In the robot soccer, a good strategy is essential to the success of a team. It is responsible to define the behavior of each robot on the many game situations and make the team play in a cooperative manner to win the game. To accomplish this, it is proposed in this paper a methodology to designing strategies for robot soccer based on discrete event systems formalism. The main idea is to allow the construction of a game strategy where the behavior of each robot can be dynamically modified, depending on the context of the match. This strategy is modeled based on the discrete events system (DES) theory. The DES formalism enables to implement the interaction between the various behaviors of a system in a simple way, allowing the addition of new behavior without changing the current behaviors already in use, which is the main advantage of the proposed approach.
This paper analyses the impact of parametric uncertainties of a mobile robot kinematic model on velocity and pose estimation, providing models and quantifiable knowledge about them. Most works neglect how the uncertainty regarding the robot's construction aspects (such as wheels radii, the distance between them, and the robot's center of mass) affects both velocities and pose estimation. To help readers understand the influence of such parametric uncertainties, we performed experiments in a simulator and used the collected data on the proposed models. The paper also analyses how the magnitude of velocities considered by the controllers and the followed path can decrease or increase the impact of the parametric uncertainties. The proposed models and presented analysis help understanding the influence (isolated or simultaneous) of different sources of uncertainty in the robot's velocities and pose estimation. This knowledge can be applied to estimate uncertainties for localization methods based on data fusion, complementing or even avoiding the experimental procedures. Also, the development of controllers, robot simulators and new methodologies for parameters' calibration and the design and construction of new robots can also profit from the results presented in this paper.
Quality control, cost reduction and above all, human and environmental safety are great reasons that stimulate the investments in technologies like automatic inspection. The automatic inspection of weld lines in storage tanks is of special interest, due to the fact that such tanks are currently used to store harmful products. For a reliable inspection it is necessary to accurate detect the weld line position. In this paper the development of a system to perform weld line detection in storage tanks is proposed. Two redundant systems, based on different physical principles, distance and visual information, are implemented and tested. Such systems make use of a fault-tolerant estimation process based on the α-β filter. Finally, the outputs of the two redundant systems are fused, aiming at to increase the confidence and performance of the system.
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