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Sobre

Sobre

Nascido na cidade do Porto a 6 de Abril  de 1973, licenciado em Engenharia electrotécnica e de computadores ramo de Informática e Sistemas pela Faculdade de Engenharia da Universidade do Porto (FEUP) em 1996, obteve o Mestrado em Engenharia electrotécnica e de computadores pela FEUP em 1999 no ramo Sistemas, tendo realizado uma tese de dissertação intitulada: "Controlo de uma equipa de robots móveis". Obteve o Doutoramento na FEUP na área de Controlo e Robótica, tendo realizado uma tese de dissertação intitulada “Planeamento Cooperativo de tarefas e trajetórias em Múltiplos Robôs”. É professor na FEUP  nas áreas de robótica e programação. É investigador sénior no INESC-TEC (Portugal), no Centro de Robótica Industrial e Sistemas Inteligentes, sendo as suas principais linhas de investigação na área dos robôs moveis especificamente no  controlo, planeamento de trajetórias e manipuladores. 

Tópicos
de interesse
Detalhes

Detalhes

008
Publicações

2022

Path Planning with Hybrid Maps for processing and memory usage optimisation

Autores
Santos, LC; Santos, FN; Aguiar, AS; Valente, A; Costa, P;

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

Abstract

2022

Bin Picking Approaches Based on Deep Learning Techniques: A State-of-the-Art Survey

Autores
Cordeiro, A; Rocha, LF; Costa, C; Costa, P; Silva, MF;

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

Abstract

2021

Micromouse 3D simulator with dynamics capability: a Unity environment approach

Autores
Zawadniak, PVF; Piardi, L; Brito, T; Lima, J; Costa, P; Monteiro, ALR; Costa, P; Pereira, AI;

Publicação
SN APPLIED SCIENCES

Abstract
The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams' duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project's development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community.

2021

Multi AGV Coordination Tolerant to Communication Failures

Autores
Matos, D; Costa, P; Lima, J; Costa, P;

Publicação
ROBOTICS

Abstract
Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.

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.

Teses
supervisionadas

2021

Human Operator Tracking System for Safe Industrial Collaborative Robotics

Autor
Eduardo João Caldas da Fonseca

Instituição
UP-FEUP

2021

Multi AGV Communication Failure Tolerant Industrial Supervisory System

Autor
Ana Sofia Poças da Silva Cruz

Instituição
UP-FEUP

2021

Previsão de compras através de link prediction em redes bipartidas e unipartidas o caso prático da Amazon

Autor
Inês Silva Fernandes

Instituição
UP-FEP

2021

Leveraging Supplier Selection Within Supply Chain Management Under Uncertainty

Autor
Thomy Eko Saputro

Instituição
UP-FEUP

2021

Efficiency and Financial Sustainability of Water Supply and Sanitation Services in Brazilian Municipalities

Autor
Marco Tourinho Gama

Instituição
UP-FEUP