| AraraBots-2019 | AraraBots-2022 | |
|---|---|---|
| Operating system | Debian 9 | Ubuntu 20.04 |
| Middleware | ROS Kinetic | ROS Noetic |
| Navigation | RTAB-Map | RTAB-Map |
| Localization | RTAB-Map | RTAB-Map |
| Mapping | RTAB-Map | RTAB-Map |
| Object recognition | OpenCV+RetinaNet | MediaPipe |
| Face detection | --- | --- |
| Face recognition | OpenCV | Face Recogn. |
| Human detection | --- | --- |
| Gesture recogn. | --- | --- |
| Speech synthesis | --- | --- |
| Speech recognition | --- | DeepSpeech |
| NLP | --- | RoBERTa |
| BahiaRT-2019 | BahiaRT-2022 | BahiaRT-2023 | |
|---|---|---|---|
| Operating system | --- | --- | --- |
| Middleware | ROS | ROS | ROS |
| Navigation | --- | Voronoi + D* Lite algorithm | Voronoi + D* Lite algorithm |
| Localization | AMCL | AMCL | AMCL |
| Mapping | --- | Hector mapping | Hector mapping |
| Object recognition | --- | YOLO | YOLO v5 |
| Face detection | HaarCascade | OpenCV library | HaarCascade |
| Face recognition | --- | --- | DLib+FaceNet |
| Human detection | --- | --- | |
| Gesture recogn. | --- | --- | --- |
| Speech synthesis | Festival | ROS Sound Play | --- |
| Speech recognition | PocketSphinx | Vosk and Kaldi library | Google Speech |
| NLP | --- | --- | --- |
| FBot-2019 | FBot-2022 | FBot-2023 | |
|---|---|---|---|
| Operating system | --- | --- | |
| Middleware | ROS | ROS Noetic | |
| Navigation | --- | --- | --- |
| Localization | AMCL | AMCL | AMCL |
| Mapping | RBPF | RBPF | RBPF |
| Object recognition | YOLO v3 | YOLO v4 | YOLO v8 |
| Face detection | OpenCV | --- | |
| Face recognition | SVM | Openface | |
| Human detection | YOLO v3 | DeepSORT(tracking) | |
| Gesture recogn. | --- | --- | |
| Speech synthesis | --- | --- | |
| Speech recognition | Google Cloud Speech | Whisper | |
| NLP | --- | Langchain |
| Pinguim-2019 | Pinguim-2022 | Pinguim-2023 | |
|---|---|---|---|
| Operating system | Ubuntu 16 | Ubuntu 16 | Ubuntu 20 |
| Middleware | ROS Kinetic | ROS Kinetic | ROS Noetic |
| Navigation | --- | ROS Navigation Stack | ROS Navigation Stack |
| Localization | AMCL | AMCL | AMCL |
| Mapping | --- | Gmapping ROS | Gmapping ROS |
| Object recognition | YOLO | ResNet 18 | ResNet 18 |
| Face detection | --- | O-Net | OpenCV + MediaPipe |
| Face recognition | --- | MobileNet | OpenCV + MediaPipe |
| Human detection | --- | --- | --- |
| Gesture recogn. | --- | OpenNI and Nite | OpenNI and Nite |
| Speech synthesis | PocketSphinx | Google’s voice synthesizer | Nvidia NeMo |
| Speech recognition | Google Cloud Speech | Vosk + Google Speech Recognition | Whisper |
| NLP | --- | --- | --- |
| PQMEC-2019 | PQMEC-2022 | PQMEC-2023 | |
|---|---|---|---|
| Operating system | Ubuntu 18.04 | Ubuntu 18.04 | Ubuntu 20.04 |
| Middleware | ROS Melodic | ROS Melodic | ROS 2 Foxy |
| Navigation | ROS Navigation Stack | ROS Navigation Stack | ROS 2 Navigation Stack |
| Localization | AMCL | AMCL | AMCL |
| Mapping | Gmapping | Gmapping | Gmapping |
| Object recognition | SSD MobileNet V2 | YOLOv4 tiny | YOLOv8 |
| Face detection | Haar Cascades | YOLOv4 tiny | YOLOv8 |
| Face recognition | EigenFaces | Eigenfaces | EigenFaces |
| Human detection | OpenPose | OpenPose | OpenPose |
| Gesture recogn. | OpenPose | OpenPose | OpenPose |
| Speech synthesis | Festival | Google Cloud Text-to-Speech | FastSpeech and HiFi-Gan |
| Speech recognition | Google Cloud Speech | Google Cloud Speech-to-Text | Conformer-CTC |
| NLP | Rasa NLU | Rasa NLU | Llama 2 |
| RoboFEI@Home-2019 | RoboFEI@Home-2022 | RoboFEI@Home-2023 | |
|---|---|---|---|
