arXiv subjects

Pablo Moraes

Publications and source records attributed to Pablo Moraes.

14 recordsLinked to original sources

arXiv2026

Situation Aware Frontier Prioritization for Quadruped Search and Rescue

Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered indoor environments that may be restrictive for wheeled systems. However, in unknown rescue scenarios, autonomous exploration must balance map expansion with the likelihood of finding victims, which is not explicitly addressed by clas- sical frontier selection strategies. This paper presents a situation aware frontier prioritization method for single robot quadruped search and rescue. The proposed approach preserves the frontier exploration framework, but extends frontier ranking with information gain, observation deficit, rescue relevance, terrain penalty, and travel cost. The method is eval- uated in Gazebo simulation with a quadruped robot in two indoor rescue scenarios with different levels of difficulty. The first scenario is used as a sanity check, while the second introduces stronger clutter and frontier ambiguity. Experimental results show that all methods perform reliably in a simple scenario, whereas in a complex scenario is different. In that setting, the proposed method achieves the highest completion rate and the highest victim recovery among the evaluated approaches. These results indicate that situation aware frontier prioritization is beneficial when frontier choice becomes nontrivial and rescue utility must be balanced against generic exploration objectives.

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arXiv2026

Hybrid Attention Estimation Pipeline for Adaptive HRI Using an Expressive Robotic Head

This paper presents an applied case study on hybrid visual attention estimation for human-robot interaction using an expressive robotic head based on the InMoov ecosystem. The proposed pipeline combines a fast geometric perception layer with an independent semantic perception layer based on a vision-language model. The geometric layer provides high-frequency face and head-pose information for temporal regulation, while the semantic layer receives only raw egocentric camera frames and produces contextual attention labels related to attention toward the robot, phone use, or attention elsewhere. These signals are integrated through a finite state machine that regulates adaptive interaction behavior, including activation, waiting, interaction resumption, and return to rest. The system was evaluated with 10 participants across 40 trials covering baseline and adaptive interaction conditions. Results show reliable interaction start across all trials, consistent pause behavior in the adaptive distraction condition, and non-redundant semantic information between the geometric and semantic outputs.

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arXiv2025

Mini Autonomous Car Driving based on 3D Convolutional Neural Networks

Autonomous driving applications have become increasingly relevant in the automotive industry due to their potential to enhance vehicle safety, efficiency, and user experience, thereby meeting the growing demand for sophisticated driving assistance features. However, the development of reliable and trustworthy autonomous systems poses challenges such as high complexity, prolonged training periods, and intrinsic levels of uncertainty. Mini Autonomous Cars (MACs) are used as a practical testbed, enabling validation of autonomous control methodologies on small-scale setups. This simplified and cost-effective environment facilitates rapid evaluation and comparison of machine learning models, which is particularly useful for algorithms requiring online training. To address these challenges, this work presents a methodology based on RGB-D information and three-dimensional convolutional neural networks (3D CNNs) for MAC autonomous driving in simulated environments. We evaluate the proposed approach against recurrent neural networks (RNNs), with architectures trained and tested on two simulated tracks with distinct environmental features. Performance was assessed using task completion success, lap-time metrics, and driving consistency. Results highlight how architectural modifications and track complexity influence the models' generalization capability and vehicle control performance. The proposed 3D CNN demonstrated promising results when compared with RNNs.

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arXiv2025

UruBots Autonomous Cars Challenge Pro Team Description Paper for FIRA 2025

This paper describes the development of an autonomous car by the UruBots team for the 2025 FIRA Autonomous Cars Challenge (Pro). The project involves constructing a compact electric vehicle, approximately the size of an RC car, capable of autonomous navigation through different tracks. The design incorporates mechanical and electronic components and machine learning algorithms that enable the vehicle to make real-time navigation decisions based on visual input from a camera. We use deep learning models to process camera images and control vehicle movements. Using a dataset of over ten thousand images, we trained a Convolutional Neural Network (CNN) to drive the vehicle effectively, through two outputs, steering and throttle. The car completed the track in under 30 seconds, achieving a pace of approximately 0.4 meters per second while avoiding obstacles.

