2020: Proceedings of the 12th Brazilian Symposium on Robotics and 17th Latin American Robotics Symposium | Proceedings of the Brazilian Symposium on Robotics and Latin American Robotics Symposium (SBR/LARS)

The Proceedings of the 12th Brazilian Symposium on Robotics (SBR 2020), 17th Latin American Robotics Symposium (LARS 2020) and 11th Workshop on Robotics in Education (WRE 2020) bring the papers selected and presented in Natal/RN, Brazil, from November, 9th – 12th, 2020. In this issue, the proceedings include 70 full papers. These papers were selected through a double-blind review, from a total of 92 full papers submitted, which implied an acceptance rate of 76%. The event's program committee was coordinated by Luiz Marcos Garcia Gonçalves (UFRN) and Paulo Lilles Jorge Drews Junior (FUGR), who organized this volume. The articles in this volume were submitted on 31/08/2020, accepted for publication on 05/10/2020, with the final version submitted on 04/11/2020.

To access the Companion Proceedings, visit the SBR-LARS 2020 Companion Proceedings series.

You can find more information about LARS-SBR-WRE 2020 visiting the website of the event.

Published: 2020-11-09

Papers presented at the SBR/LARS

Intuitive and Modular Software Architecture for Functional Electrical Stimulation Rehabilitation

Guilherme Ricarte, Lucas Pinheiro, Antônio Bó

1-6
- IEEE Xplore
Robotic assistance for autism: a literature review

Isadora Ferrão, Roseli Romero, Josue Ramos, Helio Azevedo

7-12
- IEEE Xplore
Development of Human-Robot Communication Technologies for Future Interaction Experiments

Ana Christina Campos, Bruno Adorno

13-18
- IEEE Xplore
A Survey on the Aspects of Human-Robot Interaction in Autonomous Vehicles

Nícolas Rosa, Roseli Ap. Romero, Valdir Grassi Jr

19-24
- IEEE Xplore
Proteger: A Social Robotics System to Support Child Psychological Evaluation

Diogo Godoi, Roseli Romero, Helio Azevedo, Josué Ramos, Germano Beraldo Filho, Márcia Ap. Garcia

25-30
- IEEE Xplore
Human-robot interface for remote control via IoT communication using deep learning techniques for motion recognition

Dieisson Martinelli, Jonathan Cerbaro, João Alberto Fabro, Andre de Oliveira, Marco Antonio Teixeira

31-36
- IEEE Xplore
ROSANA: Robot for Social Interaction in Unstructured Dynamic Environments

Pedro Paiva, Murilo Batista, Marcos Cruz, Germano B. Filho, Josué Ramos

37-42
- IEEE Xplore
A simulated environment for long-term interactions with episodic memory

Isaque de Souza, Hélio Azevedo

43-48
- IEEE Xplore
A Simulated Environment for the Development and Validation of an Inspection Robot for Confined Spaces

André Cid, Mateus Nazário, Mauricio Sathler, Frederico Martins, Jaco Domingues, Mário Delunardo, Paulo Alves, Rodrigo Teotônio, Luiz Guilherme Barros, Adriano Rezende, Victor Miranda, Gustavo Freitas, Gustavo Pessin, Héctor Azpúrua

49-54
- IEEE Xplore
Security on ROS: analyzing and exploiting vulnerabilities of ROS-based systems

Rafael Teixeira, Igor Maurell, Paulo Drews-Jr

55-60
- IEEE Xplore
A Brazilian Sign Language Video Database for Automatic Recognition

Priscila Gameiro, Wesley Passos, Gabriel Araujo, Amaro de Lima, Jonathan Gois, Anna Corbo

61-66
- IEEE Xplore
WaiterBot: Comparison of Fuzzy Logic Approaches for Obstacle Avoidance in Dynamic Unmapped Environments Using a Laser Scanning System (LiDAR)

Jonathan Cerbaro, Dieisson Martinelli, André de Oliveira, João Alberto Fabro

67-72
- IEEE Xplore
Trajectory Generation Module Design for Robot Manipulators

Gabriel Souza, Gustavo Dutra, Jose Jean-Paul Zanlucchi

73-78
- IEEE Xplore
Intelligent Depth Control of Underwater Robots using Artificial Neural Networks and Reinforcement Learning

Lucas Cadengue, Gabriel Lima, Wallace Bessa

79-83
- IEEE Xplore
Fast and Safe Path Planning Method for an Autonomous Smart Walker

