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A robot localization proposal for the RobotAtFactory 4.0: A novel robotics competition within the Industry 4.0 concept

2022Journal article Open access
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dc.contributor.authorBraun, João
dc.contributor.authorOliveira Júnior, Alexandre de
dc.contributor.authorBerger, Guido
dc.contributor.authorPinto, Vítor H.
dc.contributor.authorSoares, Inês N.
dc.contributor.authorPereira, Ana I.
dc.contributor.authorLima, José
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2023-02-24T09:31:39Z
dc.date.available2023-02-24T09:31:39Z
dc.date.issued2022
dc.description.abstractRobotic competitions are an excellent way to promote innovative solutions for the current industries’ challenges and entrepreneurial spirit, acquire technical and transversal skills through active teaching, and promote this area to the public. In other words, since robotics is a multidisciplinary field, its competitions address several knowledge topics, especially in the STEM (Science, Technology, Engineering, and Mathematics) category, that are shared among the students and researchers, driving further technology and science. A new competition encompassed in the Portuguese Robotics Open was created according to the Industry 4.0 concept in the production chain. In this competition, RobotAtFactory 4.0, a shop floor, is used to mimic a fully automated industrial logistics warehouse and the challenges it brings. Autonomous Mobile Robots (AMRs) must be used to operate without supervision and perform the tasks that the warehouse requests. There are different types of boxes which dictate their partial and definitive destinations. In this reasoning, AMRs should identify each and transport them to their destinations. This paper describes an approach to the indoor localization system for the competition based on the Extended Kalman Filter (EKF) and ArUco markers. Different innovation methods for the obtained observations were tested and compared in the EKF. A real robot was designed and assembled to act as a test bed for the localization system’s validation. Thus, the approach was validated in the real scenario using a factory floor with the official specifications provided by the competition organization.pt_PT
dc.description.sponsorshipThe authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/ 05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/ 2021). The project that gave rise to these results received the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028. The authors also acknowledge the R&D Unit SYSTEC-Base (UIDB/00147/2020), Programmatic (UIDP/00147/2020) and Project Warehouse of the Future (WoF), with reference POCI-01-0247-FEDER-072638, co-funded by FEDER, through COMPETE 2020pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationBraun, João; Júnior, Alexandre O.; Berger, Guido; Pinto, Vítor H.; Soares, Inês N.; Pereira, Ana I.; Lima, José; Costa, Paulo (2022). A robot localization proposal for the RobotAtFactory 4.0: A novel robotics competition within the Industry 4.0 concept. Frontiers in Robotics and AI. 9pt_PT
dc.identifier.doi10.3389/frobt.2022.1023590pt_PT
dc.identifier.urihttp://hdl.handle.net/10198/27163
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherFrontierspt_PT
dc.relationLA/P/0007/2021pt_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Center for Systems and Technologies
dc.relationResearch Center for Systems and Technologies
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectAutonomous mobile robotpt_PT
dc.subjectIndoor localizationpt_PT
dc.subjectIndustry 4.0pt_PT
dc.subjectRobotics competitionpt_PT
dc.subjectFiducial markerspt_PT
dc.subjectEducation 4.0pt_PT
dc.subjectRobotics in educationpt_PT
dc.subjectSTEM educationpt_PT
dc.titleA robot localization proposal for the RobotAtFactory 4.0: A novel robotics competition within the Industry 4.0 conceptpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Center for Systems and Technologies
oaire.awardTitleResearch Center for Systems and Technologies
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00147%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F00147%2F2020/PT
oaire.citation.titleFrontiers in Robotics and AIpt_PT
oaire.citation.volume9pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
person.familyNameBraun
person.familyNameOliveira Júnior
person.familyNameBerger
person.familyNamePereira
person.familyNameLima
person.givenNameJoão A.
person.givenNameAlexandre de
person.givenNameGuido
person.givenNameAna I.
person.givenNameJosé
person.identifierhttps://scholar.google.com/citations?user=WurUUUUAAAAJ&hl=pt-PT&oi=ao
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person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0002-7009-3965
person.identifier.orcid0000-0002-4100-1494
person.identifier.orcid0000-0003-3803-2043
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project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
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