| Operating system | Ubuntu 16.04 | Ubuntu 20.04 | Ubuntu 20.04 |
| Middleware | ROS Kinetic | ROS Noetic | ROS Noetic |
| Navigation | --- | --- | --- |
| Localization | --- | --- | --- |
| Mapping | --- | SLAM | --- |
| Object recognition | SIFT+FLANN or MobileNet+SSD | MobileNet v2 + SSD on Synthetic Data | MobileNet v2 + SSD on Synthetic Data |
| Face detection | Haar cascades | --- | Haar cascades |
| Face recognition | LBP Algorithm | --- | LBP Algorithm |
| Human detection | PCL | OpenPose | OpenPose |
| Gesture recogn. | OpenNI | Wave! and OpenNI | Wave! and OpenNI |
| Speech synthesis | Festival | Flite or GTTs | Flite or GTTs |
| Speech recognition | Dragonfly and Windows Speech Recognition | DeepSpeech + Google Speech Recognition | DeepSpeech |
| NLP | --- | --- | --- |
| UTBots-2019 | UTBots-2022 | UTBots-2023 | |
|---|---|---|---|
| Operating system | Ubuntu 16.04 | Ubuntu 18 | Ubuntu 20.04 |
| Middleware | ROS | ROS Melodic | ROS Noetic and Melodic |
| Navigation | --- | ROS Navigation Stack | --- |
| Localization | AMCL | --- | AMCL |
| Mapping | SLAM EKF | --- | --- |
| Object recognition | Blob detection | YOLOv3 | YOLOv3 |
| Face detection | --- | --- | --- |
| Face recognition | --- | --- | KNN |
| Human detection | OpenNI | YOLOv3 | YOLOv3 |
| Gesture recogn. | --- | --- | MediaPipe |
| Speech synthesis | PocketSphinx-ESpeak | ESpeak ROS | Mimic3 |
| Speech recognition | Google Cloud Speech | --- | Whisper |
| NLP | --- | --- | Rasa |
| Warthog-2019 | Warthog-2022 | Warthog-2023 | |
|---|---|---|---|
| Operating system | --- | --- | --- |
| Middleware | ROS | ROS | ROS |
| Navigation | A* algorithm | --- | WRNavigation |
| Localization | AMCL | --- | WRNavigation |
| Mapping | Gmapping | --- | WRNavigation |
| Object recognition | Faster R-CNN | --- | WRVision |
| Face detection | OpenFace | --- | WRVision |
| Face recognition | --- | --- | WRVision |
| Human detection | --- | --- | WRFollow |
| Gesture recogn. | --- | --- | WRFollow |
| Speech synthesis | LianeTTS | --- | WRSpeech |
| Speech recognition | DeepSpeech | --- | WRParser |
| NLP | --- | --- | WRParser |
| AraraBots-2019 | AraraBots-2022 | |
|---|---|---|
| Batteries | 3 Makita Lithium-Ion 18V-3.0Ah | 3 Makita Lithium-Ion 18V-3.0Ah |
| Base Motors | BLHM015K-30 | --- |
| Manipulators | --- | --- |
| Microphone | 1 Microphone | --- |
| Display | Galaxy Tab 4 | Galaxy Tab 4 |
| RGB-D Camera | Kinect | Kinect |
| RGB Camera | LifeCam 720p | LifeCam 720p |
| Speaker | 2 Speakers | 2 Speakers |
| IMU | --- | --- |
| LiDAR | --- | --- |
| Emb. System | Lenovo Intel i5 with 8GB RAM | Lenovo Intel i5 with 8GB RAM |
| BahiaRT-2019 | BahiaRT-2022 | BahiaRT-2023 | |
|---|---|---|---|
| Batteries | 3 Makita Lithium-Ion 18V-3.0Ah | 3 batteries 11.1 volts and 2800 mAh | 3 batteries 11.1v and 2800 mAh |
| Base Motors | 2 Motors IG32P 24VDC + Encoder | 2 motors IG32P 24VDC + Encoder | --- |
| Manipulators | 5 Dynamixel-ax-12A; One ArbotiX-M | 5 Dynamixel-ax-12A; One ArbotiX-M | --- |
| Microphone | 1 Rode Videomic Pro | 1 Rode Videomic Pro | 1 Rode VideoMic Go |
| Display | Motorola tablet | --- | --- |
| RGB-D Camera | Kinect | Kinect | --- |
| RGB Camera | 2 Webcam HD-3000 | 2 Webcam HD-3000 | 1 Webcam FullHD |
| Speaker | --- | --- | --- |
| IMU | --- | --- | --- |
| LiDAR | RPLiDAR 360 | RPLIDAR 360 | RPLiDAR 360 |
| Emb. System | Lenovo Intel i5 with 8GB RAM | Intel Core i7-1165G7 | Notebook Dell Inspiron 15R-4470 i7 |
| FBot-2019 | FBot-2022 | FBot-2023 | |
|---|---|---|---|
| Batteries | Bateria PowerTek 12v - End 11A | --- | --- |
| Base Motors | PatrolBots | PatrolBot | PatrolBots |
