Engenharia de Robôs

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Navegando Engenharia de Robôs por Assunto "Computer vision"

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    A fast model-based vision system for a robot soccer team
    (2006-11-17) MARTINS, M. F.; Flavio Tonidandel; Reinaldo Bianchi
    Robot Soccer is a challenging research domain for Artificial Intelligence, which was proposed in order to provide a long-term problem in which researchers can investigate the construction of systems involving multiple agents working together in a dynamic, uncertain and probabilistic environment, to achieve a specific goal. This work focuses on the design and implementation of a fast and robust computer vision system for a team of small size robot soccer players. The proposed system combines artificial intelligence and computer vision techniques to locate the mobile robots and the ball, based on global vision images. To increase system performance, this work proposes a new approach to interpret the space created by a well-known computer vision technique called Hough Transform, as well as a fast object recognition method based on constraint satisfaction techniques. The system was implemented entirely in software using an off-the-shelf frame grabber. Experiments using real time image capture allows to conclude that the implemented system are efficient and robust to noises and lighting variation, being capable of locating all objects in each frame, computing their position and orientation in less than 20 milliseconds. © Springer-Verlag Berlin Heidelberg 2006.
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    On the construction of a RoboCup small size league team
    (2011-01-05) Gurzoni Jr. J.A.; Martins M.F.; Flavio Tonidandel; Reinaldo Bianchi
    The Robot Soccer domain has become an important artificial intelligence test bench and a widely studied research area. It is a domain with real, dynamic, and uncertain environment, where teams of robots cooperate and face adversarial competition. To build a RoboCup Small Size League (SSL) team able to compete in the world championship requires multidisciplinary research in fields like robotic hardware development, machine learning, multi-robot systems, computer vision, control theory, and mechanics, among others. This paper intends to provide insights about the aspects involved on the development of the RoboFEI RoboCup SSL robot soccer team and to present the contributions produced over its course. Among these contributions, a computer vision system employing an artificial neural network (ANN) to recognize colors, a heuristic algorithm to recognize partially detected objects, an implementation of the known rapidly-exploring random trees (RRT) path planning algorithm with additional rules, enabling the angle of approach of the robot to be controlled, and a layered strategy software system. Experimental results on real robots demonstrate the high performance of the vision system and the efficiency of the RRT algorithm implementation. Some strategy functions are also experimented, with empirical results showing their effectiveness. © 2011 The Brazilian Computer Society.