Percorrer por autor "Amaral, Guilherme"
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- Multiple robot operations for maritime search and rescue in euRathlon 2015 competitionPublication . Matos, Aníbal; Martins, Alfredo; Dias, André; Ferreira, Bruno; Almeida, José Miguel; Ferreira, Hugo; Amaral, Guilherme; Figueiredo, André; Almeida, Rui; Silva, FilipeThis paper presents results of the INESC TEC participation in the maritime environment (both at surface and underwater) integrated in the ICARUS team in the euRathlon 2015 robotics search and rescue competition. These relate to the marine robots from INESC TEC, surface (ROAZ USV) and underwater (MARES AUV) autonomous vehicles participation in multiple tasks such as situation assessment, underwater mapping, leak detection or victim localization. This participation was integrated in the ICARUS Team resulting of the EU funded project aimed to develop robotic tools for large scale disasters. The coordinated search and rescue missions were performed with an initial surface survey providing data for AUV mission planning and execution. A situation assessment bathymetry map, sidescan sonar imaging and location of structures, underwater leaks and victims were achieved, with the global ICARUS team (involving sea, air and land coordinated robots) participating in the final grand Challenge and achieving the second place.
- Terrestrial intelligent general-purpose robotic explorerPublication . Amaral, Guilherme; Martins, Alfredo; Dias, André; Almeida, Carlos; Almeida, José; Silva, EduardoIn this work, the TIGRE - Terrestrial Intelligent General-purpose Robotic Explorer is presented. This ground robot was developed to support research activities in autonomous robotic applications in outdoor scenarios. It constitutes a testbed for validation and experimentation on robotic navigation and mapping for unstructured environments, long term autonomy, active perception algorithms, 3D environment modelling and multi robot coordination developments. The vehicle is based on a electric powered four wheel ATV (all terrain vehicle) equipped with navigation and application sensors, onboard computational power and wireless communications. A high precision GPS system and a set of laser scanner sensors equipped on the robot allows applications for precise 3D modelling of the environment. A modular approach was taken for both the hardware and software design ensuring a flexible and incremental development path. This coupled with the use of open source ROS middleware allows for a high degree of flexibility and rapid setup times for multiple robotics research experiments. The vehicle architecture, navigation, control and coordination systems are also described. The hybrid systems approach to the control architecture is discussed in the context of multiple robot coordination. A multi camera vision system, comprising visible spectrum and infra-red cameras is presented along with some vision based target detection results on an outdoor scenario.
- TIGRE - An autonomous ground robot for outdoor explorationPublication . Martins, Alfredo; Amaral, Guilherme; Dias, André; Almeida, Carlos; Almeida, José; Silva, EduardoIn this paper we present an autonomous ground robot developed for outdoor applications in unstructured scenarios. The robot was developed as a versatile robotics platform for development, test and validation of research in navigation, control, perception and multiple robot coordination on all terrain scenarios. The hybrid systems approach to the control architecture is discussed in the context of multiple robot coordination. The robot modular hardware and software architecture allows for a wide range of mission applications. A precise navigation system based on high accuracy GPS is used for accurate 3D environment mapping tasks. The vision system is also presented along with some example results from stereo target tracking in operational environment.
- UAV Trials for Multi-Spectral Imaging Target Detection and Recognition in Maritime EnvironmentPublication . Silva, Hugo; Soares Almeida, José Miguel; Lopes, Flávio; Ribeiro, J.P.; Freitas, Sara; Amaral, Guilherme; Almeida, Carlos; Martins, Alfredo; Silva, EduardoThis paper addresses the use of heterogeneous sensors for target detection and recognition in maritime environment. An Unmanned Aerial Vehicle payload was assembled using hyperspectral, infrared, electro-optical, AIS and INS information to collect synchronized sensor data with vessel ground-truth position for conducting air and sea trials. The data collected is used to develop automated robust methods for detect and recognize vessels based on their exogenous physical characteristics and their behaviour across time. Data Processing preliminary results are also presented.
- Water jet based autonomous surface vehicle for coastal waters operationsPublication . Machado, Diogo; Martins, Alfredo; Almeida, José Miguel; Ferreira, Hugo; Amaral, Guilherme; Ferreira, Bruno; Matos, Anibal; Silva, EduardoThis paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.