19 documents found, page 1 of 2
One-year study of airborne sugar compounds: cross-interpretation with other che...
Oduber, F.; Calvo, A.I.; Castro, A.; Alves, C.; Blanco-Alegre, C.; Fernández-González, D.; Barata, J.; Calzolai, G.; Nava, S.; Lucarelli, F.; Nunes, T.The daily evolution of seventeen sugar compounds (seven saccharides, seven alcohol-saccharides and three anhydrosaccharides) in atmospheric aerosol samples collected between 9 March 2016 and 14 March 2017 was studied in León (Spain). The main links between the concentration of sugar compounds and various chemical species, pollen, fungal spores and meteorological conditions were investigated. The results showed ...
Human-aware navigation for autonomous mobile robots for intra-factory logistics
Marques, F.; Gonçalves, D.; Barata, J.; Santana, P.This paper presents a human-aware navigation system for mobile robots targeted to cooperative assembly in intra-factory logistics scenarios. To improve overall efficiency of the operator-robot ensemble, assembly stations and operators are modelled as cost functions in a layered cost map supporting the robot navigation system. At each new sensory update, the system uses each operator’s estimated location to affe...
Laser-based obstacle detection at railway level crossings
Amaral, V.; Marques, F.; Lourenço, A.; Barata, J.; Santana, P.This paper presents a system for obstacle detection in railway level crossings from 3D point clouds acquired with tilting 2D laser scanners. Although large obstacles in railway level crossings are detectable with current solutions, the detection of small obstacles remains an open problem. By relying on a tilting laser scanner, the proposed system is able to acquire highly dense and accurate point clouds, enabli...
A cooperative multi-robot team for the surveillance of shipwreck survivors at sea
Mendonça, R.; Marques, M. M.; Marques, F.; Lourenço, A.; Pinto, E.; Santana, P.; Coito, F.; Lobo, V.; Barata, J.The sea as a very extensive area, renders difficult a pre-emptive and long-lasting search for shipwreck survivors. The operational cost for deploying manned teams with such proactive strategy is high and, thus, these teams are only reactively deployed when a disaster like a shipwreck has been communicated. To reduce the involved financial costs, unmanned robotic systems could be used instead as background surve...
Sediment sampling in estuarine mudflats with an aerial-ground robotic team
Deusdado, P.; Guedes, M.; Silva, A.; Marques, F.; Pinto, E.; Rodrigues, P.; Lourenço, A.; Mendonça, R.; Santana, P.; Corisco, J.; Almeida, S. M.This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is...
An aerial-ground robotic team for systematic soil and biota sampling in estuari...
Deusdado, P.; Pinto, E.; Guedes, M.; Marques, F.; Rodrigues, P.; Lourenço, A.; Mendonça, R.; Silva, A.; Santana, P.; Corisco, J.; Almeida, M.This paper presents an aerial-ground field robotic team, designed to collect and transport soil and biota samples in estuarine mudflats. The robotic system has been devised so that its sampling and storage capabilities are suited for radionuclides and heavy metals environmental monitoring. Automating these time-consuming and physically demanding tasks is expected to positively impact both their scope and freque...
On exploiting haptic cues for self-supervised learning of depth-based robot nav...
Baleia, J.; Santana, P.; Barata, J.This article presents a method for online learning of robot navigation affordances from spatiotemporally correlated haptic and depth cues. The method allows the robot to incrementally learn which objects present in the environment are actually traversable. This is a critical requirement for any wheeled robot performing in natural environments, in which the inability to discern vegetation from non-traversable ob...
On the design of a robotic system composed of an unmanned surface vehicle and a...
Pinto, E.; Santana, P.; Marques, F.; Mendonça, R.; Lourenço, A.; Barata, J.This paper presents the core ideas of the RIVERWATCH experiment and describes its hardware architecture. The RIVERWATCH experiment considers the use of autonomous surface vehicles piggybacking multi-rotor unmanned aerial vehicles for the automatic monitoring of riverine environments. While the surface vehicle benefits from the aerial vehicle to extend its field of view, the aerial vehicle benefits from the surf...
Self-supervised learning of depth-based navigation affordances from haptic cues
Baleia, J.; Santana, P.; Barata, J.This paper presents a ground vehicle capable of exploiting haptic cues to learn navigation affordances from depth cues. A simple pan-tilt telescopic antenna and a Kinect sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback, respectively. With the antenna, the robot determines whether an object is traversable by the robot. Then, the interaction outcome is associat...
Saliency-based cooperative landing of a multirotor aerial vehicle on an autonom...
Silva, J.; Mendonça, R.; Marques, F.; Rodrigues, P.; Santana, P.; Barata, J.This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV’s field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning ho...