2014 Joint Conference on
Robotics: SBR-LARS Robotics
Symposium and Robocontrol
(SBR LARS Robocontrol 2014)
San Carlos – Sao Paulo, Brazil
18-23 October 2014
IEEE Catalog Number:
ISBN:
CFP14A78-POD
978-1-4799-6712-4
2014 Joint Conference
on Robotics: SBR-LARS
Robotics Symposium
and Robocontrol
SBR LARS Robocontrol 2014
Table of Contents
Preface...................................................................................................................................................ix
Conference Organization.....................................................................................................................xi
SBR LARS 2014 Program Committee ................................................................................................xii
Robocontrol 2014 Program Committee ............................................................................................xiv
SBR LARS 2014 Reviewers.................................................................................................................xv
Robocontrol 2014 Reviewers............................................................................................................xvii
Acknowledgements...........................................................................................................................xviii
SBR LARS 2014: Brazilian Robotics Symposium and Latin
American Robotics Symposium
Uncertainty Analysis of a Two-Link Robot Manipulator under Fuzzy
Parameters .............................................................................................................................................1
F.A. Lara-Molina, E.H. Koroishi, and V. Steffen Jr.
Sensors in Reconfigurable Modular Robot for Pipeline Inspection: Design
and Tests of a Prototype .........................................................................................................................7
Ana Carolina Cardoso de Sousa, Dianne Magalhães Viana,
and Carla Maria Chagas e Cavalcante Koike
An Approach for Coordinating of the Cooperative Mapping in
a Self-Adaptive Formation System Based on a Modification of the Ant
Colony Algorithm ..................................................................................................................................13
Janderson R. Oliveira, Rodrigo Calvo, Roseli A.F. Romero,
and Mauricio Figueiredo
Analysis of Prediction Models for Multi-robot System NMPFC .............................................................19
Diego S. Azevedo, Luis F.S. Costa, Alisson V. Brito, and Tiago P. Nascimento
Lane Detection and Estimation using Perspective Image ....................................................................25
Marcos Paulo Batista, Patrick Y. Shinzato, Denis F. Wolf, and Diego Gomes
Optimization Strategies for Actuators of Kinematically Redundant
Manipulators to Achieve High Dynamic Performance ..........................................................................31
Joao V.C. Fontes, Joao C. Santos, and Maira M. da Silva
v
Improving RRT's Efficiency through Motion Primitives Generation
Optimization ..........................................................................................................................................37
Hiparco Lins Vieira and Valdir Grassi Junior
EOG Based Interface to Command a Powered Orthosis for Lower Limbs ...........................................43
Válber César Cavalcanti Roza, Márcio Valério de Araújo,
Pablo Javier Alsina, and Efrain Pantaleón Matamoros
Small Wheeled Autonomous Mobile Soccer Robot ..............................................................................49
Andre F. Cavalcanti, Marcio V. Araujo, and Diogo P.F. Pedrosa
A Fast Visual Odometry and Mapping System for RGB-D Cameras ...................................................55
Bruno M.F. Silva and Luiz M.G. Gonçalves
Design and Simulation for Path Tracking Control of a Commercial Vehicle
Using MPC ............................................................................................................................................61
O. Garcia, J.V. Ferreira, and A. Miranda Neto
Searching and Tracking Anomalies with Multiple Robots: A Probabilistic
Approach ..............................................................................................................................................67
David Saldaña, Luiz Chaimowicz, and Mario F.M. Campos
Hardware and Software Aspects of the Design and Assembly of a New
Humanoid Robot for RoboCup Soccer .................................................................................................73
Danilo H. Perico, Isaac J. Silva, Claudio O. Vilão Jr, Thiago P.D. Homem,
Ricardo C. Destro, Flávio Tonidandel, and Reinaldo A.C. Bianchi
A Graph-Based Algorithm for Minimum Router Deployment ................................................................79
Douglas G. Macharet, Niander N. de Assis, Dan N.G. Do Valle,
Elerson R.S. Santos, Marcos A.M. Vieira, and Mario F.M. Campos
Using Reinforcement Learning Techniques to Select the Best Action
in Setplays with Multiple Possibilities in Robocup Soccer Simulation Teams ......................................85
Joao A. Fabro, Luis P. Reis, and Nuno Lau
Dynamic Planning Navigation Technique Optimized with Genetic Algorithm ......................................91
Átila V.F.M. de Oliveira and Marcelo A.C. Fernandes
Automatic Semantic Waypoint Mapping Applied to Autonomous Vehicles ..........................................97
Matheus Zoccoler, Patrick Y. Shinzato, Alberto Hata, and Denis F. Wolf
Pedestrian Classification Using K-means and Random Decision Forests .........................................103
Francisco A.R. Alencar, Carlos Massera Filho, Diego Gomes da Silva,
and Denis F. Wolf
Gesture-Based Controllers to Guide a Quadrotor Using Kinect Sensor .............................................109
Tiago Ogioni Costalonga, Lucas Mendes Ávila, Luís Muniz,
and Alexandre Santos Brandão
Multiple UAV Guidance Using the Multi-layer Control Scheme
and Delaunay Triangulation ................................................................................................................113
Alexandre S. Brandão, João Paulo A. Barbosa, Valentín Mendoza,
and Mário Sarcinelli-Filho
