Published in , 2025
This paper presents a semantics-aware path-planning framework that enables quadrupedal robots to navigate environments by walking on specific terrains while considering safety, energy, and time constraints. The proposed method identifies key traversable elements and classifies them on a preference scale using weights in a cost function.
A video of the experiments can be seen in this link.
Published in MDPI Robotics, 2025
This paper presents a path-planning approach for tethered robots. The proposed planner finds paths that minimize the tether tension due to tether–obstacle and tether–floor interaction.
Recommended citation: Lima, R. R., & Pereira, G. A. S. (2025). " Tension-Aware Motion Planning for Tethered Robots ". Robotics, 14(2), 11. https://doi.org/10.3390/robotics14020011 https://www.mdpi.com/2218-6581/14/2/11
Published in IEEE Robotics and Automation Letters, 2023
This paper presents a method for the precise cable-guided landing of tethered drones based on a continuous velocity vector field that relies on the tether variables only. A video of the experiments can be seen in this link.
Recommended citation: R. R. Lima, B. Martinez Rocamora and G. A. S. Pereira, " Continuous Vector Fields for Precise Cable-Guided Landing of Tethered UAVs," in IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 4370-4377, July 2023, doi: 10.1109/LRA.2023.3281940. https://ieeexplore.ieee.org/document/10141667
Published in Journal of Intelligent & Robotic Systems, 2023
This paper proposes a tether-based localization framework using neural networks.
Recommended citation: R. R. Lima and Guilherme A. S. Pereira. " A Multi-model Framework for Tether-based Drone Localization," in Journal of Intelligent & Robotic Systems, vol. 108, no. 2, p.20, June 2023. https://doi.org/10.1007/s10846-023-01851-0 https://link.springer.com/article/10.1007/s10846-023-01851-0
Published in U.S. Patent, 2023
Tethering System for Localization and Landing of Drones. Filing date June 2023.
Published in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022
This paper is about drone collision detection and classification using IMU time-series via deep learning networks.
Recommended citation: R. R. Lima and G. A. S. Pereira, " Drone Collision Detection and Classification using Proprioceptive Data, " 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, Dubrovnik, Croatia, pp. 562-569. https://ieeexplore.ieee.org/document/9836207
Published in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
This paper is about the drone localization problem of a tethered drone attached to an anchor point using tether variables and IMU data.
Recommended citation: R. R. Lima and G. A. S. Pereira, " On the Development of a Tether-based Drone Localization System, " 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, Athens, Greece, pp. 195-201. https://ieeexplore.ieee.org/document/9476778
Published in 2013 Simpósio Brasileiro de Automação Inteligente (SBAI), 2013
This paper presents the hardware-in-the-loop approach in the evaluation of attitude estimation for UAVs.
Recommended citation: G. S. Ribeiro, R. R. Lima, G. A. S. Pereira, L. A. B. Tôrres, L. C. de Araújo Pimenta, "Simulação Hardware-in-the-loop Aplicada a Avaliação de Algoritmos de Estimação de Atitude para VANTS", 2013. http://www.sbai2013.ufc.br/pdfs/5850.pdf
Published in 2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013
This paper presents the main development phases involved in a multi-UAV project.
Recommended citation: G. S. C. Avellar, G. D. Thums, R. R. Lima, P. Iscold, L. A. B. Tôrres and G. A. S. Pereira, " On the development of a small hand-held multi-UAV platform for surveillance and monitoring, " 2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013, Atlanta, GA, USA, pp. 405-412. https://ieeexplore.ieee.org/document/6564715
Published in 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, 2012
This paper addresses the attitude estimation problem for fixed-wing UAVs.
Recommended citation: R. R. Lima and L. A. B. Tôrres, " Performance Evaluation of Attitude Estimation Algorithms in the Design of an AHRS for Fixed Wing UAVs, " 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, 2012, Fortaleza, Brazil, pp. 255-260. https://ieeexplore.ieee.org/document/6363352
Published in , 2008
This paper presents the results of a theoretical and experimental approach for calculating and monitoring the swing angle of insulators in aerial transmission lines due to wind.
Recommended citation: M. F. Guimarães, C. A. M. Nascimento, R. M. Valle, G. A. C. França, R. R. Lima, and G. A. A. Moreira, "Estudo Regionalizado do Balanço de Cadeias de Isoladores devido à Ação do Vento," 2008. https://www.cgti.org.br/publicacoes/wp-content/uploads/2016/03/Estudo-Regionalizado-do-Balanc%CC%A7o-de-Cadeias-de-Isoladores-devido-a%CC%80-Ac%CC%A7a%CC%83o-do-Vento.pdf