Robotics : 12th Latin American Robotics Symposium and Third Brazilian Symposium on Robotics, LARS 2015/SBR 2015, Uberlândia, Brazil, October 28 - November 1, 2015, Revised Selected Papers

This book constitutes the refereed proceedings of the 12th Latin American Robotics Symposium and Third Brazilian Symposium on Robotics, LARS 2015 / SBR 2015, held in Uberlândia, Brazil, in October/November 2015. The 17 revised full papers presented were carefully reviewed and selected from 80 submissions. The selected papers present a complete and solid reference of the state-of-the-art of intelligent robotics and automation research, covering the following areas: autonomous mobile robots, tele-operated and telepresence robots, human-robot interaction, trajectory control for mobile robots, autonomous vehicles, service-oriented robotic systems, semantic mapping, environment mapping, visual odometry, applications of RGB-D sensors, humanoid and biped robots, Robocup soccer robots, robot control, path planning, multiple vehicles and teams of robots. Preface 6 Organization 8 Contents 11 Evaluating the Performance of Two Computer Vision Techniques for a Mobile Humanoid Agent Acting at RoboCup KidSized Soccer League 13 1 Introduction 13 1.1 Domain 14 2 Related Work 16 2.1 HAAR-Boosting 16 2.2 HOG-SVM 18 3 Proposal 20 4 Experimental Results 21 4.1 Robot Identification 21 4.2 Ball Identification 23 5 Conclusion 27 References 29 Dense Tracking with Range Cameras Using Key Frames 32 1 Introduction 32 2 Related Work 34 3 Dense Localization Algorithm 35 3.1 Keyframe Selection 37 3.2 Initial Pose Estimate 38 3.3 Pose Refinement 39 4 Results 42 4.1 Time 43 4.2 Convergence 43 4.3 Accuracy 44 5 Conclusion 48 References 49 Safe Navigation of Mobile Robots Using a Hybrid Navigation Framework with a Fuzzy Logic Decision Process 51 1 Introduction 51 2 Related Works 52 3 Methodology 53 3.1 Reactive Navigation Layer 53 3.2 Deliberative Navigation Layer 53 3.3 Hybrid Navigation System 53 3.4 Reactive Layer 56 3.5 Deliberative Layer 56 3.6 Decision Process 57 3.7 Test Cases 57 4 Results and Discussion 60 4.1 Average of Planned Paths 61 4.2 Time in Situations of Danger 63 4.3 Percentage of Success 64 5 Conclusion 67 References 67 A Harris Corner Detector Implementation in SoC-FPGA for Visual SLAM 69 1 Introduction 69 2 System Profiling 72 3 Architecture of the Hardware Co-processor 72 3.1 Multiplexed Input Converter 75 3.2 Sobel Filters 77 3.3 M Matrix 78 3.4 Block Filter 78 3.5 Harris Response 78 3.6 Find Maximum 79 3.7 Adaptive Threshold 79 3.8 Non-maximum Suppression 80 3.9 Shift Register and Delay 80 4 Results 80 5 Discussion and Conclusion 81 References 82 Comparison Among Experimental PID Auto Tuning Methods for a Self-balancing Robot 84 1 Introduction 84 2 Problem Statement 85 3 Methods 86 3.1 Manual Tuning 87 3.2 Ziegler-Nichols PID (ZNPID) Tuning Procedure 87 3.3 Relay PID Tuning (RPID) 88 3.4 Augmented Ziegler and Nichols Tuned PID Controllers (AZNPID) 89 3.5 Augmented Relay Tuned PID Controllers (ARPID) 91 4 Experimental Results and Analysis 91 4.1 Manual Tuning 91 4.2 ZNPID 91 4.3 RPID 93 4.4 AZNPID 93 4.5 ARPID 94 4.6 Results Analysis 94 5 Conclusion and Further Works 97 References 97 RoSoS - A Free and Open-Source Robot Soccer Simulator for Educational Robotics 99 1 Introduction 99 2 Junior Soccer Simulation League 101 3 Robot Soccer Simulator - RoSoS 101 3.1 Using RoSoS to Build a Team 102 3.2 Robot Class 105 3.3 Technical Details 107 3.4 Sensors 109 4 Discussion 111 5 Conclusion and Future Work 112 References 113 Path Planning with Collision Avoidance for Free-Floating Manipulators: A RRT-Based Approach 115 1 Introduction 115 2 Dynamically Equivalent Manipulator 117 3 Rapidly-Exploring Random Trees 119 3.1 Reduction of Metric Sensitivity 120 3.2 Bidirectional RRTs 122 4 Creating the Path Planner 123 5 Results and Discussions 127 6 Conclusion 130 References 131 A Topological Descriptor of Forward Looking Sonar Images for Navigation and Mapping 132 1 Introduction 132 2 Acoustic Image and Forward Looking Sonar 134 3 Methodology 135 3.1 Segmentation 135 3.2 Describing the Segments 136 3.3 Establishing the Topological Relationship 138 3.4 The Descriptors Matching Process 138 4 Experimental Results 139 5 Conclusions 144 References 145 Non-stationary VFD Evaluation Kit: Dataset and Metrics to Fuel Video-Based Fire Detection Development 147 1 Introduction 147 2 Dataset 150 2.1 Video Properties 150 2.2 Annotations 151 2.3 Software Tools 152 3 Evaluation Criteria 153 4 Experimental Setup 157 5 Additional Considerations 158 6 Conclusion 160 References 160 GPU-Services: GPU Based Real-Time Processing of 3D Point Clouds Applied to Robotic Systems and Intelligent Vehicles 164 1 Introduction 165 2 Related Works 167 2.1 DARPA Challenges 167 2.2 Current Projects 168 3 Conceptual Basis 169 3.1 ROS 169 3.2 Velodyne 170 3.3 CUDA 170 