{"id":"https://openalex.org/W4313496186","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9996004","title":"Towards an Autonomous RoboCup Small Size League Robot","display_name":"Towards an Autonomous RoboCup Small Size League Robot","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4313496186","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9996004"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre56824.2022.9996004","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lars/sbr/wre56824.2022.9996004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072184012","display_name":"Jo\u00e3o G. Melo","orcid":"https://orcid.org/0009-0001-5173-2514"},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Joao G. Melo","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079464635","display_name":"Felipe Martins","orcid":null},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Felipe Martins","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053473479","display_name":"Lucas Costa de Souza Cavalcanti","orcid":"https://orcid.org/0000-0001-9096-138X"},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Lucas Cavalcanti","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055055341","display_name":"Roberto Fernandes","orcid":"https://orcid.org/0000-0002-3649-8694"},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Roberto Fernandes","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025131158","display_name":"Victor Ara\u00fajo","orcid":"https://orcid.org/0000-0003-0231-7370"},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Victor Araujo","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045583547","display_name":"Riei Joaquim","orcid":null},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Riei Joaquim","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001494584","display_name":"Jo\u00e3o Gouveia Monteiro","orcid":"https://orcid.org/0000-0003-3418-0217"},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Joao G. Monteiro","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059245199","display_name":"Edna Barros","orcid":"https://orcid.org/0000-0001-6479-3052"},"institutions":[{"id":"https://openalex.org/I25112270","display_name":"Universidade Federal de Pernambuco","ror":"https://ror.org/047908t24","country_code":"BR","type":"education","lineage":["https://openalex.org/I25112270"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Edna Barros","raw_affiliation_strings":["Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Pernambuco,Centro de Informática,Recife,Pernambuco,Brazil","institution_ids":["https://openalex.org/I25112270"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5072184012"],"corresponding_institution_ids":["https://openalex.org/I25112270"],"apc_list":null,"apc_paid":null,"fwci":1.2318,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84288269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7516643404960632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6992367506027222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5614292025566101},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5428024530410767},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.5176918506622314},{"id":"https://openalex.org/keywords/league","display_name":"League","score":0.5173068046569824},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5024981498718262},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.44935253262519836},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.41115036606788635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3944617509841919},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3431166410446167}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7516643404960632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6992367506027222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5614292025566101},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5428024530410767},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.5176918506622314},{"id":"https://openalex.org/C207456731","wikidata":"https://www.wikidata.org/wiki/Q660818","display_name":"League","level":2,"score":0.5173068046569824},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5024981498718262},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.44935253262519836},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.41115036606788635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3944617509841919},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3431166410446167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre56824.2022.9996004","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lars/sbr/wre56824.2022.9996004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1564732913","https://openalex.org/W2111152968","https://openalex.org/W2783000019","https://openalex.org/W3106250896","https://openalex.org/W3174115701","https://openalex.org/W3175976219","https://openalex.org/W4226019101","https://openalex.org/W4297775537","https://openalex.org/W4360778087","https://openalex.org/W6737664043","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W4389016272","https://openalex.org/W2285591800","https://openalex.org/W4321354283","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966"],"abstract_inverted_index":{"The":[0],"RoboCup":[1],"Small":[2],"Size":[3],"League":[4,20],"(SSL)":[5],"uses":[6],"a":[7,135,138],"standard":[8],"vision":[9,85],"system":[10,129],"for":[11,83,113,120],"detecting":[12],"elements":[13],"and":[14,51,86,95,122,140,147],"estimating":[15],"their":[16],"positions.":[17],"However,":[18],"the":[19,142],"proposes":[21],"developing":[22],"more":[23],"autonomous":[24],"robots":[25,63],"to":[26,45,64],"overcome":[27],"limitations":[28],"from":[29],"this":[30],"architecture.":[31],"Furthermore,":[32],"SSL":[33],"matches":[34],"are":[35,105],"highly":[36],"dynamic":[37],"environments":[38],"with":[39],"extremely":[40],"resource-constrained":[41],"robots,":[42],"requiring":[43],"solutions":[44],"consider":[46],"size,":[47],"power":[48],"consumption,":[49],"accuracy,":[50],"processing":[52,79],"speed":[53],"trade-offs.":[54],"This":[55],"work":[56],"presents":[57],"an":[58],"architecture":[59],"that":[60,70],"enables":[61],"these":[62],"execute":[65],"basic":[66],"soccer":[67,132],"tasks":[68],"autonomously,":[69],"is,":[71],"without":[72],"receiving":[73],"any":[74],"external":[75],"information.":[76],"An":[77],"additional":[78],"unit":[80],"was":[81,98],"added":[82],"embedded":[84],"decision":[87],"making,":[88],"running":[89],"at":[90],"30":[91],"frames":[92],"per":[93],"second,":[94],"odometry":[96],"estimation":[97],"implemented":[99,106],"using":[100],"inertial":[101],"sensors.":[102],"Soccer":[103],"skills":[104],"by":[107],"defining":[108],"Finite":[109],"State":[110],"Machines":[111],"(FSM)":[112],"desired":[114,124],"tasks,":[115],"which":[116],"outputs":[117],"pre-defined":[118],"movements":[119],"navigation":[121],"robot":[123],"actions.":[125],"We":[126],"evaluate":[127],"our":[128],"on":[130],"three":[131],"tasks:":[133],"grabbing":[134],"ball,":[136,143],"scoring":[137],"goal,":[139],"passing":[141],"achieving":[144],"80%,":[145,146],"46.7%":[148],"success":[149],"rates,":[150],"respectively.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}