Luís Nascimento, Joelson Rocha-Júnior, Vitor Santos, Diego Pereira, Pablo Alsina, Anselmo Frizera-Neto

84-89
- IEEE Xplore
Distributed MAS with Leaderless Consensus to Job-Shop Scheduler in a Virtual Smart Factory with Modular Conveyors

Alex Luiz de Sousa, André de Oliveira

90-95
- IEEE Xplore
Shortest Path Methods for Automated Warehouse Applications

K. C. T. Vivaldini, M. Becker

96-101
- IEEE Xplore
Autonomous Navigation System for a Wall-painting Robot based on Map Corners

João Carlos Soares, Gabriel Abati, Gustavo Henrique Lima, Marco Antonio Meggiolaro

102-107
- IEEE Xplore
An Open-Design Warehouse Mobile Robot

Rhaian Barros, Jorge Silva Filho, João S. Neto, Tiago Nascimento

108-113
- IEEE Xplore
Deep Reinforcement Learning for Visual Semantic Navigation with Memory

Iury Santos, Roseli Romero

114-119
- IEEE Xplore
Comparative Evaluation of Feature Descriptors Through Bag of Visual Features with Multilayer Perceptron on Embedded GPU System

Alexandra Raibolt, Alberto Angonese, Paulo Rosa

120-125
- IEEE Xplore
Performance Analysis of Code-Based Relative GPS Positioning as Function of Baseline Separation

Gustavo Carvalho, Felipe Silva Filho, Rogério Menezes Filho, Victor Hugo Pereira

126-131
- IEEE Xplore
Visual Predictive Control Scheme for a Mobile Robot Navigating in a Cluttered Environment

Adrien Durand-Petiteville, Viviane Cadenat

132-137
- IEEE Xplore
Triaxial accelerometer calibration using an extended two-step methodology

Rogério Menezes Filho, Felipe Silva, Gustavo Carvalho, Leonardo Vieira

138-143
- IEEE Xplore
A Study on Global Path Planners Algorithms for the Simulated TurtleBot 3 Robot in ROS

Pedro Brasil, Fabio Pereira, Marco Antonio Cuadros, Anselmo Rafael Cukla, Daniel Fernando Gamarra

144-149
- IEEE Xplore
Monitoring and Analysis of Compensatory Trunk Movements with RGB-D Camera and Wireless System for Rehabilitation of Upper Limbs

Alice Garcia, André Kelbouscas, Sibyla V. e Silva, Leonardo Guimarães, Vinícius de Oliveira

150-155
- IEEE Xplore
Depth Completion with Morphological Operations: An Intermediate Approach to Enhance Monocular Depth Estimation

Raul Mendes, Eduardo Ribeiro, Nícolas Rosa, Valdir Grassi Jr

156-161
- IEEE Xplore
System for Recognition of Facial Expressions Using Machine Learning

Tharcio Thalles Silva, Alexsandra Andrade, Natalia da Silva

162-167
- IEEE Xplore
Convolutional Neural Network with Inception-like Module for Ball and Goalpost Detection in a Small Humanoid Soccer Robot

Lucas Steuernagel, Marcos Maximo, Lucas Pereira, Carlos Sanches

168-173
- IEEE Xplore
A Comparison of Three Different Parameterizations to Represent Planes For the Mapping Step of Direct Visual SLAM Approaches

Filipe Lins, Orcilano Luz, Adelardo Medeiros, Pablo Alsina

174-179
- IEEE Xplore
A Comparative Evaluation of Learned Feature Descriptors on Hybrid Monocular Visual SLAM Methods

Hudson Bruno, Esther Colombini

180-185
- IEEE Xplore
Investigation of Visual Reconstruction Techniques Using Mobile Robots in Confined Environments

Rafael Fernandes, Thiago Rocha, Héctor Azpúrua, Gustavo Pessin, Armando Alves Neto, Gustavo Freitas

186-191
- IEEE Xplore
Cooperative Training of Triplet Networks for Cross-Domain Matching

Giovanni De Giacomo, Matheus dos Santos, Paulo Drews-Jr, Silvia Botelho

192-197
- IEEE Xplore
Alternative Underwater Image Restoration Based on Unsupervised Learning and Autoencoder with Degradation Block

Claudio Mello Jr., Bryan Moreira, Paulo Drews-Jr, Silvia Botelho

198-203
- IEEE Xplore
Underwater Depth Estimation Based on Water Classification using Monocular Image

