Paulo Fernando Ferreira Rosa

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Our work presents a proposal for SLAM (Simultaneous Localization and Mapping) problem in dynamic environments. A method for robot self-localization is described. During operations in dynamic environments, only static landmarks are used. For this purpose, an outliers filter was designed. It separates static and mobile landmarks that are included in a set of(More)
This paper proposes a Multilayer Perceptron application in a FastSLAM solution for landmarks update aimed at improve computational performance. The algorithm extracts landmarks from visual sensors, and uses a common features map for two robots. Both activities (i. e. location for the robots and exploration task) are coordinate by central agent. Landmarks(More)
Many robotics problems such as simultaneous localization and mapping (SLAM) and bundle adjustment (BA) can be formulated as a nonlinear least squares graph optimization. In these strategies, each node in the graph represents a robot position or a sensor measurement obtained at that position. Edges represent constraints between these nodes. The first part of(More)
This work describes the development of a computational system for a GCS (Ground Control Station) able to control the flight and navigation of multiple UAVs (Unmanned Aerial Vehicles), implementing features for formation flying and obstacle avoidance. The system was structured in two modules, the mission planning and the multiple flight control module. The(More)
This paper presents the integration of a multiple people detection and identification system with a dynamic simultaneous localization and mapping system for an autonomous robotic platform. This integration allows the exploration and navigation of the robot considering people identification. The robotic platform consists of a Pioneer 3DX robot equipped with(More)
This article presents the creation of a basic platform for inertial measurements. It will be used in the development of an automatic pilot for the unmanned aerial vehicle (UAV) projects from Instituto Militar de Engenharia (IME). The platform consists not only of the hardware which contains the sensors capable of doing inertial measurements, but also of a(More)
This paper presents the implementation of a people detection system for a robotic platform able to perform Simultaneous Localization and Mapping (SLAM), allowing the exploration and navigation of the robot considering people detection interaction. The robotic platform consists of a Pioneer 3DX robot equipped with an RGB-D camera, a Sick Lms200 sensor laser(More)
Using a SLAM technique, known as Rao-Blackwellized particle filter (RBPF), this work proposes to compare the performance of this solution in two situations: (a) using a rangefinder laser sensor to build an occupancy grid, as done in previous works in literature, and (b) using an active stereoscopic camera. This will allow to generate an occupancy grid,(More)
Extended Kalman Filter (EKF) is a method widely used for noise treatment in robotics systems. It needs to perform several computational operations such as matrix multiplication, matrix inversions and Jacobians. In Fast SLAM, a solution for SLAM (Simultaneous Localization and Mapping) problem, EKF is utilized for landmarks updates. SLAM should be solved in(More)
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