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Terrestrial intelligent general-purpose robotic explorer

2014Artigo científico Acesso aberto
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datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.sdg09:Indústria, Inovação e Infraestruturas
dc.contributor.authorAmaral, Guilherme
dc.contributor.authorMartins, Alfredo
dc.contributor.authorDias, André
dc.contributor.authorAlmeida, Carlos
dc.contributor.authorAlmeida, José
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2026-05-28T13:19:00Z
dc.date.available2026-05-28T13:19:00Z
dc.date.issued2014
dc.description.abstractIn 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.eng
dc.description.sponsorshipThe authors acknowledge the support given by the ISEPIPP and INESC TEC to this project. This work is financed by the ERDF - European Regional Development Fund through the COMPETE Programme and by National Funds through the FCT - Portuguese Foundation for Science and Technology within project FCOMP-01-0124-FEDER-022701 and under Perception-Driven Coordinated Multi-Robot Motion Control Project with reference PTDC/EEA-CRO/100692/2008.
dc.identifier.citationMartins, A., Amaral, G., Dias, A., Almeida, C., Almeida, J. & Silva, E. (2014). Terrestrial intelligent general-purpose robotic explorer. Robótica, (94), 8-14.
dc.identifier.issn0874-9019
dc.identifier.urihttp://hdl.handle.net/10400.22/32450
dc.language.isoeng
dc.peerreviewedn/a
dc.publisherCIE - Comunicação e Imprensa Especializada
dc.rights.uriN/A
dc.titleTerrestrial intelligent general-purpose robotic explorereng
dc.typejournal article
dspace.entity.typePublication
oaire.citation.issue94
oaire.citation.titleRobótica - Revista Técnico - Científica
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameMartins
person.familyNameAlmeida
person.familyNameAlmeida
person.familyNameSilva
person.givenNameAlfredo
person.givenNameCarlos
person.givenNameJosé
person.givenNameEduardo
person.identifier.ciencia-id341E-9000-B513
person.identifier.ciencia-id5411-8989-1724
person.identifier.ciencia-idC017-775D-9F55
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0003-3195-5638
person.identifier.orcid0000-0003-2773-703X
person.identifier.orcid0000-0002-9504-0501
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id56234856000
person.identifier.scopus-author-id6507130721
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