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Browsing CRIIS - Book Chapters by Author "Costa,P"
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ItemPath planning for automatic recharging system for steep-slope vineyard robots( 2018) Luís Carlos Santos ; Filipe Neves Santos ; Mendes,J ; Ferraz,N ; Lima,J ; Morais,R ; Costa,PDevelop cost-effective ground robots for crop monitoring in steep slope vineyards is a complex challenge. The terrain presents harsh conditions for mobile robots and most of the time there is no one available to give support to the robots. So, a fully autonomous steep-slope robot requires a robust automatic recharging system. This work proposes a multilevel system that monitors a vineyard robot autonomy, to plan off-line the trajectory to the nearest recharging point and dock the robot on that recharging point considering visual tags. The proposed system called VineRecharge was developed to be deployed into a cost-effective robot with low computational power. Besides, this paper benchmarks several visual tags and detectors and integrates the best one into the VineRecharge system. © Springer International Publishing AG 2018.
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ItemRobot localization system in a hard outdoor environment( 2018) Conceição,T ; Filipe Neves Santos ; Costa,P ; António Paulo MoreiraLocalization and mapping of autonomous robots in a hard and unstable environment (Steep Slope Vineyards) is a challenging research topic. Typically, the commonly used dead reckoning systems can fail due to the harsh conditions of the terrain and the Global Position System (GPS) accuracy can be considerably noisy or not always available. One solution is to use wireless sensors in a network as landmarks. This paper evaluates a ultra-wideband time-of-flight based technology (Pozyx), which can be used as cost-effective solution for application in agricultural robots that works in harsh environment. Moreover, this paper implements a Localization Extended Kalman Filter (EKF) that fuses odometry with the Pozyx Range measurements to increase the default Pozyx Algorithm accuracy. © Springer International Publishing AG 2018.
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ItemThe SPIDERobot: A Cable-Robot System for On-site Construction in Architecture( 2016) Sousa,JP ; Palop,CG ; Moreira,E ; Andry Maykol Pinto ; Lima,J ; Costa,P ; Pedro Gomes Costa ; Germano Veiga ; Paulo Moreira,A