Integrating Multimodal Perception into Ground Mobile Robots

• Type: Article in International Conference Proceedings Book
• Date: 2025

Authors

Sousa, RB (Author) Other; Sobreira, HM (Author) Other; Martins, JG (Author) Other; Paulo Gomes da Costa (Author) FEUP; Silva, MF (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: 2025 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC

Pages: 104-111

2025 International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual

Funchal, PORTUGAL, APR 02-03, 2025

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 2 Citations

Other information

Authenticus ID: P-018-M98

DOI: 10.1109/icarsc65809.2025.10970176

Abstract (EN): Multimodal perception systems enhance the robustness and adaptability of autonomous mobile robots by integrating heterogeneous sensor modalities, improving long-term localisation and mapping in dynamic environments and human-robot interaction. Current mobile platforms often focus on specific sensor configurations and prioritise cost-effectiveness, possibly limiting the flexibility of the user to extend the original robots further. This paper presents a methodology to integrate multimodal perception into a ground mobile platform, incorporating wheel odometry, 2D laser scanners, 3D Light Detection and Ranging (LiDAR), and RGBD cameras. The methodology describes the electronics design to power devices, firmware, computation and networking architecture aspects, and mechanical mounting for the sensory system based on 3D printing, laser cutting, and bending metal sheet processes. Experiments demonstrate the usage of the revised platform in 2D and 3D localisation and mapping and pallet pocket estimation applications. All the documentation and designs are accessible in a public repository.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8