2021: Proceedings of the 13th Brazilian Symposium on Robotics and 18th Latin American Robotics Symposium | Proceedings of the Brazilian Symposium on Robotics and Latin American Robotics Symposium (SBR/LARS)

The Proceedings of the 13th Brazilian Symposium on Robotics (SBR 2021), 18th Latin American Robotics Symposium (LARS 2021) and 12th Workshop on Robotics in Education (WRE 2021) bring the papers selected and presented in the online edition of the event, held from November 11th to 15th, 2021, hosted from Natal, Rio Grande do Norte. In this issue, the proceedings include 63 full papers. These papers were selected through a double-blind review, from a total of 86 full papers submitted, which implied an acceptance rate of 73,2%. The event's program committee was coordinated by Bruno Marques Ferreira da Silva (UFRN), Eduardo Todt (UFPR), Tiago Nascimento (UFPB), Carla da Costa Fernandes Curvelo (UFRN) and João Fabro (UTFPR), who organized this volume. The articles in this volume were submitted on 04/23/2021, accepted for publication on 09/06/2021, with the final version submitted on 09/27/2021.

To access the Companion Proceedings, visit the SBR-LARS-WRE 2021 Companion Proceedings series.

You can find more information about SBR-LARS-WRE 2021 by visiting the website of the event.

Published: 2021-10-11

Papers presented at the SBR/LARS

A Strategy to Validate Knowledge Representation in Service Robots through Experimentation Applied to the SLAM Domain

Maria Cornejo-Lupa, Dennis Barrios-Aranibar, Yudith Cardinale, Regina Ticona-Herrera, Manoel Andrade, Jose Diaz-Amado

1-6
- IEEE Xplore
A Review of Emotions in Human-Robot Interaction

Lara Toledo Cordeiro Ottoni, Jés de Jesus Fiais Cerqueira

7-12
- IEEE Xplore
Creating a Digital Twin as an Open Source Learning Tool for Mobile Robotics

Carlos Eduardo Magrin, Gustavo Del Conte, Eduardo Todt

13-18
- IEEE Xplore
Extended Reality for Teleoperated Mobile Robots

Arturo Batistute, Edvaldo Santos, Karam Takieddine, Pedro Machado Lazari, Lidia Giane Da Rocha, Kelen Cristiane Teixeira Vivaldini

19-24
- IEEE Xplore
RoboCup@Home: Evaluation of voice recognition systems for domestic service robots and introducing Latino Dataset

Eric Brinckhaus, Guillermo Trinidad Barnech, Mathias Etcheverry, Federico Andrade

25-29
- IEEE Xplore
Tracking Nonlinear Model Predictive Control for Obstacle Avoidance

Marcelo A. Santos, Antonio Ferramosca, Guilherme V. Raffo

30-35
- IEEE Xplore
Unmanned Aerial Vehicle with Hybrid Lift and Propulsion

Alysson Nascimento Lucena, Raimundo Carlos Silvério Freire-Júnior, Luiz Marcos Garcia Gonçalves

36-41
- IEEE Xplore
Trajectory Detection Method for Transmission Line Path Following Control

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

42-47
- IEEE Xplore
Performance evaluation of LoRa and ZigBee technologies applied to FANETs

Leonardo Costa Ferreira, Luis Claudio Batista Da Silva, Paulo Fernando Ferreira Rosa

48-53
- IEEE Xplore
Analysis and Contributions of Classical Techniques for Path Planning

Lidia Rocha, Kelen Vivaldini

54-59
- IEEE Xplore
Cooperative Observation of Malicious Targets in a 3D Urban Traffic Environment Using UAVs

Matheus S. Araújo, João P. B. Andrade, Thayanne F. Da Silva Junior, Leonardo F. Da Costa, Raimundo J. C. F. Junior, Gabriel F. L. Melo, Douglas A. Da Silva, Gustavo A. L. De Campos

60-65
- IEEE Xplore
Energy Management in Autonomous Vessels Using Restricted Boltzmann Machine

Wanderson Correa, André P. D. de Araújo, Rodrigo B. de Aguiar, Davi Henrique Dos Santos, Daniel Dias, Esteban W. G. Clua, Luiz M. G. Gonçalves

66-71
- IEEE Xplore
Autonomous and Collective Intelligence for UAV Swarm in Target Search Scenario

