensive collection of metrics, such as accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to outliers in the robots sensors data. The test results were performed in both simulated and real world environments.

2016

Mobile Robot Localization Based on a Security Laser: An Industry Scene Implementation

Authors
Sobreira, H; Paulo Moreira, AP; Costa, PG; Lima, J;

Publication
ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 2

Abstract
Usually the Industrial Automatic Guide Vehicles (AGVs) have two kind of lasers. One for navigation on the top and others for obstacle detection (security lasers). Recently, security lasers extended its output data with obstacle distance (contours) and reflectivity, that allows the development of a novel localization system based on a security laser. This paper addresses a localization system that avoids a dedicated laser scanner reducing the implementations cost and robot size. Also, performs a tracking system with precision and robustness that can operate AVGs in an industrial environment. Artificial beacons detection algorithm combined with a Kalman filter and outliers rejection method increase the robustness and precision of the developed system. A comparison between the presented approach and a commercial localization system for industry is presented. Finally, the proposed algorithms were tested in an industrial application under realistic working conditions.

Supervised
thesis

2016

Sistema de navegação para plataforma móvel omnidirecional

Author
Fernando Jorge Marques de Sá

Institution
UP-FEUP

2016

Plataforma robótica genérica para robô de logística, serviços ou vigilância com mecanismo de troca automática da bateria

Author
Ivo Emanuel Milheiro de Sousa

Institution
UP-FEUP