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Multi-robot task scheduling for consensus-based fault-resilient intelligent beh...
Kalempa, Vivian Cremer; Piardi, Luis; Limeira, Marcelo A.; Oliveira, Andre SchneiderIn smart factories, several mobile and autonomous robots are being utilized in warehouses to reduce overhead and operating costs. In this context, this paper presents a consensus-based faultresilient intelligent mechanism called Consensual Fault-Resilient Behavior (CFRB). The proposed approach is based on three hierarchical plans: imposition, negotiation, and consensus. Fault resilience is achieved using the co...
DepthLiDAR: active segmentation of environment depth map into mobile sensors
Limeira, Marcelo A.; Piardi, Luis; Kalempa, Vivian Cremer; Leitão, Paulo; Oliveira, Andre SchneiderThis paper presents a novel approach for creating virtual LiDAR scanners through the active segmentation of point clouds. The method employs top-view point cloud segmentation in virtual LiDAR sensors that can be applied to the intelligent behavior of autonomous agents. Segmentation is correlated with the visual tracking of the agent for localization in the environmentand point cloud. Virtual LiDARsensors with d...
Multi-robot preemptive task scheduling with fault recovery: a novel approach to...
Kalempa, Vivian Cremer; Piardi, Luis; Limeira, Marcelo A.; Oliveira, Andre SchneiderThis paper presents a novel approach for Multi-Robot Task Allocation (MRTA) that introduces priority policies on preemptive task scheduling and considers dependencies between tasks, and tolerates faults. The approach is referred to as Multi-Robot Preemptive Task Scheduling with Fault Recovery (MRPF). It considers the interaction between running processes and their tasks for management at each new event, priorit...
Fault-Resilient Collective Ternary-Hierarchical Behavior to Smart Factories
Kalempa, Vivian Cremer; Piardi, Luis; Limeira, Marcelo; Oliveira, Andre SchneiderSmart factories are introducing new technologies to improve production and expand flexibility, which denotes the integration of intelligent, autonomous, and interconnected agents. The conceptual transi- tion to dynamic multiple agents generates some dilemmas, mainly regarding the occurrence of unexpected situations. This paper aims to discuss the collective behavior of multi-agent systems in smart factories for...
Augmented reality system for multi-robot experimentation in warehouse logistics
Limeira, Marcelo A.; Piardi, Luis; Kalempa, Vivian Cremer; Schneider, André; Leitao, PauloThe application of tools as augmented reality has been developing innovative solutions for the industrial scenario. In this context, this work presents an industrial plant of a warehouse, where augmented reality is used to represent virtual loads to be transported by multiple small mobile robots. The results promote an application developed in ROS, with virtual and real objects sharing the same environment, pro...
Especificando Privacidade em Ambientes de Computação Ubíqua
Kalempa, Vivian Cremer; Sobral, João Bosco MangueiraLivro oriundo da dissertação de mestrado de Vivian Cremer Kalempa, PPGCC-UFSC, 2009, com orientação do co-autor.; A computação ubíqua provê ambientes com serviços e dispositivos interconectados que promovem a integração de infra-estrutura digital na vida das pessoas. Porém, por haver muitos empecilhos técnicos que impedem que a computação ubíqua se torne realidade, o foco da pesquisa atual acaba voltando-se, na...
WsBot: a tiny, low-cost swarm robot for experimentation on industry 4.0
Limeira, Marcelo A.; Piardi, Luis; Kalempa, Vivian Cremer; Oliveira, Andre Schneider; Leitão, PauloMulti-Robot Systems (MRS) are a powerful tool to achieve machine-to-machine connectivity and intelligent behaviors required to Industry 4.0. However, these systems require that a large number of resources such as software, hardware, and mechanical devices working together. For reasons of cost, complexity and time they are usually validated only in simulated environments, thus causing great difficulty in their p...
ARENA—augmented reality to enhanced experimentation in smart warehouses
Piardi, Luis; Kalempa, Vivian Cremer; Limeira, Marcelo A.; Oliveira, Andre Schneider; Leitão, PauloThe current industrial scenario demands advances that depend on expensive and sophisticated solutions. Augmented Reality (AR) can complement, with virtual elements, the real world. Faced with this features, an AR experience can meet the demand for prototype testing and new solutions, predicting problems and failures that may only exist in real situations. This work presents an environment for experimentation of...
Especificando privacidade em ambientes de computação ubíqua
Kalempa, Vivian CremerDissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico. Programa de Pós-Graduação em Ciência da Computação.; A computação ubíqua provê ambientes com serviços e dispositivos interconectados que promovem a integração de infra-estrutura digital na vida das pessoas. Porém, por haver muitos empecilhos técnicos que impedem que a computação ubíqua se torne realidade, o foco da pesquisa atu...