Knowledge representation and application in autonomous mobile robot

• Grant number: 07/07104-5
• Support Opportunities: Regular Research Grants
• Start date: February 01, 2008
• End date: January 31, 2009
• Field of knowledge: Engineering - Mechanical Engineering - Mechanical Engineering Design
• Principal Investigator: Jun Okamoto Junior
• Grantee: Jun Okamoto Junior
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

The Laboratory of Advanced Perception has been developing research work on the field of autonomous robots in the last years. Recently, two on going projects need financial support for their continuity. Both are in the field of knowledge representation. The first concerns the creation of an environment model where a mobile robot must execute a task through the addition of some semantics to a probabilistic model. The second work is a solution for the problem of simultaneous localization and mapping that uses a knowledge representation with auxiliary information from visual cues obtained from a vision system and tracked in real time. Both works use the omnidirectional vision system developed by the research group for mobile robots use. The Laboratory owns a mobile robot from iRobot that is partially damaged and inoperable. This model has been in use since 2003 and is no longer manufactured, so the contacts with the American manufacturer have shown no results. This prevents its proper maintenance and continuity of its use on the research work mentioned here and others. Thus, this project proposes the acquisition of a new mobile robot with the immediate purpose of continuing the on going research work. It is expected that, with this new robot would be possible to complete the experimental work of these two projects that will contribute for a doctoral and a master work, this last one already supported by a FAPESP grant. The specification of this robot was done in a way that it could be used in future research work of the interest of this research group. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

OKAMOTO, JUN, JR.; GUIZILINI, VITOR CAMPANHOLO. On-line SLAM Using Clustered Landmarks with Omnidirectional Vision. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 32, n. 5, p. 9-pg., 2010-12-01. (07/07104-5)

OKAMOTO, JR., JUN; GUIZILINI, VITOR CAMPANHOLO. On-line SLAM using clustered landmarks with omnidirectional vision. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 32, n. 5, SI, p. 468-476, DEC 2010. (07/07104-5)

JUN OKAMOTO JR.; VITOR CAMPANHOLO GUIZILINI. On-line SLAM using clustered landmarks with omnidirectional vision. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 32, p. 468-476, 2010-12-00. (07/07104-5)