Luiz Giacomossi, Flavio Souza, Raphael Gomes Cortes, Huascar Mirko Montecinos Cortez, Caue Ferreira, Cesar A. C. Marcondes, Denis S. Loubach, Elton F. Sbruzzi, Filipe A. N. Verri, Johnny C. Marques, Lourenço A. Pereira, Marcos R. O. A. Maximo, Vitor V. Curtis

72-77
- IEEE Xplore
Cooperative and Decentralized Decision-Making for Loyal Wingman UAVs

Luiz Giacomossi, Stiven Schwanz Dias, José Fernando Brancalion, Marcos R. O. A. Maximo

78-83
- IEEE Xplore
Unmanned Aerial Vehicle Framework for Algae Monitoring

Aline Gabriel De Almeida, Eduardo Vieira Do Nascimento, Isaac Gaetani Alvarez, Pedro Henrique Corrêa Kim, Lidia Gianne Souza Da Rocha, Kelen Cristiane Teixeira Vivaldini

84-89
- IEEE Xplore
Analysis of a Hybrid Unmanned Aerial Underwater Vehicle Considering the Environment Transition

Vivian M. Aoki, Pedro M. Pinheiro, Paulo L. J. Drews-Jr, Mauro A. B. Cunha, Lucas G. Tuchtenhagen

90-95
- IEEE Xplore
Engagement Decision Support for Beyond Visual Range Air Combat

Joao P. A. Dantas, Andre N. Costa, Diego Geraldo, Marcos R. O. A. Maximo, Takashi Yoneyama

96-101
- IEEE Xplore
Sugarcane crop line angle estimation based on pixel accumulation and Savitzky-Golay filtering

Raphael P. Ferreira, André C. Hernandes

102-107
- IEEE Xplore
Geometric Primitive Fitting in Large Structure 3D Point Clouds Acquired by Drones

Igor P. Maurell, Caue Ferreira, Carlos A. Eguti, Paulo Drews-Jr

108-113
- IEEE Xplore
Detection of invasive vegetation through UAV and Deep Learning

Camargo P. Charles, Pedro Henrique Corrêa Kim, Aline Gabriel de Almeida, Eduardo Vieira Do Nascimentok, Lidia Gianne Souza Da Rocha, Kelen Cristiane Teixeira Vivaldini

114-119
- IEEE Xplore
Surrogates for the Assessment of Robotic Manipulators Reliability

Fabian Andres Lara-Molina, Edson Hideki Koroishi, Jaqueline Sayuri Machida

120-125
- IEEE Xplore
Quasi-static Optimal Design of a Pneumatic Soft Robot to Maximize Pressure-to-Force Transference

Carlos-Ernesto Vázquez-García, Christian-Alejandro Trejo-Ramos, Vicente Parra-Vega, Ernesto Olguín-Díaz

126-131
- IEEE Xplore
A Lagrangian Dynamic Model for Soft Cylindrical Robots Without Internal Holonomic Constraint

Christian-Alejandro Trejo-Ramos, Ernesto Olguín-Díaz, Vicente Parra-Vega, Carlos-Ernesto Vázquez-García

132-137
- IEEE Xplore
6D Grasping Based On Lateral Curvatures and Geometric Primitives

Daniel M. de Oliveira, Caio C. B. Viturino, André G. S. Conceição

138-143
- IEEE Xplore
6D Robotic Grasping System using Convolutional Neural Networks and Adaptive Artificial Potential Fields with Orientation Control

Caio Cristiano Barros Viturino, Daniel M. de Oliveira, André Gustavo Scolari Conceição, Ubiratan Junior

144-149
- IEEE Xplore
Development of a Wearable Underactuated Finger Exoskeleton for Haptics: Preliminary Formal Results

Gilberto Alexis Reyes-Perez, Nadia Garcia-Hernandez, Vicente Parra-Vega

150-155
- IEEE Xplore
Constrained Control of non-Holonomic Mobile Manipulator by Explicit Reference Governor

A. B. H. Luiz, S. E. Ebrahim, R. P. Edson

156-161
- IEEE Xplore
Proposal of a multimodal robotic architecture considering social constraints applied to an intelligent wheelchair

Vinícius Moitinho, Felix Brito, Jose Diaz-Amado, Vitor Costa, Daniel Sousa, Elvio Prado, Cleia Libarino, João Erivandro Soares

162-167
- IEEE Xplore
Dynamic Modeling and Control Optimization of Free-Floating Dual-Arm Space Robots in Task Space

