Publications de Rodrigo Martins de Matos Ventura

Incorporating Perception Uncertainty in Human-Aware Navigation: A Comparative Study

Alcherio Martinoli, Zeynab Talebpour, Rodrigo Martins de Matos Ventura

In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social ...

Ieee2016

Graph-Based Distributed Control for Adaptive Multi-Robot Patrolling through Local Formation Transformation

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Alicja Barbara Roelofsen, Rodrigo Martins de Matos Ventura

Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and ...

Ieee2016

On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors

Alcherio Martinoli, Duarte Da Cruz Baptista Dias, Rodrigo Martins de Matos Ventura

This work proposes a novel relative localization system, based on active markers and an on-board camera, for tracking multiple quadrotors in a limited field of view. The system extracts the 3D poses of the markers including one that, by pulsating at a pred ...

Ieee2016

Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Alicja Barbara Roelofsen, Rodrigo Martins de Matos Ventura

Relative positioning systems play a vital role in current multi-robot systems. We present a self-contained detection and tracking approach, where a robot estimates a distance (range) and an angle (bearing) to another robot using measurements extracted from ...

Springer2015