Edwilson Vaz Jr., Everson de Toledo, Paulo Drews-Jr

204-209
- IEEE Xplore
A Passive Vision System for Weld Bead Inspection System Textures in Underwater Environments

Patrick Baldez, Luciane Soares, Débora Debiaze, Silvia Botelho, Ricardo Nagel, Danubia Espíndola

210-215
- IEEE Xplore
Estimating Human Body Orientation using Skeletons and Extreme Gradient Boosting

Pedro Victor de Paiva, Murilo Batista, Josué Júnior Ramos

216-221
- IEEE Xplore
Dribbler and Kicker Systems to Small Size Soccer League Robots: A Study and Project to Latin American Robotics Competition

Joaquim Araújo, Marcos de Lima, Caio Montarroyos, Luis H. Arruda, Pedro Silva, Adam Pinto, Júlia Souza, João P. Cajueiro

222-227
- IEEE Xplore
Neural Network to Control a Multiple Angles Kicker in RoboCup Small Size League

Francisco Azevedo, Daniela Vacarini, Emilia Villani, Marcos Maximo

228-233
- IEEE Xplore
An Analysis of Reinforcement Learning Applied to Coach Task in IEEE Very Small Size Soccer

Carlos Pena, Mateus Machado, Mariana Barros, José Silva, Lucas Maciel, Tsang Ren, Edna Barros, Pedro Braga, Hansenclever Bassani

234-239
- IEEE Xplore
Push Recovery Strategies through Deep Reinforcement Learning

Dicksiano Melo, Marcos Máximo, Adilson da Cunha

240-245
- IEEE Xplore
Deep Reinforcement Learning for Humanoid Robot Dribbling

Alexandre Muzio, Marcos Maximo, Takashi Yoneyama

246-251
- IEEE Xplore
Comparison of Sampling-based Path Planners for Robocup Small Size League

Felipe Pinheiro, Marcos Máximo, Takashi Yoneyama

252-257
- IEEE Xplore
Decision-making for 5x5 Very Small Size Soccer Teams

Thayana Baldão, Marcos Maximo, Cecilia Cesar

258-263
- IEEE Xplore
A Data Analysis Graphical User Interface for RoboCup 2D Soccer Simulation League

Felipe Pereira, Mateus Soares, Edna Barros

264-268
- IEEE Xplore
Deep Reinforcement Learning Applied to IEEE Very Small Size Soccer Strategy

Thiago Felipe de Medeiros, Marcos Máximo, Takashi Yoneyama

269-274
- IEEE Xplore
Performance Evaluation of Propulsion Control Techniques for Autonomous Sailboat

Davi Henrique dos Santos, Luiz Marcos Gonçalves

275-280
- IEEE Xplore
Multiple Dynamic Perimeter Surveillance by an Autonomous Robot

Vítor Barros, Douglas Macharet

281-286
- IEEE Xplore
Gain-Scheduled Robust Recursive Lateral Control for Autonomous Ground Vehicles Subject to Polytopic Uncertainties

José Bueno, Kaio Rocha, Marco Terra

287-292
- IEEE Xplore
A Left-inverse Non-linear Controller to a RRR Manipulator

Igor Lopes, Samaherni Dias, Kurios Queiroz

293-298
- IEEE Xplore
Kinematic Analysis of Planar 5R Symmetrical Parallel Manipulator using an Interval Approach

Fabian Lara-Molina, Edson Koroishi

299-304
- IEEE Xplore
A Novel Concept for Hybrid Unmanned Aerial Underwater Vehicles Focused on Aquatic Performance

Alexandre Horn, Pedro Pinheiro, Ricardo Grando, Cesar da Silva, Armando A. Neto, Paulo Drews-Jr

305-310
- IEEE Xplore
GPS Spoofing: Detecting GPS Fraud in Unmanned Aerial Vehicles

Isadora Ferrão, Sherlon da Silva, Daniel Pigatto, Kalinka Branco

311-316
- IEEE Xplore
Towards a Double Hybrid VTOL UAV System

Alysson Lucena, Luiz Gonçalves

317-322
- IEEE Xplore
Onboard Instability Correction of a Flying Wing Unmanned Aerial Vehicle

Alysson Lucena, Luiz Gonçalves

323-328
- IEEE Xplore
An Evolutionary Algorithm for Quadcopter Trajectory Optimization in Aerial Challenges

