André Santana

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Papers by André Santana

Representation of Odometry Errors on Occupancy Grids

In this work we propose an enhanced model for mapping from sonar sensors and odometry that allows... more In this work we propose an enhanced model for mapping from sonar sensors and odometry that allows a robot to represent an environment map in a more suitable way to both the sonar sensory data and odometry system of the robot. We use a stochastic modelling of the errors that brings up reliable information. As a contribution, we obtain a final map that is more coherent with the reality of the original data provided by the robotic system. Practical experiments show the results obtained with the proposed modification to be trustable in such a way that this map can be used to provide previous knowledge to the mobile robot in order to perform its tasks in an easier and accurate way. Moreover, the map can help the robot to support unexpected situations inside of the environment

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A Straight-Based Approach to SLAM in Plan Environments Using Monocular Vision

IEEE Latin America Transactions, 2011

This work purposes a line-based approach to the SLAM problem using planar information. The soluti... more This work purposes a line-based approach to the SLAM problem using planar information. The solution presented is based on Extended Kalman Filter, in Hough transform and in use of a homographic matrix to perform the image-world mapping . The proposed model allows the use of line features directly in the Kalman equations without additional intermediate calculations and startup delayed initialization, same images being obtained from a single camera. Results with a real robot are presented to validate the proposal.

Cooperative Path Planning for a Heterogeneous Robotic System Composed of a Humanoid Robot and a Wheel Robot

This study presents a path planning strategy for a robotic system, subject to visibility restrict... more This study presents a path planning strategy for a robotic system, subject to visibility restrictions, composed of a humanoid robot and a wheel robot. The planner calculates a cooperative pathway, assuming a known map a priori, considering that the humanoid robot is identified by a mark placed inside its front portion and all information processing is executed in the mobile robot. Experimental results validated the proposed idea.

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A Distributed Hardware-software Architecture for Control an Autonomous Mobile Robot

In this paper, we introduce a hardware-software architecture for controlling the autonomous mobil... more In this paper, we introduce a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The Kapeck robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller-based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontrollerbased boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks.

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Localizac ¸ ˜ ao Relativa de um Robˆ o Human´ oide Utilizando Filtro de Kalman Estendido

This paper proposes a relative localization system for humanoid robot using Extended Kalman Filte... more

Localization of a Mobile Robot based in Odometry and Natural Landmarks using Extended Kalman Filter

This work proposes a localization system for mobile robots using the Extended Kalman Filter. The ... more This work proposes a localization system for mobile robots using the Extended Kalman Filter. The robot navigates in an known environment where the lines of the floor are used as natural landmarks and identifiqued by using the Hough transform.The prediction phase of the Kalman Filter is implemented using the odometry model of the robot. The update phase directly uses the parameters of the lines detected by the Hough algorithm to correct the robot's pose.

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Optical flow using color information: preliminary results

Optical flow cannot be completely determined only from brightness information of images, without ... more Optical flow cannot be completely determined only from brightness information of images, without introducing some assumptions about the nature of movements in the scene. Color is an additional natural source of information that facilitates the solution of this problem. This work aims to illustrate the improvement in the optical flow estimation by using color information through experimental results.

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Monocular-SLAM Using Floor Lines

Page 1. Monocular-SLAM using Floor Lines Andre M. SANTANA ∗ , Adelardo AD MEDEIROS ∗∗ ∗ Departmen... more

André Santana

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