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INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment

Grant number: 14/50851-0
Support type:Research Projects - Thematic Grants
Duration: July 01, 2017 - June 30, 2023
Field of knowledge:Engineering - Electrical Engineering
Cooperation agreement: CNPq - INCTs
Principal Investigator:Marco Henrique Terra
Grantee:Marco Henrique Terra
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Co-Principal Investigators:Carlos Dias Maciel ; Denis Fernando Wolf ; Ely Carneiro de Paiva ; Luís Fernando Costa Alberto ; Oswaldo Luiz Do Valle Costa ; Roseli Aparecida Francelin Romero ; Vilma Alves de Oliveira
Associated grant(s):18/03915-3 - Cyber security diagnostics, resilient control recovery and cooperative control of a network of unmanned systems, AV.EXT
18/02970-0 - 2018 IEEE International Conference on robotics and automation (ICRA 2018), AR.EXT
Associated scholarship(s):19/03366-2 - Spatial instance segmentation in monocular images through convolutional neural networks, BP.DR
18/23139-8 - Structural learning of dynamic Bayesian Networks using multiobjective parallel evolutionary algorithm, BP.DD
18/24815-7 - Fast methods for selection of preventive and corrective controls in electric power systems considering load uncertainties, BP.DD
+ associated scholarships 18/19388-2 - Control of linear systems with dynamics subject to Markovian variations and partial information on the Markov parameter, BP.PD
18/19732-5 - Decision making and trajectory planning for intelligent vehicles using partially observable Markov decision processes and inverse reinforcement learning, BP.DR
17/23719-1 - Mapping of indoor environments with Kinect 2 sensor and ROS system, BP.IC
18/19150-6 - Resilience of complex systems with the use of dynamic Bayesian Networks: a probabilistic approach, BE.PQ
17/22603-0 - Robust unified optimal monocular tracking and servoing: new techniques and applications to autonomous systems, BE.PQ
17/23255-5 - Mapping using LIDAR sensors and ROS package for moving bodies, BP.IC
17/22397-0 - Analysis of limit induced bifurcations and parameter uncertainties in the context of voltage stability, BP.IC
17/21941-9 - Resilience analysis on self-healing systems, BP.IC
17/17444-0 - Plantation monitoring using heterogeneous robots, BP.DD
17/16346-4 - Communication network fault tolerant control for coordinated movement of heterogeneous robots, BP.DD - associated scholarships


This proposal aims the creation of a National Institute of Science and Technology to deal with cooperative autonomous systems (INCT- SAC). Motivated by Brazil’s large territory and population size, wide-ranging geographic features, and economic and social issues, we intend to solve problems related to security and environment. This INCT will address some of these challenges by proposing novel networked robotic systems for underwater maintenance, automobile and cargo transportation grow crops, remote inspection and actuation, and surveillance. Oil extraction in the pre-salt layer, located 250Km from the coast and more than 2 km deep in the ocean, has demanded specific solutions in terms of logistics, maintenance in deep waters, remote operations of platforms, and national security. Urban mobility has been faced with an expressive growing in the number of automobiles in the last years, the Brazilian car fleet is now the 4th in the world, car manufacturers and robotics researchers have been interested in partial or full automation of vehicles navigation systems. In terms of Amazon rainforest and Agriculture, Brazil has the important and complementary objectives in terms of preservation and to increase crop productivity. Advances in communication, computing, and embedded control technologies allow the application of networked systems to large environmental monitoring and coordination of multiple mobile agents for exploration and manipulation. The latest advances in systems theory and emerging information technology to enable the design and implementation of distributed networks for observation, mobility, and manipulation provide the fundamental scope of actual problems we intend to solve. Specifically, this proposal will consider autonomous navigation of aerial vehicles in low altitude to deal, for instance, with power transmission line and gas pipe inspection to alleviate the pilot’s workload and with motion planning strategies for aggressive landing of an actual cargo transportation helicopter in a mobile platform; robotic systems based on lighter-than-air vehicles for environmental monitoring, surveillance and communication applied to the Amazon region. They will provide a virtual sensory barriers against deforestation, telecommunication services to remote and small population areas, technological solutions to coastal communities and remote settlements; Modeling and design of autonomous heavy vehicles with on-line payload measurement system. Advanced driver assistance systems will be developed to deal with safety, congestion and traffic cooperation, and with overloading freight transportation; coordination of heterogeneous aerial and mobile robots in outdoor environment to deal with helicopters and convoy of trucks based on fault tolerant control systems; coordination of heterogeneous robots applied to orange plantation monitoring. This project aims to estimate the amount of fruits, pest detection, the rate of development and degree of maturity of the plants; modeling and design of distributed underwater vehicles for inspection and service of industrial installations. They will deal with servicing, repair, and assembly tasks of oil and gas platforms. Basic development for autonomous and fault tolerant control systems. It will be related with development of control techniques for systems under stochastic variations in its dynamics, with the development of measurement based approach to engineering design and techniques for system identification, and with control of small robots described by swarms of insects which will be performed based on bio-inspired systems. This INCT will bring together an outstanding set of universities, industries, and research institutes of Brazil and abroad. (AU)

