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About

Hugo Costelha started to work at Polytechnic Institute of Leiria, School of Technology and Management (IPLeiria\ESTG) in 2007. In 2010 he concluded his PhD in Electrical and Computer Engineering from Instituto Superior Técnico, Technical University of Lisbon, with the thesis "Robotic Tasks Modelling and Analysis Based on Discrete Event Systems". In 2012 he joined the ROBIS group at INESCTEC. Since 2013 he is an Adjunct Professor at IPLeiria\ESTG, focusing in the field of applied industrial robotics and field robotics, and working mainly in projects in partnership with companies.

Interest
Topics
Details

Details

Publications

2018

Technical database on robotics-based educational platforms for K-12 students

Authors
Costelha, H; Neves, C;

Publication
18th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2018

Abstract
Educational robotics has had an increasing growth in the past years, mainly in teaching Science, Technology, Engineering, Arts and Mathematics (STEAM). These robotics-based learning methods have since gone from home to be used every day in school learning activities. There still is, however, a big moat from the available resources and the effective use of these tools by teachers in K-12 schools. This study aims to gather in a single location a dataset of most available educational robotic platforms and related learning materials. The goal is to have this knowledge open, freely accessible and editable by manufactures and learning resources providers, helping to increase the adoption of educational robotics in STEAM education. © 2018 IEEE.

2015

Accuracy versus Complexity of MARG-based Filters for Remote Control Pointing Devices

Authors
Rasteiro, M; Costelha, H; Bento, L; Assuncao, P;

Publication
2015 IEEE INTERNATIONAL CONFERENCE ON CONSUMER ELECTRONICS - TAIWAN (ICCE-TW)

Abstract
Although most current pointing devices rely on relative rotation increments, absolute orientation allows for a more intuitive interaction. However, this is difficult to implement in low-energy consumption devices since accurate fusion filters are computationally intensive. This work presents a comparative study of low-complexity filters and state-of-the-art orientation tracking systems, enabling to access complexity versus portability. A relevant set of different MARG units currently available on the market were studied under systematic tests and human subjective user analysis. Experimental results show that it is possible to obtain similar accuracy using low-complexity filters to the ones observed with state-of-the-art orientation tracking systems.

2013

Localization and Navigation of a Mobile Robot in an Office-like Environment

Authors
Alves, P; Costelha, H; Neves, C;

Publication
PROCEEDINGS OF THE 2013 13TH INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS (ROBOTICA)

Abstract
This article focuses on the localization and navigation of a mobile differential robot in an indoor office-like environment. These are fundamental issues to service robotics, which is a branch with a strong market growth. The work implements a vision tracking system, environment mapping, route planning and navigation for an autonomous robot application inside services buildings. One goal of the methodology is its application with low cost equipment. The test bed chosen was a Pioneer P3-DX robot [16] in a service building, with an attached USB webcam, pointed at the ceiling to take advantage of the position of the light fixtures as natural landmarks. The robot location is estimated through two distinct probabilistic methods: a particle filter, when there is no information about the starting location of the robot, and the Kalman filter, given the convergence of the particle filter. Both methods use the detection of light fixtures together with the robot kinematics as information to estimate the pose. The mapping of the environment and its obstacles is obtained from the localization estimates and the information gathered by ultrasound sensors, representing the entire navigation space discretized in the form of an occupation grid. Planning the navigation path is determined by a simple search algorithm, namely the Wavefront algorithm, based on the information contained in the occupancy grid. For a given path, navigation is performed with obstacle avoidance using the virtual forces method. Replanning is used to recover from local minima situations.

Supervised
thesis

2017

Sistema de Alinhamento de Garrafas usando Visão

Author
Filipe Caetano

Institution
IPLeiria

2016

PN-RTE - Petri Net Robotic Task Execution

Author
Pedro Santos

Institution
Outra

2016

AGV para ambiente interior

Author
Cristiano Justino

Institution
IPLeiria

2015

Motion-based Remote Control Device for Interaction with Multimedia Content

Author
Miguel Rasteiro

Institution
IPLeiria