Sérgio Cruz

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It is noticeable that our society is increasingly relying on computer systems. Nowadays, computer networks can be found at places where it would have been unthinkable a few decades ago, supporting in some cases critical applications on which human lives may depend. Although this growing reliance on networked systems is generally perceived as technological(More)
This work describes a hardware architecture for implementing a sequential approach of the Extended Kalman Filter (EKF) that is suitable for mobile robotics tasks, such as self-localization, mapping and navigation problems. As such algorithm is computationally intensive, commonly it is implemented in PC-based platforms to be employed on larger robots. In(More)
Software reuse is the practice of using existing artifacts (code, architecture, requirements, etc.) in new projects. The advantages of using previously developed software in new projects are easily understood. However, reusing artifacts is usually done in an ad-hoc and incipient way, requiring an important effort of adaptation, so developers frequently(More)
Abstract—This paper describes a Hardware/Software Co-design approach for the Extended Kalman Filter (EKF) applied to the localization problem in mobile robotics. The EKF algorithm has been implemented and run on an Altera Cyclone IV FPGA with a Nios II embedded processor jointly with specific hardware modules, being adapted and applied to the mobile(More)
In this paper a Hardware Architecture for computing the Extended Kalman Filter (EKF) is presented which is addressed to solve the self-localization problem of autonomous mobile robots. In this case, the overall EKF algorithm has been implemented in hardware over an Altera Cyclone IV FPGA with a Nios II processor, in which the latter is used only for(More)
Effort estimation in software development projects is far from being an easy task. In fact, despite the several effort estimation techniques available in the literature and the need for companies to perform such task in a daily basis, most small and medium-sized companies still suffer from the problem of incorrect estimations that often result in losing the(More)
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