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Tópicos
de interesse
Detalhes

Detalhes

021
Publicações

2022

Localization and Mapping on Agriculture Based on Point-Feature Extraction and Semiplanes Segmentation From 3D LiDAR Data

Autores
Aguiar, AS; dos Santos, FN; Sobreira, H; Boaventura Cunha, J; Sousa, AJ;

Publicação
FRONTIERS IN ROBOTICS AND AI

Abstract
Developing ground robots for agriculture is a demanding task. Robots should be capable of performing tasks like spraying, harvesting, or monitoring. However, the absence of structure in the agricultural scenes challenges the implementation of localization and mapping algorithms. Thus, the research and development of localization techniques are essential to boost agricultural robotics. To address this issue, we propose an algorithm called VineSLAM suitable for localization and mapping in agriculture. This approach uses both point- and semiplane-features extracted from 3D LiDAR data to map the environment and localize the robot using a novel Particle Filter that considers both feature modalities. The numeric stability of the algorithm was tested using simulated data. The proposed methodology proved to be suitable to localize a robot using only three orthogonal semiplanes. Moreover, the entire VineSLAM pipeline was compared against a state-of-the-art approach considering three real-world experiments in a woody-crop vineyard. Results show that our approach can localize the robot with precision even in long and symmetric vineyard corridors outperforming the state-of-the-art algorithm in this context.

2022

Collision avoidance considering iterative Bézier based approach for steep slope terrains

Autores
Santos, LC; Santos, FN; Valente, A; Sobreira, H; Sarmento, J; Petry, M;

Publicação
IEEE ACCESS

Abstract

2022

FollowMe - A Pedestrian Following Algorithm for Agricultural Logistic Robots

Autores
Sarmento, J; Dos Santos, FN; Aguiar, AS; Sobreira, H; Regueiro, CV; Valente, A;

Publicação
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

2021

Particle filter refinement based on clustering procedures for high-dimensional localization and mapping systems

Autores
Aguiar, AS; dos Santos, FN; Sobreira, H; Cunha, JB; Sousa, AJ;

Publicação
ROBOTICS AND AUTONOMOUS SYSTEMS

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
FOURTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, ROBOT 2019, VOL 1

Abstract

Teses
supervisionadas

2021

Hand-free interaction framework for virtual reality applications

Autor
Pedro Miguel Ermida Monteiro

Instituição
UTAD

2016

Ambiente de desenvolvimento integrado para programação IEC 61131-3

Autor
Filipe Rafael dos Santos Ribeiro

Instituição
UP-FEUP