| Manipulators | 5 DOF arm | 5-DOF arm | 5 DOF Arm |
| Microphone | 1 Rode VideoMic Pro | 1 Rode VideoMic Pro | --- |
| Display | --- | --- | --- |
| RGB-D Camera | Kinect v2 | Kinect V2 | Intel D435i |
| RGB Camera | --- | --- | --- |
| Speaker | --- | --- | --- |
| IMU | --- | --- | --- |
| LiDAR | SICK LMS-100 and Hokuyo URG-04LX-UG01 | 2 lidars | SICK LMS-100 and Hokuyo URG-04LX |
| Emb. System | Intel N509516GB+512GB, Intel NUC and Jetson TX2 | Intel NUC, Jetson TX2, | Intel NUC, Jetson TX2 and notebook i7 8705G 8gb |
| Pinguim-2019 | Pinguim-2022 | Pinguim-2023 | |
|---|---|---|---|
| Batteries | Wheelchair battery | Wheelchair battery | Wheelchair battery |
| Base Motors | --- | --- | |
| Manipulators | --- | --- | |
| Microphone | --- | 1 Microphone | 1 Microphone |
| Display | --- | 1 Monitor | 1 Monitor |
| RGB-D Camera | Kinect | Kinect | Kinect |
| RGB Camera | Kinect | Kinect | Kinect |
| Speaker | --- | 1 Speaker | 1 Speaker |
| IMU | --- | --- | --- |
| LiDAR | YDLiDAR X4 | YDLiDAR X4 | YDLiDAR X4 |
| Emb. System | Intel Core T6670 2 GB RAM | Intel Core 2 Duo T6670 2GB RAM + Arduino UNO | Intel Core i5 8 GB + ESP32 |
| PQMEC-2019 | PQMEC-2022 | PQMEC-2023 | |
|---|---|---|---|
| Batteries | --- | --- | --- |
| Base Motors | 4x Pololu XYZ | 2x Hoverboard Wheel Motor 6,5” | 4x Hoverboard Wheel Motor 6.5” |
| Manipulators | XYZrobot 6 DOF | XYZrobot 6 DOF | Trossen 6 DOF Arm |
| Microphone | Rode Videomic Go | Rode Videomic Go | Rode Videomic Go |
| Display | Galaxy Tab S3 | Galaxy Tab S3 | Galaxy Tab S3 |
| RGB-D Camera | Kinect | Intel D435i | Intel D435i |
| RGB Camera | Logitech Pro C920 | Logitech Pro C920 | --- |
| Speaker | JBL Charge 3 | JBL Charge 3 | JBL Charge 3 |
| IMU | BN0055 | Intel D435i | Intel D435i |
| LiDAR | RPLiDAR A2 | RPLiDAR A2 | RPLiDAR A2 |
| Emb. System | Jetson TX2 | Jetson Xavier | Jetson Xavier, Intel NUC and Teensy 4.0 |
| RoboFEI-2019 | RoboFEI-2022 | RoboFEI-2023 | |
|---|---|---|---|
| Batteries | --- | --- | --- |
| Base Motors | PeopleBot | PeopleBot | PeopleBot |
| Manipulators | 7 DOF Arm | 6 DOF manipulator + 1 DOF gripper | 6 DOF manipulator + 1 Flexible gripper |
| Microphone | 2 Rode VideoMic Go | 2 RODE VideoMic GO | 2 HyperX QuadCast |
| Display | Apple Ipad 2 | Apple Ipad 2 | Apple Ipad 2 |
| RGB-D Camera | Kinect | Kinect | Kinect |
| RGB Camera | Logitech c920 | Logitech c920 | Logitech c920 |
| Speaker | --- | --- | JBL Charge 5 |
| IMU | --- | --- | --- |
| LiDAR | Hokuyo UTM-30LX-EW | Hokuyo UTM-30LX-EW | Hokuyo URG-04LX |
| Emb. System | Intel NUC i5 5250U | Intel® NUC Mini-PC i5 | --- |
| UTBots@Apollo-2019 | UTBots@Apollo-2022 | UTBots@Apollo-2023 | |
|---|---|---|---|
| Batteries | 3 x 12 volts standard batteries | --- | --- |
| Base Motors | Pioneer 3-AT | Pioneer 3-AT | Pioneer 3-AT |
| Manipulators | --- | ORCA Robotic Arm | ORCA Robotic Arm |
| Microphone | --- | --- | --- |
| Display | T-7305 tablet | 1 LCD Display | --- |
| RGB-D Camera | Kinect | Kinect | Kinect |
| RGB Camera | --- | --- | --- |
| Speaker | --- | --- | --- |
| LiDAR | Hokuyo URG-04LX | YDLiDAR X4 | YDLiDAR X4 |
| Warthog-2019 | Warthog-2022 | Warthog-2023 | |
|---|---|---|---|
| Batteries | --- | --- | --- |
| Base Motors | Pioneer P3-DX | Pioneer P3-DX | Pioneer P3-DX |
| Manipulators | --- | --- | --- |
| Microphone | --- | --- | Microphone with noise canceling |
| Display | --- | --- | |
| RGB-D Camera | Kinect 2 | Kinect 2 | Kinect 2 |
| RGB Camera | Kinect 2 | Kinect 2 | Kinect 2 |
| Speaker | --- | --- | External speaker |
| LiDAR | Hokuyo | Hokuyo | Hokuyo |