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arXiv2025

RoboCup Rescue 2025 Team Description Paper UruBots

This paper describes the approach used by Team UruBots for participation in the 2025 RoboCup Rescue Robot League competition. Our team aims to participate for the first time in this competition at RoboCup, using experience learned from previous competitions and research. We present our vehicle and our approach to tackle the task of detecting and finding victims in search and rescue environments. Our approach contains known topics in robotics, such as ROS, SLAM, Human Robot Interaction and segmentation and perception. Our proposed approach is open source, available to the RoboCup Rescue community, where we aim to learn and contribute to the league.

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arXiv2025

UruBots RoboCup Work Team Description Paper

This work presents a team description paper for the RoboCup Work League. Our team, UruBots, has been developing robots and projects for research and competitions in the last three years, attending robotics competitions in Uruguay and around the world. In this instance, we aim to participate and contribute to the RoboCup Work category, hopefully making our debut in this prestigious competition. For that, we present an approach based on the Limo robot, whose main characteristic is its hybrid locomotion system with wheels and tracks, with some extras added by the team to complement the robot's functionalities. Overall, our approach allows the robot to efficiently and autonomously navigate a Work scenario, with the ability to manipulate objects, perform autonomous navigation, and engage in a simulated industrial environment.

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arXiv2024

Implementaci\'on de Navegaci\'on en Plataforma Rob\'otica M\'ovil Basada en ROS y Gazebo

This research focused on utilizing ROS2 and Gazebo for simulating the TurtleBot3 robot, with the aim of exploring autonomous navigation capabilities. While the study did not achieve full autonomous navigation, it successfully established the connection between ROS2 and Gazebo and enabled manual simulation of the robot's movements. The primary objective was to understand how these tools can be integrated to support autonomous functions, providing valuable insights into the development process. The results of this work lay the groundwork for future research into autonomous robotics. The topic is particularly engaging for both teenagers and adults interested in discovering how robots function independently and the underlying technology involved. This research highlights the potential for further advancements in autonomous systems and serves as a stepping stone for more in-depth studies in the field.

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arXiv2024

De la Extensi\'on a la Investigaci\'on: Como La Rob\'otica Estimula el Inter\'es Acad\'emico en Estudiantes de Grado

This research examines the impact of robotics groups in higher education, focusing on how these activities influence the development of transversal skills and academic motivation. While robotics goes beyond just technical knowledge, participation in these groups has been observed to significantly improve skills such as teamwork, creativity, and problem-solving. The study, conducted with the UruBots group, shows that students involved in robotics not only reinforce their theoretical knowledge but also increase their interest in research and academic commitment. These results highlight the potential of educational robotics to transform the learning experience by promoting active and collaborative learning. This work lays the groundwork for future research on how robotics can continue to enhance higher education and motivate students in their academic and professional careers

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arXiv2024

Behavior Cloning for Mini Autonomous Car Path Following

This article presents the implementation and evaluation of a behavior cloning approach for route following with autonomous cars. Behavior cloning is a machine-learning technique in which a neural network is trained to mimic the driving behavior of a human operator. Using camera data that captures the environment and the vehicle's movement, the neural network learns to predict the control actions necessary to follow a predetermined route. Mini-autonomous cars, which provide a good benchmark for use, are employed as a testing platform. This approach simplifies the control system by directly mapping the driver's movements to the control outputs, avoiding the need for complex algorithms. We performed an evaluation in a 13-meter sizer route, where our vehicle was evaluated. The results show that behavior cloning allows for a smooth and precise route, allowing it to be a full-sized vehicle and enabling an effective transition from small-scale experiments to real-world implementations.

