====== UTBots@Home ======

UTBots@Home is the name of the Team at UTFPR-Curitiba that research and develops technologies to create Service Robots. This research is inspired by Robocup@Home, a World Competition of Service Robots.

{{:hestia.jpeg?140|}}{{:team2024.jpeg?500|}}

We have been participating in the Latin American Robotics Competition (LARC) and Brazilian Robotics Competitions(CBR) in this category since 2014. Follows the links to our published TDPs (Team Description Papers), Posters and Pictures:

  * 2014 - São Carlos/SP (3rd Place / {{ :larc2014_teamutfpr.jpg?linkonly |Team}} / {{ :larc2014_robots_athome.jpg?linkonly |Robots}}).
  * 2015 - Uberlândida/MG ({{ :tdp_utbots_at_home_2015.pdf |TDP}} / {{ :poster_utbot_at_home_cbr_2015.pdf |Poster}} / {{:larc2015_fabro.jpg?linkonly|Team Leader}} / {{ :larc2015_teamutfpr_athome.jpg?linkonly |Team}} / {{ :apollo_and_zeus.jpg?linkonly |Robots}}).
  * 2016 - Recife/PB ({{ :tdp_utbots_at_home_2016.pdf |TDP}} / {{:larc2016_teamlaser_larc.jpg?linkonly|Team}} / {{ :larc2016_robots_athome.jpg?linkonly |Robots}}).
  * 2017 - Curitiba/PR ({{ :tdp_utbots_at_home_2017.pdf |TDP}} / {{ :poster_larc-2017_utbots_at_home.pdf |Poster}} / {{ :larc2017_teamleader.jpg?linkonly |Team}} / {{ :larc2017-robots-athome.jpg?linkonly |Robots}}).
  * 2018 - João Pessoa/PB ({{ :tdp_utbots_at_home_2018.pdf |TDP}} / {{ :poster_utbot_at_home_cbr_2018.pdf |Poster}} / {{ :larc2018_team_laser.jpg?linkonly |Team}} / {{ :larc2018_robots_athome.jpeg?linkonly |Robots}}).
  * 2019 - Rio Grande/RS ({{ :tdp_utbots_at_home_2019.pdf |TDP}} / {{ :poster_utbot_at_home_cbr_2019.pdf |Poster}} / {{ :larc2019_team_utfpr_athome.jpg?linkonly |Team}} / {{ :larc2019_teamutfpr.jpg?linkonly |All Teams from UTFPR}} / {{ :larc2019_allrobots_athome.jpg?linkonly |Robots}}).
  * 2020 - Remote Participation(It was supposed to be Natal/RN)({{ :tdp_cbrobotica_2020_utbotshome_finalok.pdf |TDP}}).
  * 2021 - Remote Participation ({{ :tdp_utbots_at_home_2021.pdf |TDP}}).
  * 2022 - São Bernardo do Campo/SP (3rd Place / {{ :tdp_apollo_at_home_2022_cbr.pdf |TDP}} / {{ :poster_larc-2022_utbots_at_homefinal.pdf |Poster}} / {{:team_utbots_home_2022.jpeg?linkonly |Team}})
  * 2023 - Salvador/BA ({{ :tdp2023.pdf |TDP}} / {{:team-larc2023.jpg?linkonly |Team}}).
  * 2024 - Goiânia/GO ({{ :tdp_nacional_2024.pdf |TDP}} / {{ :BannerCBR2024.pdf |Poster }})

Several [[utbots_at_home_team_members|Team Members]] participated and are currently involved in the Research Activities!

Our new robot HESTIA (Household Efficient Service Task-Integrated Assistant) in which we apply and test our research on several topics, being the main current ones the following:
  * Task Orchestration Models and Ontology
  * HRI - Human-Robot Interaction, specially in Social Reasoning, with Natural Language Processing
  * Low-cost open-source manipulators
  * Object Localization in 2D and 3D space

A description of our team and synthesis of our solutions are presented in the video below (more videos in our [[https://www.youtube.com/@laserUTFPR|YouTube channel]]):
{{https://youtu.be/myvCx9fO4i0}}

Also, all of our software solutions can be found in our [[https://github.com/UtBotsAtHome-UTFPR|GitHub]].

Related Publications:

   * {{ :estimating_the_3d_center_point_of_an_object_with_kinect_sensor_rgb-d_images.pdf | ARMÊNIO, G. F.; FABRO, J. A.; TOGNELLA, R. R.; CONTER, F. P.; OLIVEIRA, M. V.; SILVA, E. S.: "Estimating the 3D Center of an Object with Kinect Sensor RGB-D Images." In: 2023 Latin American Robotics Symposium (LARS), XX Simpósio Latino Americano de Robótica (LARS), Salvador/BA, Brazil, 2023.}}

   * {{ :identifying_new_persons_in_the_context_of_the_robocuphome_competition_using_knn.pdf| SEGALLE D.; ARMÊNIO, G. F.; LEWIN, G. F; SILVA, E. S.; FABRO J. A.. Identifying new persons in the context of the Robocup@Home competition using knn. In: Latin American Robotics Symposium (LARS), XX Simpósio Latino Americano de Robótica (LARS) (LARS), Salvador/BA, Brazil, 2023}}

   * {{ :deteccaoobjetosestimativaposicao.pdf | CONTER, F. P. ”Object detection and 3D pose estimation through the use of convolutional neural networks”. Master’s Thesis, Federal University of Technology - Parana, 2022.}}

   * [[https://www.doi.org/10.21528/CBIC2019-136 | FABRO, J.; VAZ, M.; OLIVEIRA, A. Design and Development of an Automated System for creation of Image Datasets intended to Allow Object Identification and Grasping by Service Robots. January 2020, 1-6.]]