4 GPU Services 171 4.1 Pre-processing 173 4.2 Zone Segmentation 174 4.3 Object Segmentation 176 4.4 Laser Scan 178 5 Conclusion 181 References 182 Collaborative Object Transportation Using Heterogeneous Robots 184 1 Introduction 184 2 Related Work 185 3 Methodology 187 3.1 Problem Statement 187 3.2 Utility Function 188 3.3 Path Planning - Object 189 3.4 Path Planning - Agents 191 3.5 Task Allocation 193 3.6 Coordination 195 4 Experiments 197 4.1 Simulations 197 4.2 Real Experiment 199 5 Conclusions and Future Work 201 References 202 ND-NCD: Environmental Characteristics Recognition and Novelty Detection for Mobile Robots Control and Navigation 204 1 Introduction 205 2 From Neuro-FSM to GA-ANN and ND-NCD 207 3 Genetic Algorithm for Robot Navigation 209 4 Normalized Compression Distance 211 4.1 Definition 211 4.2 Related Works 211 5 Novelty Detection with Normalized Compression Distance 212 6 Experiments and Results 213 6.1 Parameters of the GA Used 215 6.2 Parameters Used for ND-NCD 217 7 Conclusions 219 References 220 Implementing and Simulating an ALLIANCE-Based Multi-robot Task Allocation Architecture Using ROS 222 1 Introduction 222 2 Related Work 223 2.1 Multi-robot Task Allocation Architectures 223 2.2 Robot Operating System - ROS 227 3 Our ALLIANCE-Based Approach 227 4 Behavior Sets Details and Simulations Results 232 4.1 The Behavior Sets 232 4.2 Simulations Results 232 5 Conclusions 237 References 238 Humanoid Robot Gait on Sloping Floors Using Reinforcement Learning 240 1 Introduction 240 2 Research Background 242 2.1 Reinforcement Learning 243 2.2 Robot Humanoid Walking 243 3 Related Work 246 4 Proposed System's Architecture 247 5 Experiments 249 5.1 Learning the Robot's Upright Position Using Q-Learning 250 5.2 Using the Learned Policy to Stabilize the Robot 252 5.3 Combining the Gait Generator with the Learned Policy 252 6 Conclusions 256 References 257 Structure-Control Optimal Design of 6-DOF Fully Parallel Robot 259 1 Introduction 259 2 Robot Modeling 261 2.1 Structural Modeling 261 2.2 Dynamic Model 263 2.3 Tracking Position Control 264 2.4 Objective Function 266 3 Sensitivity Analysis 266 4 Optimization Problem 268 4.1 Genetic Algorithm 269 5 Simulation Results 270 5.1 Sensitivity Analysis 270 5.2 Optimization 273 6 Conclusion 276 References 277 A Genetic Algorithm Approach to the Automated System for Solving the Container Loading Problem 279 1 Introduction 279 2 Container Loading Problem 280 2.1 Characterization 280 2.2 Problem Constraints 281 3 Genetic Algorithm 281 4 Automated Planning 282 5 System's Proposal 283 5.1 Problem Generator 284 5.2 Genetic Algorithm 284 5.3 PDDL Generator 287 6 Testing Methodology 288 7 Results 289 8 Conclusions 291 References 291 Trajectory Planning for UGV Using Clothoids 293 1 Introduction 293 2 Related Work 294 2.1 Motion Planning 294 2.2 Autonomous Car Parking 295 3 Proposed Methodology 296 3.1 Automatic Parking 296 3.2 Changing Lanes 298 4 Experimental Results 301 4.1 Obstacle Avoidance 301 4.2 Automatic Parking 302 4.3 Changing Lanes 305 5 Conclusions 308 References 309 Author Index 311 Front Matter....Pages I-XII Evaluating the Performance of Two Computer Vision Techniques for a Mobile Humanoid Agent Acting at RoboCup KidSized Soccer League....Pages 1-19 Dense Tracking with Range Cameras Using Key Frames....Pages 20-38 Safe Navigation of Mobile Robots Using a Hybrid Navigation Framework with a Fuzzy Logic Decision Process....Pages 39-56 A Harris Corner Detector Implementation in SoC-FPGA for Visual SLAM....Pages 57-71 Comparison Among Experimental PID Auto Tuning Methods for a Self-balancing Robot....Pages 72-86 RoSoS - A Free and Open-Source Robot Soccer Simulator for Educational Robotics....Pages 87-102 Path Planning with Collision Avoidance for Free-Floating Manipulators: A RRT-Based Approach....Pages 103-119 A Topological Descriptor of Forward Looking Sonar Images for Navigation and Mapping....Pages 120-134 Non-stationary VFD Evaluation Kit: Dataset and Metrics to Fuel Video-Based Fire Detection Development....Pages 135-151 GPU-Services: GPU Based Real-Time Processing of 3D Point Clouds Applied to Robotic Systems and Intelligent Vehicles....Pages 152-171 Collaborative Object Transportation Using Heterogeneous Robots....Pages 172-191 ND-NCD: Environmental Characteristics Recognition and Novelty Detection for Mobile Robots Control and Navigation....Pages 192-209 Implementing and Simulating an ALLIANCE-Based Multi-robot Task Allocation Architecture Using ROS....Pages 210-227 Humanoid Robot Gait on Sloping Floors Using Reinforcement Learning....Pages 228-246 Structure-Control Optimal Design of 6-DOF Fully Parallel Robot....Pages 247-266 A Genetic Algorithm Approach to the Automated System for Solving the Container Loading Problem....Pages 267-280 Trajectory Planning for UGV Using Clothoids....Pages 281-298 Back Matter....Pages 299-299