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arXiv2024

UruBots Autonomous Car Team Two: Team Description Paper for FIRA 2024

This paper proposes a mini autonomous car to be used by the team UruBots for the 2024 FIRA Autonomous Cars Race Challenge. The vehicle is proposed focusing on a low cost and light weight setup. Powered by a Raspberry PI4 and with a total weight of 1.15 Kilograms, we show that our vehicle manages to race a track of approximately 13 meters in 11 seconds at the best evaluation that was carried out, with an average speed of 1.2m/s in average. That performance was achieved after training a convolutional neural network with 1500 samples for a total amount of 60 epochs. Overall, we believe that our vehicle are suited to perform at the FIRA Autonomous Cars Race Challenge 2024, helping the development of the field of study and the category in the competition.

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arXiv2024

UruBots Autonomous Cars Team One Description Paper for FIRA 2024

This document presents the design of an autonomous car developed by the UruBots team for the 2024 FIRA Autonomous Cars Race Challenge. The project involves creating an RC-car sized electric vehicle capable of navigating race tracks with in an autonomous manner. It integrates mechanical and electronic systems alongside artificial intelligence based algorithms for the navigation and real-time decision-making. The core of our project include the utilization of an AI-based algorithm to learn information from a camera and act in the robot to perform the navigation. We show that by creating a dataset with more than five thousand samples and a five-layered CNN we managed to achieve promissing performance we our proposed hardware setup. Overall, this paper aims to demonstrate the autonomous capabilities of our car, highlighting its readiness for the 2024 FIRA challenge, helping to contribute to the field of autonomous vehicle research.

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arXiv2024

UruBots UAV -- Air Emergency Service Indoor Team Description Paper for FIRA 2024

This document addresses the description of the corresponding "Urubots" Team for the 2024 Fira Air League, "Air Emergency Service (Indoor)." We introduce our team and an autonomous Unmanned Aerial Vehicle (UAV) that relies on computer vision for its flight control. This UAV has the capability to perform a wide variety of navigation tasks in indoor environments, without requiring the intervention of an external operator or any form of external processing, resulting in a significant decrease in workload and manual dependence. Additionally, our software has been designed to be compatible with the vehicle's structure and for its application to the competition circuit. In this paper, we detail additional aspects about the mechanical structure, software, and application to the FIRA competition.

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arXiv2023

Diseno y Desarrollo de Prototipos Roboticos para Competencias de Futbol utilizando Motores Dynamixel

This article describes the design and development of robotic prototypes for robotic soccer competitions using Dynamixel motors. Although the prototypes are not aimed at world-class competitions, they represent a significant step in the development of sports robots. Model XL430-W250 Dynamixel motors were chosen and electronic circuits were implemented using control boards such as OpenCR and Raspberry Pi 3. A crucial component was introduced: a step-up board that charges a capacitor to create a powerful kick to the ball via anelectromagnet controlled by Arduino Nano. The programming and coordination of the prototypes was carried out using the ROS environment (Robot Operating System), which allows effective integration of movements and communication. Although the prototypes were not optimized for global competition, they underwent extensive testing, evaluating their speed and maneuverability, as well as soccer tactics in the GRSim simulator. These prototypes contribute to the further development of sports robotics and illustrate the research potential in this exciting area.

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arXiv2023

Aplicacion de Robots Humanoides como Guias Interactivos en Museos: Una Simulacion con el Robot NAO

This article presents an application that evaluates the feasibility of humanoid robots as interactive guides in art museums. The application entailes programming a NAO robot and a chatbot to provide information about art pieces in a simulated museum environment. In this controlled scenario, the learning employees interact with the robot and the chatbot. The result is a skilled participation in the interactions, along with the effectiveness of the robot and chatbot that communicates the basic details of the art objects. You see natural and fluid interactions between the students and the robot. This suggests that the addition of humanoid robots to museums may provide a better experience for visitors, but also the need to continue to do more to optimize the quality of interaction. This study contributes to understanding the possibilities and requirements of applying humanoid technologies in a cultural context.

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