   * [[https://ieeexplore.ieee.org/document/9307098 | CERBARO, J,; MARTINELLI, D,; OLIVEIRA, A. S.; FABRO, J.A.:"WaiterBot: Comparison of Fuzzy Logic Approaches for Obstacle Avoidance in Dynamic Unmapped Environments Using a Laser Scanning System (LiDAR).", In: 2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE), Natal/RN, 2020]].

   * {{ :artigometodos_de_controle_de_movimento_de_veiculo-manipuladores_acoplado_e_nao-acopladobrasero2019.pdf |SANTOS, A. G. D.; SANTOS, D.H.; OLIVEIRA, A. S.; FABRO, J. A.: "Métodos de Controle de Movimento de Veículo-Manipuladores: Acoplado e Não-Acoplado." In: III BRAZILIAN WORKSHOP ON SERVICE ROBOTICS - BRASERO, 2019, São Bernardo. Anais do III Brazilian Workshop on Service Robotics - BRASERO, 2019.}}

   * [[http://abricom.org.br/wp-content/uploads/2019/12/CBIC2019-134.pdf | FABRO, J. A.; CONTER, F. P.; OLIVEIRA, A. S.:"Integrating a mobile robot navigation control, visual object detection and manipulation using ROS and VREP." In: XIV Brazilian Congress of Computational Intelligence, 2019, Belém-PA. Proceedings of the XIV Brazilian Congress of Computational Intelligence, 2019.]]

   * [[http://abricom.org.br/wp-content/uploads/2019/12/CBIC2019-136.pdf | FABRO, J. A.; de OLIVEIRA VAZ, M.; OLIVEIRA, A. S. :"Design and Development of an Automated System for creation of Image Datasets intended to Allow Object Identification and Grasping by Service Robots." In: XIV Brazilian Congress of Computational Intelligence - CBIC, 2019, Belém-PA.]]


   * [[https://ieeexplore.ieee.org/document/8588579 | SANTOS, D.; PALAR, P.; OLIVEIRA, A. S.; FABRO, J. A.; BECKER, T. :"Adding Conscious Aspects and Simulated Emotions through Facial Expressions in Virtual Robot Navigation with Baars-Franklins Cognitive Architecture." In: 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), 2018, João Pessoa-PB.]]

   * [[https://link.springer.com/chapter/10.1007/978-3-319-44735-3_3 | SORDI FILHO, A. L.; OLIVEIRA, L. P.; OLIVEIRA, A. S.; FABRO, J. A.; WEHRMEISTER, M. A. :"Simultaneous Navigation and Mapping in an Autonomous Vehicle Based on Fuzzy Logic". In: Nadia Nedjah; Heitor Silvério Lopes; Luiza de Macedo Mourelle. (Org.). Studies in Computational Intelligence. 1ed.: Springer International Publishing, 2017, v. 664, p. 53-68.(Book Chapter)]]

   * [[https://link.springer.com/chapter/10.1007/978-3-319-26054-9_27 | BECKER, T.; Oliveira, A. S.; FABRO, J. A.; GUIMARAES, R. L. :"LIDA Bridge A ROS Interface to the LIDA (Learning Intelligent Distribution Agent) Framework." In: Anis Koubaa. (Org.). Studies in Computational Intelligence. 1ed.: Springer International Publishing, 2016, v. 625, p. 703-728. (Book Chapter)]]

   * [[https://pessoal.dainf.ct.utfpr.edu.br/andreoliveira/lib/exe/fetch.php?media=ros_navigation_concepts_and_tutorial_2016.pdf | GUIMARAES, R. L.; OLIVEIRA, A. S.; FABRO, J. A.; BECKER, T.; BRENNER, V. A. :"ROS Navigation: Concepts and Tutorial." In: Anis Koubaa. (Org.). Studies in Computational Intelligence. 1ed.: Springer International Publishing, 2016, v. 625, p. 121-160. (Book Chapter)]]

   * [[https://ieeexplore.ieee.org/document/7101634 | BECKER, T.; FABRO, J. A.; OLIVEIRA, A. S.; REIS, L. P.: "Adding Conscious Aspects in Virtual Robot Navigation through Baars-Franklin's Cognitive Architecture." In: 2015 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2015, Vila Real p. 204-209.]]


   * [[https://ieeexplore.ieee.org/document/7402190 | FERREIRA, F. P.; MARCAL, M. S. ; FABRO, J. A.; OLIVEIRA, A. S. :"Trajectory Planning in Dynamic Environments for an Industrial AGV, Integrated with Fuzzy Obstacle Avoidance." In: 2015 12th Latin American Robotics Symposium (LARS) and 2015 3rd Brazilian Symposium on Robotics (LARSSBR), Uberlandia-MG. 2015.]]