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Detalhes

Detalhes

024
Publicações

2021

Force control heuristics for surpassing pose uncertainty in mobile robotic assembly platforms

Autores
Moutinho, D; Rebelo, P; Costa, C; Rocha, L; Veiga, G;

Publicação
2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Abstract

2021

A* Based Routing and Scheduling Modules for Multiple AGVs in an Industrial Scenario

Autores
Santos, J; Rebelo, PM; Rocha, LF; Costa, P; Veiga, G;

Publicação
Robotics

Abstract
A multi-AGV based logistic system is typically associated with two fundamental problems, critical for its overall performance: the AGV’s route planning for collision and deadlock avoidance; and the task scheduling to determine which vehicle should transport which load. Several heuristic functions can be used according to the application. This paper proposes a time-based algorithm to dynamically control a fleet of Autonomous Guided Vehicles (AGVs) in an automatic warehouse scenario. Our approach includes a routing algorithm based on the A* heuristic search (TEA*—Time Enhanced A*) to generate free-collisions paths and a scheduling module to improve the results of the routing algorithm. These modules work cooperatively to provide an efficient task execution time considering as basis the routing algorithm information. Simulation experiments are presented using a typical industrial layout for 10 and 20 AGVs. Moreover, a comparison with an alternative approach from the state-of-the-art is also presented.

2021

On the development of a collaborative robotic system for industrial coating cells

Autores
Arrais, R; Costa, CM; Ribeiro, P; Rocha, LF; Silva, M; Veiga, G;

Publicação
The International Journal of Advanced Manufacturing Technology

Abstract

2020

Autonomous Robot Navigation for Automotive Assembly Task: An Industry Use-Case

Autores
Sobreira, H; Rocha, L; Lima, J; Rodrigues, F; Moreira, AP; Veiga, G;

Publicação
Advances in Intelligent Systems and Computing - Robot 2019: Fourth Iberian Robotics Conference

Abstract

2020

Applying Software Static Analysis to ROS: The Case Study of the FASTEN European Project

Autores
Neto, T; Arrais, R; Sousa, A; Santos, A; Veiga, G;

Publicação
Robot 2019: Fourth Iberian Robotics Conference - Advances in Robotics, Volume 1, Porto, Portugal, 20-22 November, 2019.

Abstract

Teses
supervisionadas

2020

Force based robotized assembly – mobile manipulator use case

Autor
Duarte Alão Magalhães Silva Moutinho

Instituição
UP-FEUP

2020

Open Scalable Production System: An Industry 4.0 Framework for Cyber-Physical Systems

Autor
Rafael Lirio Arrais

Instituição
UP-FEUP

2020

Desenvolvimento de uma solução de bin-picking robotizada

Autor
Nuno Alexandre Moreira do Rosário

Instituição
UP-FEUP

2020

Desenvolvimento de uma aplicação para geração automática de código para o PLC de controlo de elevadores

Autor
Cristina Lírio Ferreira

Instituição
UP-FEUP

2020

Implementação da estruturação automática de programas PLC de controlo de transportadores seguindo a metodologia do grupo Korber na Consoveyo S.A.

Autor
Paulo André Vaz Lopes

Instituição
UP-FEUP