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Posts

Future Blog Post

less than 1 minute read

Published: January 01, 2199

This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.

Blog Post number 4

less than 1 minute read

Published: August 14, 2015

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 3

less than 1 minute read

Published: August 14, 2014

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 2

less than 1 minute read

Published: August 14, 2013

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 1

less than 1 minute read

Published: August 14, 2012

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

portfolio

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publications

Estudo Regionalizado do Balanço de Cadeias de Isoladores devido à Ação do Vento

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

Performance Evaluation of Attitude Estimation Algorithms in the Design of an AHRS for Fixed Wing UAVs

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

On the Development of a Small Hand-held Multi-UAV Platform for Surveillance and Monitoring

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

Simulação Hardware-in-the-loop Aplicada a Avaliação de Algoritmos de Estimação de Atitude para VANTS

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

On the Development of a Tether-based Drone Localization System

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

Drone Collision Detection and Classification using Proprioceptive Data

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

Patent

Published in U.S. Patent, 2023

Tethering System for Localization and Landing of Drones. Filing date June 2023.

A Multi-model Framework for Tether-based Drone Localization

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

Continuous Vector Fields for Precise Cable-Guided Landing of Tethered UAVs

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

Tension-Aware Motion Planning for Tethered Robots

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

Semantics-Aware Path Planning for Quadrupedal Robots

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.