vi
A Computational System for Trajectory Tracking and 3D Positioning
of Multiple UAVs .................................................................................................................................118
Lucas Vago Santana, Alexandre Santos Brandão, Mário Sarcinelli Filho,
and Ricardo Carelli
A Hybrid Approach for Path Planning and Execution for Autonomous Mobile
Robots ................................................................................................................................................124
Valéria de Carvalho Santos, Cláudio Fabiano Motta Toledo,
and Fernando Santos Osório
An Iterative Approach for Color Constancy ........................................................................................130
Josemar Simão, Hans Jörg Andreas Schneebeli, and Raquel Frizera Vassallo
Attention Based Object Recogniton Applied to a Humanoid Robot ....................................................136
Adam H.M. Pinto, Lucas O. de Oliveira, Renata C.G. Meneghetti,
Roseli A.F. Romero, and Alcides X. Benicasa
Low Level Model Identification of a Quadrotor X3D-BL ......................................................................142
Leonardo Lelis Lopes, Mário Sarcinelli Filho, Alexandre Santos Brandão,
and Ricardo Carelli
Vision-Based Autonomous Navigation with a Probabilistic Occupancy Map
on Unstructured Scenarios .................................................................................................................146
Rafael Luiz Klaser, Fernando Santos Osório, and Denis Wolf
Automating Cataloging and Discovery of Services for Service-Oriented
Robotic Systems .................................................................................................................................151
Lucas Bueno R. Oliveira, Diogo Brandão Martins, Felipe Augusto Amaral,
Flavio Oquendo, and Elisa Yumi Nakagawa
Data Fusion Obtained from Multiple Images Aiming the Navigation
of Autonomous Intelligent Vehicles in Agricultural Environment ........................................................157
Vítor M. Utino, Denis F. Wolf, and Fernando S. Osório
Development of Distributed Control Architecture for Multi-robot Systems .........................................163
Rafael Guedes Lang, Ivan Nunes da Silva, and Roseli A.F. Romero
Automated Traffic Sign Recognition System Using Computer Vision
and Support Vector Machines ............................................................................................................169
Jairo Alejandro Gómez and Sergio Bromberg
Adaptive Selection of Color Images or Depth to Align RGB-D Point Clouds ......................................175
Juan Carlos Perafan Villota and Anna Helena Reali Costa
A Single Camera Vision System for a Humanoid Robot ....................................................................181
Claudio O. Vilão Jr, Danilo H. Perico, Isaac J. Silva, Thiago P.D. Homem,
Flávio Tonidandel, and Reinaldo A.C. Bianchi
Grid Ant Colony Optimization Applied to a Multi-robotic Garbage Collection
System ................................................................................................................................................187
Daniel O. Sales, Mauricio A. Dias, and Fernando S. Osorio
Control of Nonholonomic Mobile Bases Supported by Measuring of
the Slipping and Skidding Variations ..................................................................................................193
C.A. Peña Fernández, J.J.F. Cerqueira, and A.M.N. Lima
vii
On Maintaining Connectivity of a Colony of Autonomous Explorer Mobile
Robots ................................................................................................................................................199
Jonathan Matías Palma Olate and Cristian Duran-Faundez
Telepresence Robot with Image-Based Face Tracking and 3D Perception
with Human Gesture Interface Using Kinect Sensor ..........................................................................205
Rafael Berri, Denis Wolf, and Fernando Osório
Dynamic Player Modelling in Serious Games Applied to Rehabilitation
Robotics ..............................................................................................................................................211
Kleber de O. Andrade, Guilherme Fernandes, Glauco A.P. Caurin,
Adriano A.G. Siqueira, Roseli A.F. Romero, and Rogerio de L. Pereira
Robocontrol 2014: Workshop on Applied Robotics
and Automation
A Mechanism for Reproducing Human Gait in Footwear Comfort Tests ............................................217
A.T. Markus, M.R. Sobczyk, R.A.C. Laranja, and M.A. Zaro
FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance,
Navigation and Control .......................................................................................................................223
Romulo Rodrigues, Rafael C.B. Sampaio, A. Pedro Aguiar, and Marcelo Becker
Simulation of Rovers for Precision Agriculture ...................................................................................229
John Faber Archila, Junior Marques Moreira, Victor Ivar Van Halts,
Luiz Antônio Neto Alves, Oscar Eduardo Rueda, and Marcelo Becker
Impedance Control of Rehabilitation Robots for Lower Limbs, Review ..............................................235
Juan C. Pérez Ibarra and Adriano A.G. Siqueira
Stability Analysis of a Multirotor UAV with Robust Backstepping Controller ......................................241
Armando S. Sanca, Pablo J. Alsina, and Jés J.F. Cerqueira
Control of a Biped Robot Using the Robot Operating System ............................................................247
Eduardo Henrique Maciel, Renato Ventura Bayan Henriques,
and Walter Fetter Lages
Exploring the Use of Coupled Oscillators for Humanoid Gait Control ................................................253
Felipe Moreira Ramos and Antônio Padilha Lanari Bó
Intelligent Control Architecture for Human-Robot Interaction .............................................................259
Silas F.R. Alves, Ivan N. Silva, and Humberto Ferasoli Filho
Author Index ......................................................................................................................................265
viii