Autonomous Simultaneous Localization and Mapping driven by Monte Carlo uncertainty maps-based navigation

This paper addresses the problem of implementing a Simultaneous Localization and Mapping (SLAM) algorithm combined with a non-reactive controller (such as trajectory following or path following). A general study showing the advantages of using predictors to avoid mapping inconsistences in autonomous SLAM architectures is presented. In addition, this paper presents a priority-based uncertainty map construction method of the environment by a mobile robot when executing a SLAM algorithm. The SLAM algorithm is implemented with an extended Kalman filter (EKF) and extracts corners (convex and concave) and lines (associated with walls) from the surrounding environment. A navigation approach directs the robot motion to the regions of the environment with the higher uncertainty and the higher priority. The uncertainty of a region is specified by a probability characterization computed at the corresponding representative points. These points are obtained by a Monte Carlo experiment and their probability is estimated by the sum of Gaussians method, avoiding the time-consuming map-gridding procedure. The priority is determined by the frame in which the uncertainty region was detected (either local or global to the vehicle's pose). The mobile robot has a non-reactive trajectory following controller implemented on it to drive the vehicle to the uncertainty points. SLAM real-time experiments in real environment, navigation examples, uncertainty maps constructions along with algorithm strategies and architectures are also included in this work.Fil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Pereira, Fernando M. Lobo. Universidad de Porto; PortugalFil: Di Sciascio, Fernando Agustín. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentin

Agricultural Robotics: Unmanned Robotic Service Units in Agricultural Tasks

The application of agricultural machinery in precision agriculture has experienced an increase in investment and research due to the use of robotics applications in the machinery design and task executions. Precision autonomous farming is the operation, guidance, and control of autonomous machines to carry out agricultural tasks. It motivates agricultural robotics. It is expected that, in the near future, autonomous vehicles will be at the heart of all precision agriculture applications [1]. The goal of agricultural robotics is more than just the application of robotics technologies to agriculture. Currently, most of the automatic agricultural vehicles used for weed detection, agrochemical dispersal, terrain leveling, irrigation, etc. are manned. An autonomous performance of such vehicles will allow for the continuous supervision of the field, since information regarding the environment can be autonomously acquired, and the vehicle can then perform its task accordingly.Fil: Auat Cheein, Fernando Alfredo. Universidad Tecnológica Santa María; ChileFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin

Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots

This paper is a continuation of a previous work of the authors, Scaglia et al., 1. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller.Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Ortiz, Oscar Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

Algebraic path tracking to aid the manual harvesting of olives using an automated service unit

Service units used in precision agriculture are able to improve processes such as harvesting, sowing, agrochemical application, and manure spreading. This two-part work presents, a path tracking controller based on an algebraic approach for an articulated service unit, suitable for embedded applications, and its implementation to a hierarchical navigation strategy to aid a manual harvesting process. The path tracking controller approach can be scaled to several trailers attached to the service unit. For harvesting, the service unit drives within an olive grove environment following the previously developed path and a trailer is used as a mobile hopper where olives, collected by human labour, are deposited. The service unit also registers and geo-references the amount of olives (mass) collected for the subsequent creation of yield maps. The developed navigation strategy improved the time associated with harvesting olives by approximately 42–45%. The mathematical formulation of the problem, some real time experimental results, the creation of a yield map and the statistical analysis that validated the method are included.Fil: Auat Cheein, Fernando Alfredo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Técnica Federico Santa María; ChileFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Torres Torriti, Miguel. Pontificia Universidad Católica de Chile; ChileFil: Guivant, José. University of New South Wales; AustraliaFil: Prado, Alvaro Javier. Universidad Técnica Federico Santa María; ChileFil: Arnò, Jaume. Universidad de Lleida; EspañaFil: Escolà, Alexandre. Universidad de Lleida; EspañaFil: Rosell Polo, Joan R.. Universidad de Lleida; Españ

Towards a new modality-independent interface for a robotic wheelchair

This work presents the development of a robotic wheelchair that can be commanded by users in a supervised way or by a fully automatic unsupervised navigation system. It provides flexibility to choose different modalities to command the wheelchair, in addition to be suitable for people with different levels of disabilities. Users can command the wheelchair based on their eye blinks, eye movements, head movements, by sip-and-puff and through brain signals. The wheelchair can also operate like an auto-guided vehicle, following metallic tapes, or in an autonomous way. The system is provided with an easy to use and flexible graphical user interface onboard a personal digital assistant, which is used to allow users to choose commands to be sent to the robotic wheelchair. Several experiments were carried out with people with disabilities, and the results validate the developed system as an assistive tool for people with distinct levels of disability.Fil: Bastos Filho, Teodiano Freire. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Torre Müller, Sandra Mara. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Cardoso Celeste, Wanderley. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Cruz, Celso de la. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Cavalieri, Daniel Cruz. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Sarcinelli Filho, Mário. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Santos Amaral, Paulo Faria. Universidade Federal Do Espirito Santo. Centro Tecnológico. Departamento de Ingeniería Eléctrica; BrasilFil: Pérez Berenguer, María Elisa. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin