9 accepted papers
Despite the advances in autonomous navigation and motion planning, there are still several challenges to overcome, especially for confined or underground spaces. Confined scenarios present challenges such as lack of global or accurate external localization, uneven and slippery terrains, and multilev…
At the core of most three-dimensional alignment and tracking tasks resides the critical problem of point correspondence. In this context, the design of descriptors that efficiently and uniquely identifies keypoints, to be matched, is of central importance. Numerous descriptors have been developed fo…
Recent work in the field of bio-inspired robotic systems has introduced designs for modular robots that are able to assemble into structures (e.g., bridges, landing platforms, fences) using their bodies as the building components. Yet, it remains an open question as to how to program large swarms of…
In this work, multiple robots circulate around the boundary of a desired region in order to create a virtual fence. The aim of the this fence is to avoid internal or external agents crossing through the delimited area. In this paper, we propose a distributed technique that allows a team of robots to…
Predicting the behavior of dangerous environmental boundaries, like spreading fire or oil spill, provides relevant information to mitigate the problem or even to support evacuation actions in order to save human or animal lives. In this letter, we present a model that uses a single robot moving arou
Path planning is a fundamental task for any kind of autonomous mobile robot. In this paper, we present a motion planning technique on the three-dimensional space considering vehicles with spatial curvature and pitch (climb or dive) angle constraints. Concerning real fixed-wing Unmanned Aerial Vehicl…
In many cases, large area disasters could be possibly be prevented if the incipient small-scale anomalies are detected in their early stages. A way to accomplish this would be to have multiple sensors deployed in disaster prone areas to detect anomalies. However, compared to static sensor networks,…
This paper presents a method for stabilizing the attitude of a Hybrid Unmanned Aerial Underwater Vehicle. Firstly, we present aerodynamic and hydrodynamic models for the angular motion of our robot, discussing effects like buoyancy force and added inertia. Next, we apply robust control techniques fo…
Underwater environments present a considerable challenge for computer vision, since water is a scattering medium with substantial light absorption characteristics which is made even more severe by turbidity. This poses significant problems for visual underwater navigation, object detection, tracking…