Guilherme A. S. Pereira

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This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into " free " and " occupied " , we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating(More)
— We address the problem of covering an environment with robots equipped with sensors. The robots are heterogeneous in that the sensor footprints are different. Our work uses the location optimization framework in [1], [2], with three significant extensions. First, we consider robots with different sensor footprints, allowing, for example, aerial and ground(More)
This paper addresses the problem of transporting objects with multiple mobile robots using the concept of object closure. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in(More)
We address the problem of simultaneously covering an environment and tracking intruders (SCAT). The problem is translated to the task of covering environments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with(More)
— We address the problem of pattern generation in obstacle-filled environments by a swarm of mobile robots. Decentralized controllers are devised by using the Smoothed Particle Hydrodynamics (SPH) method. The swarm is modelled as an incompressible fluid subjected to external forces. Actual robot issues such as finite size and nonholonomic constraints are(More)
We develop a network of distributed mobile sensor systems as a solution to the emergency response problem. The mobile sensors are inside a building and they form a connected ad-hoc network. We discuss cooperative localiza-tion algorithms for these nodes. The sensors collect temperature data and run a distributed algorithm to assemble a temperature gradient.(More)
This paper addresses the problem of transporting objects by multiple mobile robots using the concept of object closure. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. We present experimental(More)
—This paper presents a methodology for computing artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n-dimensional spaces. These vector fields may be directly applied to solve several robot navigation problems such as border monitoring, surveillance, target tracking and multi-robot pattern generation,(More)
— Several recent works have combined discrete and continuous motion planning methods for robot navigation and control. The basic idea of some of these works is to plan a path, by determining a sequence of neighboring discrete regions of the configuration space, and to assign a vector field that drives the robots through these regions. This paper addresses(More)
This paper addresses the design of simple robot behaviors that realize emergent group behaviors. We present a method to coordinate a large number of under-actuated robots by designing control laws on a small dimensional abstraction manifold, independent of the number and ordering of the robots. The abstraction manifold has a product structure consisting of(More)