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Detalhes

Detalhes

002
Publicações

2020

Path Planning for ground robots in agriculture: a short review

Autores
Santos, L; dos Santos, FN; Solteiro Pires, EJ; Valente, A; Costa, PL; Magalhães, S;

Publicação
2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Abstract

2020

Omnidirectional robot modeling and simulation

Autores
Magalhaes, SA; Paulo Moreira, A; Costa, P;

Publicação
2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

Abstract
A robots simulation system is a basis need for any robotics application. With it, developers teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However, build these simulation environments is usually a time-consuming work, and when considering robot fleets, the simulation reveals to be computing expensive. With it, developers building teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. An omnidirectional robot from the 5DPO robotics soccer team served to test this approach. The modeling issue was divided into two steps: modeling the motor's non-linear features and modeling the general behavior of the robot. A proper fitting of the robot was reached, considering the velocity robot's response. © 2020 IEEE.

2019

Path Planning approach with the extraction of Topological Maps from Occupancy Grid Maps in steep slope vineyards

Autores
Santos, L; Santos, FN; Magalhaes, S; Costa, P; Reis, R;

Publicação
19th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2019

Abstract
Robotic platforms are being developed for precision agriculture, to execute repetitive and long term tasks. Autonomous monitoring, pruning, spraying and harvesting are some of these agricultural tasks, which requires an advanced path planning system aware of maximum robot capabilities (mobile platform and arms), terrain slopes and plant/fruits position. The state of the art path planning systems have two limitations: are not optimized for large regions and the path planning is not aware of agricultural tasks requirements. This work presents two solutions to overcome these limitations. It considers the VGR2TO (Vineyard Grid Map to Topological) approach to extract from a 2D grid map a topological map, to reduce the total amount of memory needed by the path planning algorithm and to reduce path search space. Besides, introduces an extension to the chosen algorithm, the Astar algorithm, to ensure a safe path and a maximum distance from the vine trees to enable robotic operations on the tree and its fruits. © 2019 IEEE.

2019

Metbots: Metabolomics Robots for Precision Viticulture

Autores
Martins, RC; Magalhães, S; Jorge, P; Barroso, T; Santos, F;

Publicação
Progress in Artificial Intelligence - Lecture Notes in Computer Science

Abstract

2019

Path Planning Algorithms Benchmarking for Grapevines Pruning and Monitoring

Autores
Magalhães, SA; dos Santos, FN; Martins, RC; Rocha, LF; Brito, J;

Publicação
Progress in Artificial Intelligence - Lecture Notes in Computer Science

Abstract