Gabriel S. Rodrigues, Tatiana F. P. A. T. Pazelli

168-173
- IEEE Xplore
Discrete Movement Control of a Bio-Inspired Multi-Legged Robot

Helton S. Nogueira, Felipe G. Oliveira, José L. S. Pio

174-179
- IEEE Xplore
A New Approach of Monocular Visual Odometry to Trajectory Estimation Within a Plantation

Gabriel L. Araujo, Jorge Id F. Filho, Vitor A. H. Higuti, Marcelo Becker

180-185
- IEEE Xplore
Degradation-Driven Underwater Image Enhancement

Claudio D. Mello, Paulo L. Drews, Silvia C. Botelho

186-191
- IEEE Xplore
Pedestrian Trajectory Prediction with Pose Representation and Latent Space Variables

Anderson Carlos Dos Santos, Valdir Grassi

192-197
- IEEE Xplore
Spark in the Dark: Evaluating Encoder-Decoder Pairs for COVID-19 CT’s Semantic Segmentation

Bruno A. Krinski, Daniel V. Ruiz, Eduardo Todt

198-203
- IEEE Xplore
A Framework for Underwater Vehicle Localization based on Cross-view and Cross-domain Acoustic and Aerial Images

Matheus M. Dos Santos, Giovanni G. De Giacomo, Paulo L. J. Drews-Jr, Silvia S. C. Botelho, Claudio D. Mello

204-209
- IEEE Xplore
Comparison Between Two Recurrent Multitasking Networks for Robot Relocation

Dunfrey Pires Aragão, Tiago Nascimento

210-215
- IEEE Xplore
Comparison of Visual SLAM Algorithms ORB-SLAM2, RTAB-Map and SPTAM in Internal and External Environments with ROS

Kesse Jonatas de Jesus, Henry Julio Kobs, Anselmo Rafael Cukla, Marco Antonio de Souza Leite Cuadros, Daniel Fernando Tello Gamarra

216-221
- IEEE Xplore
A Visual Inspection Proposal to Identify Corrosion Levels in Marine Vessels Using a Deep Neural Network

Luciane Soares, Silvia Botelho, Ricardo Nagel, Paulo Lilles Drews

222-227
- IEEE Xplore
Localization using OSM landmarks

Maximilian Kunz, Axel Vierling, Patrick Wolf, Karsten Berns

228-233
- IEEE Xplore
Improving the Mobile Robots Indoor Localization System by Combining SLAM with Fiducial Markers

Alexandre de Oliveira Júnior, Luis Piardi, Eduardo Giometti Bertogna, Paulo Leitão

234-239
- IEEE Xplore
An Approach to Improve Simultaneous Localization and Mapping in Human Populated Environments

Kevin Inofuente-Colque, Sérgio Ferreira-Andrade, Dennis Barrios-Aranibar, Yudith Cardinale, Jose Diaz-Amado

240-245
- IEEE Xplore
Performance Comparison of Convolutional Neural Network Models for Object Detection in Tethered Balloon Imagery

Débora F. Dos Santos, André O. Françani, Marcos R. O. A. Maximo, Arthur S. C. Ferreira

246-251
- IEEE Xplore
Performance Analysis of Relative GPS Positioning as Function of Communication Latency

Gustavo S. Carvalho, Felipe O. Silva

252-257
- IEEE Xplore
Position control of an Omnidirectional Robot through Visual Servoing

Figueroa-Saire Pedro, Patiño-Escarcina Raquel

258-263
- IEEE Xplore
Targets Detection Using Multiple Foveas

Petrucio R. T. Medeiros, Rafael B. Gomes, Luiz M. G. Gonçalves

264-269
- IEEE Xplore
Active Localization for Mobile Service Robots in Symmetrical and Open Environments

Federico Andrade, Martín LLofriu, Mercedes Marzoa Tanco, Guillermo Trinidad Barnech, Gonzalo Tejera

270-275
- IEEE Xplore
VBM granulometry for real applications in the fertilizer industry

Nelson de F. Traversi, Douglas A. Goulart, Julio Cezar O. Mendonça, Silvia S. C. Botelho, Luciane B. Soares, Emanuel S. D. Estrada, Paulo L. J. Drews, Vinícius M. Oliveira