Adson Alves, Murillo Augusto Ferreira, Esther Luna Colombini, Alexandre Simões

329-334
- IEEE Xplore
Deep Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles

Ricardo Grando, Junior de Jesus, Paulo Drews-Jr

335-340
- IEEE Xplore
Performance Indices-based Tuning for Barometer-aided Inertial Navigation Systems

Leonardo Vieira, Felipe Silva, Rogério M. Filho, Lucas Paiva

341-346
- IEEE Xplore
NMPC controller applied to an UAV Path Following Problem

Tiago Henrique Santa Maria, Guilherme Augusto Pusssente, André Luís Marcato, Eduardo de Aguiar

347-352
- IEEE Xplore
Visual-based Autonomous Unmanned Aerial Vehicle for Inspection in Indoor Environments

Ricardo Grando, Pedro Pinheiro, Nicolas Bortoluzzi, César da Silva, Otávio Zauk, Mariana Piñeiro, Vivian Aoki, André L. Kelbouscas, Ylanna Lima, Paulo Drews-Jr, Armando A. Neto

353-358
- IEEE Xplore

Papers presented at the Workshop of Robotics in Education (WRE)

Guitar Tuner and Song Performance Evaluation Using a NAO robot

Rodrigo Melo, Rodrigo Monteiro, José Paulo de Oliveira, Bruno Jeronimo, Carmelo Bastos-Filho, Anna Priscilla de Albuquerque, Judith Kelner

359-364
- IEEE Xplore
A comprheensive review of Visual Programming Tools for Arduino

Julio Melo, Melquiades Fidelis, Sidney Alves, Ulisses Freitas, Rummenigge Dantas

365-370
- IEEE Xplore
Assessing the Reality Gap of Robotic Simulations with Educational Purposes

Júlia Souza, Pedro Silva, Adam Pinto, Filipe Monteiro, João Teixeira

371-376
- IEEE Xplore
Problem-based learning: design of a DC motor driver for combat robots

Bruno Henrique dos Santos, Ruan Cartier, João Pedro Silva, Guilherme Melo, José de Oliveira Neto, João Cajueiro

377-382
- IEEE Xplore
Educational Robotics as a Motivational Tool for Students with ASD: A First Impression

Milena Monteiro, Maria Verónica González, Akynara Aglaé Burlamaqui, Aquiles Burlamaqui

383-388
- IEEE Xplore
Robotics as a Tool for Deconstructing Stereotypes in Amazon: Disseminating Information in Baixo Trombetas

Luciana Sousa, Raiane Coimbra, Leana Pantoja, Eliene Santos, Queilane Cardoso, Crystian Cativo, Suzane Monteiro, Flavia Monteiro

389-394
- IEEE Xplore
Educational Robotics in Times of Pandemic: Challenges and Possibilities

Andressa Shirley Gomes, Joice da Silva, Leonardo Teixeira

395-399
- IEEE Xplore
Analysis of Teacher Training in Educational Robotics with URA Workshops

Maria Eduarda Lago, Isaac de Lyra Junior, Brenda Queiroz, Melquiades da Silva, Johnatan Pereira, Aquiles Burlamaqui, Orivaldo Santana Jr

400-405
- IEEE Xplore
Demystifying Educational Robotics with FOCORE: from Very Low Cost Software and Hardware Technologies to the Development of New Methodologies and Curriculum for Continuing Teacher Education and Teaching of Brazilian Basic Education Students

Carla Fernandes, Orivaldo S. Júnior, Denilton Oliveira, Luciane Garcia, Aquiles Burlamaqui, Julio Melo, Sarah Sá, Allyson Soares, Anderson Souza, Dennis Barrios-Aranibar, Raquel Patiño-Escarcina, João Fabro, Akynara Burlamaqui, Samuel Azevedo, Edilson Kato, Roberto Inoue, André Hernandes, Tatiana Pazelli, Osmar Ogashawara, Luis Araujo, João Fontes, Alessandra Hai, Kelen Vivaldini, Vania Neris, Luciano Neris, Rafael Aroca, Pablo Alsina, Luiz Gonçalves

406-411
- IEEE Xplore
Application of a ROS / CoppeliaSim Integration in a Practical ”OBR” Competition Scenario

Carlos Fernando Joventino, André de Oliveira, João Alberto Fabro, Jonathas Pereira

412-417
- IEEE Xplore