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.

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.

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.

Abstract

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Abstract
This paper addresses the problem of collision avoidance along specified paths in multiple mobile robot systems. These collisions can be represented by points of intersection or coincident segments between paths. The proposal of the work is to model these segments where the collision is possible through fictitious points. In addition, the advantages of the nonlinear versus mixed integer linear formulation, widely used in the literature, are verified. Comparisons were made and it’s proved the superiority of the proposed method with respect to complexity, computational time and inclusion of nonlinear constraints. Moreover, the simulations performed using this technique indicate that the method is promissory for applications in real systems. © Springer International Publishing AG 2018.