Details
Name
Paulo José CostaCluster
Industrial and Systems EngineeringRole
Senior ResearcherSince
01st June 2009
Nationality
PortugalCentre
Robotics in Industry and Intelligent SystemsContacts
+351220413317
paulo.j.costa@inesctec.pt
2020
Authors
Pinto, VH; Gonçalves, J; Costa, P;
Publication
Applied System Innovation
Abstract
2020
Authors
Moreira, TFM; Lima, J; Costa, P; Cunha, M;
Publication
Advances in Intelligent Systems and Computing
Abstract
Ultrasonic sensors offers attractive features at an affordable cost. The main problem faced by the use of these devices is that the data obtained are not so easy to interpret, restricting their efficiency. This paper describes a binaural sensor system that is able to determine the coordinates of an object or a target in a two-dimensional space, focusing on mathematical and signal processing techniques to provide accurate measurements and increase the system reliability. The proposed work consists only of low cost components, which aims to demonstrate that improvement is possible. Experimental tests, performed in different scenarios, reported good accuracy and repeatability of the measurements. © 2020, Springer Nature Switzerland AG.
2019
Authors
Pinto, VH; Monteiro, JM; Gonçalves, J; Costa, P;
Publication
Robotics in Education - Advances in Intelligent Systems and Computing
Abstract
2019
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
Authors
Eckert, L; Piardi, L; Lima, J; Costa, P; Valente, A; Nakano, A;
Publication
Advances in Intelligent Systems and Computing
Abstract
Robotics competitions are increasing in complexity and number challenging the researchers, roboticists and enthusiastic to address the robot applications. One of the well-known competition is the micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics, path planning, optimization, among others. A simulation can be used to speed-up the development and testing algorithms but faces the gap between the reality in the dynamics behaviour. In this paper, an open source realistic simulator tool is presented where the dynamics of the robot, the slippage of the wheels, the friction and the 3D visualization can be found. The complete simulator with the robot model and an example is available that allow the users to test, implement and change all the environment. The presented results validate the proposed simulator. © 2019, Springer Nature Switzerland AG.
Supervised Thesis
2019
Author
Diana Alves Lobo Guimarães
Institution
UP-FEUP
2019
Author
Vítor Hugo Machado Oliveira Pinto
Institution
UP-FEUP
2019
Author
António Maria Amorim Aguiar de Araújo Correia
Institution
UP-FEUP
2018
Author
Sandro Augusto Costa Magalhães
Institution
UP-FEUP
2018
Author
Erica da Cunha Gomes
Institution
UP-FEUP
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