Scientific publications (12)
(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)
GROSS, TADEU JUNIOR; BESSANI, MICHEL; DARWIN JUNIOR, WILLIAN; ARAUJO, RENATA BEZERRA; CARVALHO VALE, FRANCISCO ASSIS; MACIEL, CARLOS DIAS. An analytical threshold for combining Bayesian Networks. KNOWLEDGE-BASED SYSTEMS, v. 175, p. 36-49, JUL 1 2019. Web of Science Citations: 0.
BARBOSA, FILIPE MARQUES; MARCOS, LUCAS BARBOSA; DA SILVA, MAIRA MARTINS; TERRA, MARCO HENRIQUE; GRASSI JUNIOR, VALDIR. Robust path-following control for articulated heavy-duty vehicles. CONTROL ENGINEERING PRACTICE, v. 85, p. 246-256, APR 2019. Web of Science Citations: 0.
BHATTACHARYYA, SHANKAR P.; OLIVEIRA, VILMA A.; MAGOSSI, RAFAEL F. Q. Thevenin's Theorem, Cramer's Rule, and Parameterized Systems: Some Connections. IEEE CONTROL SYSTEMS MAGAZINE, v. 39, n. 2, p. 84-100, APR 2019. Web of Science Citations: 0.
CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; AZINHEIRA, JOSE R.; FERREIRA, V, PAULO A.; DE PAIVA, ELY C.; BUENO, SAMUEL S. Estimation of Vertical , Lateral , and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 24, n. 2, p. 561-571, APR 2019. Web of Science Citations: 0.
COSTA, O. L. V.; DUFOUR, F. Zero-Sum Discounted Reward Criterion Games for Piecewise Deterministic Markov Processes. APPLIED MATHEMATICS AND OPTIMIZATION, v. 78, n. 3, p. 587-611, DEC 2018. Web of Science Citations: 0.
JUNIOR GROSS, TADEU; ARAUJO, RENATA BEZERRA; CARVALHO VALE, FRANCISCO ASSIS; BESSANI, MICHEL; MACIEL, CARLOS DIAS. Dependence between cognitive impairment and metabolic syndrome applied to a Brazilian elderly dataset. ARTIFICIAL INTELLIGENCE IN MEDICINE, v. 90, p. 53-60, AUG 2018. Web of Science Citations: 0.
SOUZA, KLEYMILSON N.; PONTES, RICARDO S. T.; OLIVEIRA, ANDRESSA P.; BARRETO, GUILHERME A. Design and Control of a Three-Coil Permanent Magnet Spherical Motor. ENERGIES, v. 11, n. 8 AUG 2018. Web of Science Citations: 0.
TODOROV, MARCOS G.; FRAGOSO, MARCELO D.; DO VALLE COSTA, OSWALDO LUIZ. Detector-based H-infinity results for discrete-time Markov jump linear systems with partial observations. AUTOMATICA, v. 91, p. 159-172, MAY 2018. Web of Science Citations: 3.
DE OLIVEIRA, A. M.; COSTA, O. L. V. Mixed H-2/H-infinity control of hidden Markov jump systems. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, v. 28, n. 4, p. 1261-1280, MAR 10 2018. Web of Science Citations: 6.
NAKASHIMA, GIOVANA Y.; NAKAGAWA, THERESA H.; DOS SANTOS, ANA F.; SERRAO, V, FABIO; BESSANI, MICHEL; MACIE, CARLOS D. Identification of Directed Interactions in Kinematic Data during Running. FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY, v. 5, OCT 31 2017. Web of Science Citations: 0.
DO VALLE COSTA, OSWALDO LUIZ; FIGUEIREDO, DANILO ZUCOLLI. Filtering S-coupled algebraic Riccati equations for discrete-time Markov jump systems. AUTOMATICA, v. 83, p. 47-57, SEP 2017. Web of Science Citations: 2.
FIGUEIREDO, DANILO ZUCOLLI; DO VALLE COSTA, OSWALDO LUIZ. H-2-control and the separation principle for discrete-time jump systems with the Markov chain in a general state space. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, v. 48, n. 13, p. 2728-2741, 2017. Web of Science Citations: 2.

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