11 documents found, page 1 of 2
Sensing and Artificial Perception for Robots in Precision Forestry: A Survey
Ferreira, João Filipe; Portugal, David; Andrada, Maria Eduarda; Machado, Pedro; Rocha, Rui P.; Peixoto, PauloArtificial perception for robots operating in outdoor natural environments, including forest scenarios, has been the object of a substantial amount of research for decades. Regardless, this has proven to be one of the most difficult research areas in robotics and has yet to be robustly solved. This happens namely due to difficulties in dealing with environmental conditions (trees and relief, weather conditions,...
Promotion of active ageing through interactive artificial agents in a smart env...
Menezes, Paulo; Rocha, Rui P.Societies in the most developed countries have witnessed a significant ageing of the population in recent decades, which increases the demand for healthcare services and caregivers. The development of technologies to help the elderly, so that they can remain active and independent for a longer time, helps to mitigate the sustainability problem posed in care services. This article follows this new trend, proposi...
Benchmark of swarm robotics distributed techniques in a search task
Couceiro, Micael S.; Vargas, Patricia A.; Rocha, Rui P.; Ferreira, Nuno M. F.This paper presents a survey on multi-robot search inspired by swarm intelligence by further classifying and discussing the theoretical advantages and disadvantages of the existing studies. Subsequently, the most attractive techniques are evaluated and compared by highlighting their most relevant features. This is motivated by the gradual growth of swarm robotics solutions in situations where conventional searc...
Desarrollo de un robot móvil compacto integrado en el middleware ROS
Araújo, André; Portugal, David Bina Siassipour; Couceiro, Micael Santos; Sales, Jorge; Rocha, Rui P.En este trabajo se presenta el robot TraxBot y su integración completa en el Robot Operating System (ROS). El TraxBot es una plataforma de robótica móvil, desarrollada y ensamblada en el Instituto de Sistemas y Robótica (ISR) Coimbra. El objetivo de este trabajo es reducir drásticamente el tiempo de desarrollo, proporcionando abstracción de hardware y modos de operación intuitiva, permitiendo a los investigador...
Mechanism and convergence analysis of a multi-robo tswarm approach based on nat...
Couceiro, Micael; M. L. Martins, Fernando; Rocha, Rui P.; Ferreira, Nuno M. F.The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization (PSO) using natural selection, or survival-of-the-fittest, to enhance the ability to escape from local optima. An extension of the DPSO to multi-robot applications has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), benefiting from the dynamical partitioning of the whol...
Novelty detection and segmentation based on Gaussian mixture models: a case stu...
Drews-Jr., Paulo; Núñez, Pedro; Rocha, Rui P.; Campos, Mario; Dias, JorgeThis article proposes a framework to detect and segment changes in robotics datasets, using 3D robotic mapping as a case study. The problem is very relevant in several application domains, not necessarily related with mobile robotics, including security, health, industry and military applications. The aim is to identify significant changes by comparing current data with previous data provided by sensors. This f...
Distributed multi-robot patrol: a scalable and fault-tolerant framework
Portugal, David; Rocha, Rui P.This paper addresses the Multi-Robot Patrolling Problem, where agents must coordinate their actions while continuously deciding which place to move next after clearing their locations. This problem is commonly addressed using centralized planners with global knowledge and/or calculating a priori routes for all robots before the beginning of the mission. In this work, two distributed techniques to solve the prob...
Towards a further understanding of the roboticdarwinian PSO
Couceiro, Micael; M. L. Martins, Fernando; Manuel Clemente, Filipe; Rocha, Rui P.; Ferreira, Nuno M. F.This paper presents a statistical significance analysis of a modified version of the Particle Swarm Optimization (PSO) on groups of simulated robots performing a distributed exploration task, denoted as RDPSO (Robotic DPSO). This work aims to evaluate this novel exploration strategy studying the performance of the algorithm under communication constraints while increasing the population of robots. Experimental ...
Introducing the fractional-order Darwinian PSO
Couceiro, Micael S.; Rocha, Rui P.; Ferreira, Nuno M. F.; Machado, J. A. TenreiroOne of the most well-known bio-inspired algorithms used in optimization problems is the particle swarm optimization (PSO), which basically consists on a machinelearning technique loosely inspired by birds flocking in search of food. More specifically, it consists of a number of particles that collectively move on the search space in search of the global optimum. The Darwinian particle swarm optimization (DPSO) ...
A fuzzified systematic adjustment of the robotic Darwinian PSO
Couceiro, Micael S.; Machado, J. A. Tenreiro; Rocha, Rui P.; Ferreira, Nuno M. F.The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization using natural selection to enhance the ability to escape from sub-optimal solutions. An extension of the DPSO to multi-robot applications has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), benefiting from the dynamical partitioning of the whole population of robots, he...