276-281
- IEEE Xplore
Water Classification Based on Underwater Monocular Image

Everson Fagundes de Toledo, Edwilson Silva Vaz, Paulo L. J. Drews

282-287
- IEEE Xplore
Occupancy Grid Map Estimation Based on Visual SLAM and Ground Segmentation

Mirella Pessoa de Melo, Lucas Cambuim, Edna Barros

288-293
- IEEE Xplore
On Aquaculture Enhancements Through Robotic Behaviour Actuation

Letieri Rodrigues de Ávila, Sílvia Silva Da Costa Botelho, Marcelo Rita Pias, Bruna de Vargas Guterres, Je Nam Jun Junior

294-299
- IEEE Xplore
Geometry Analysis and Force Simulation of a Kicker System’s Flat Solenoid to Robots for the Robocup Small Size League Category

Danillo Do N. Santos, Guilherme S. A. e Silva, Ítalo R. A. Silva, Pedro S. V. Motta, Júlia D. T. de Souza, Joaquim E. A. Araújo, João P. C. Cajueiro, Pedro J. L. Da Silva, Adam H. M. Pinto, Bernard D. Researcheris

300-305
- IEEE Xplore
A Minimalist Open Source Behavior Tree Framework in C++

Gustavo L. Silva, Marcos R. O. A. Maximo, Lourenço A. Pereira

306-311
- IEEE Xplore
Mechanical and Dynamic Analysis for Design and Development of a RoboCup SSL Dribbling Mechanism

Victor Araújo, Edgleyson Silva, João Guilherme Monteiro, Rebecca Sousa, Cecilia Silva, Pedro Henrique Santana, Edna Barros

312-317
- IEEE Xplore
Optimizing Univector Field Navigation Parameters Using CMA-ES

Thayna Pires Baldão, Marcos R. O. A. Maximo, Takashi Yoneyama

318-323
- IEEE Xplore
CBNAV: Costmap Based Approach to Deep Reinforcement Learning Mobile Robot Navigation

Darci Luiz Tomasi, Eduardo Todt

324-329
- IEEE Xplore
Addressing Lane Keeping and Intersections using Deep Conditional Reinforcement Learning

Vítor A. S. Silva, Valdir Grassi

330-335
- IEEE Xplore
Towards a Simple Navigation Strategy for Autonomous Inspection of Ducts and Galleries

Guilherme Pereira, Carolina Duarte, David Marques, Héctor Azpúrua, Gustavo Pessin, Gustavo Freitas

336-341
- IEEE Xplore

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

EduRoSC-Prof: Continuous Education Method for Teacher Formation in Educational Robotics for K-12 Teaching

Denilton Silveira Oliveira, Carla Da Costa Fernandes Curvelo, Julio C. P. Melo, Orivaldo Vieira de Santana, Dennis Barrios-Aranibar, Raquel Esperanza Patino-Escarcina, Luciane Terra Dos Santos Garcia, Luiz Marcos Garcia Gonçalves

342-347
- IEEE Xplore
A Survey on Continuing Education of Teachers in Educational Robotics

Denilton Silveira Oliveira, Luciane Terra Dos Santos Garcia, Luiz Marcos Garcia Gonçalves

348-353
- IEEE Xplore
Building a Robotics at School Project with Social Transformation

Luciana Oliveira de Souza Gomes, Igor Nicoletti Pinto, Bruno Yoshihara Taira, Gustavo Yudi Sagara Nicio, João Carlos Tonon Campi, Mateus José Prado Pereira, Tábata Rodrigues Do Prado Macedo, Yago Mariano Barbosa, Rafael Vidal Aroca, Osmar Ogashawara, André Carmona Hernandes, Tatiana F. P. A. Taveira Pazelli

354-359
- IEEE Xplore
Easy Learning of Reinforcement Learning with a Gamified Tool

Elson Almeida Dreveck, Alex V. Salgado, Esteban W. Gonzales Clua, Luiz Marcos Garcia Gonçalves

360-365
- IEEE Xplore
Edubot Project: Analyzing the Adaptation of Robotics Classes to the Remote Environment

Giovanna Borges Bottino, Sheila de Lima Araújo, Caio de Lima Saigg, Mariana Costa Bernardes Matias, Roberto de Souza Baptista

366-370
- IEEE Xplore
Teaching Robotics in Pandemic Times Through Remote Education

Raphael de Abreu Alves e Silva, Carlos Fernando Joventino, Jonathas H. M. Pereira, Lucas Pinheiro Correa

371-376
- IEEE Xplore