Silvia Silva da Costa Botelho

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In this paper, we present and discuss a distributed scheme for multi-robot cooperation. It integrates mission planning and task refinement as well as cooperative mechanisms adapted from the Contract Net Protocol framework. We discuss its role and how it can be integrated as a component of a complete robot control system. We also discuss how it handles(More)
This paper proposes a methodology to estimate the transmission in underwater environments which consists on an adaptation of the Dark Channel Prior (DCP), a statistical prior based on properties of images obtained in outdoor natural scenes. Our methodology, called Underwater DCP (UDCP), basically considers that the blue and green color channels are the(More)
In underwater environments, the scattering and absorption phenomena affect the propagation of light, degrading the quality of captured images. In this work, the authors present a method based on a physical model of light propagation that takes into account the most significant effects to image degradation: absorption, scattering, and backscattering. The(More)
In this paper we apply a Neural Network (NN) to reduce image dataset, distilling the massive datasets down to a new space of smaller dimension. Due to the possibility of these data have nonlinearities, traditional multivariate analysis, like the Principal Component Analysis (PCA), may not represent reality. Alternatively, Nonlinear Principal Component(More)
A common neural network used for complex data clustering is the Self Organizing Maps(SOM). This algorithm have a expensive training step, that occur mainly on high dimensional applications like image clustering. This makes impossible for some of these applications to be run in real time or even in a feasible time. On this paper we explore the use of GPUs(More)
The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. In this context, this paper proposes an approach to mapping of(More)
In the last decade, virtual reality (VR) systems have been used to enhance the visualization of CAD projects. The immersive VR techniques allow to the designer interacting and modeling in a more intuitive and efficient way. Current 4D and animated simulation CAD tools are a new challenge for immersive visualization. In this paper we propose a general(More)