Now showing items 1-20 of 26

  • A comprehensive dynamic model for class-1 tensegrity systems based on quaternions 

    Cefalo, Massimo; Mirats Tur, Josep Maria (2011)
    Article
    Open Access
    In this paper we propose a new dynamic model, based on quaternions, for tensegrity systems of class-1. Quaternions are used to represent orientations of a rigid body in the 3-dimensional space eliminating the problem of ...
  • A method to generate stable, collision free configurations for tensegrity based robots 

    Hernádez Juan, Sergi; Mirats Tur, Josep Maria (2008)
    Conference report
    Restricted access - publisher's policy
  • A method to generate stable, collision free configurations for tensegrity based robots 

    Hernández, Sergi; Mirats Tur, Josep Maria (IEEE, 2008)
    Conference report
    Open Access
    Tensegrity structures appeared in the science community about half a century ago, but they have already been applied to several heterogeneous research fields, such as architecture, civil engineering, space and even biology. ...
  • A three-dof actuated robot 

    Mirats Tur, Josep Maria; Camps Sala, Josep (2011)
    Article
    Open Access
    This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed ...
  • Abnormal quality detection and isolation in water distribution networks using simulation models 

    Nejjari Akhi-Elarab, Fatiha; Pérez Magrané, Ramon; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria (2011)
    Conference report
    Restricted access - author's decision
  • Action evaluation for mobile robot global localization in cooperative environments 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2008-01)
    Article
    Open Access
    This work is about solving the global localization issue for mobile robots operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot or team of robots in the map reference ...
  • Autonomous navigation for urban service mobile robots 

    Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Sandoval Torres, Óscar; Perez Ibarz, Joan; Vasquez, Dizan; Mirats Tur, Josep Maria; Ferrer Sumsi, Miquel; Sanfeliu Cortés, Alberto (2010)
    Conference report
    Open Access
    We present to the robotic community a fully autonomous navigation solution for mobile robots operating in urban pedestrian areas. We introduce our robots and the experimental zone, overview the architecture of the navigation ...
  • Communication to: Close form for expressing the uncertainty in odometry position estimate. Application to an autonomous vehicle 

    Mirats Tur, Josep Maria; Albores Borja, Carlos; Gordillo, Jose Luís (IEEE, 2007)
    Article
    Open Access
    The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item ...
  • Control and simulation of a tensegrity-based mobile robot 

    Graells Rovira, Albert; Mirats Tur, Josep Maria (2009)
    Article
    Restricted access - publisher's policy
    Tensegrity structures can provide a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures ...
  • Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas 

    Spaan, Matthijs T.J.; Sequeira, Joao; Ollero, A.; Moreno, Plinio; Mirats Tur, Josep Maria; Merino, Luis; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitan, Jesus; Corominas Murtra, Andreu; Gilbert, Andrew; Illingworth, John (2010-03)
    Article
    Open Access
    In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an ...
  • Dynamic equations of motion for a 3-bar tensegrity based mobile robot 

    Mirats Tur, Josep Maria; Hernández, Sergi; Graells, Albert (IEEE, 2007)
    Conference report
    Open Access
    Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that ...
  • Efficient active global localization for mobile robots operating in large and cooperative environments 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (IEEE, 2008)
    Conference report
    Open Access
    This paper presents a novel and efficient framework to the active map-based global localization problem for mobile robots operating in large and cooperative environments. The paper proposes a rational criteria to select ...
  • Efficient active global localization for mobile robots operating in large and cooperative environments 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2008)
    Conference report
    Open Access
    This paper presents a novel and efficient framework to the active map-based global localization problem for mobile robots operating in large and cooperative environments. The paper proposes a rational criteria to select ...
  • Efficient use of 3d environment models for mobile robot simulation and localization 

    Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (Springer Verlag, 2010)
    Conference report
    Open Access
    This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile ...
  • GIS map based mobile robot navigation in urban environments 

    Mirats Tur, Josep Maria; Zinggerling, Claudio; Corominas Murtra, Andreu (___, 2009-06-30)
    Conference report
    Open Access
    Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing ...
  • Guiding and regrouping people missions in urban areas using cooperative multi-robot task allocation 

    Garrell Zulueta, Anais; Sandoval Torres, Óscar; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2010)
    Conference report
    Open Access
  • Integrating asynchronous observations for mobile robot position tracking in cooperative environments 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
    Conference report
    Open Access
    This paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estiamate ...
  • Leakage location in water distribution networks based on correlation measurement of pressure sensors 

    Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Pérez Magrané, Ramon; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç; Mirats Tur, Josep Maria (Internatinal Water Association (IWA), 2011)
    Conference report
    Restricted access - confidentiality agreement
    Leaks are present to some extent in all water-distribution systems. This paper proposes a leakage localisation method based on the pressure measurements and pressure sensitivity analysis of nodes in a water distribution ...
  • Map format for mobile robot map-based autonomous navigation 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria (2007)
    External research report
    Open Access
    This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common ...
  • Onto computing the uncertainty for the odometry pose estimate of a mobile robot 

    Mirats Tur, Josep Maria (IEEE, 2007)
    Conference report
    Open Access
    Solving the navigation issue for a mobile robot in a 2D space requires using internal and external sensors, so researchers try to fuse data from different sensors using methods as for example Kalman filtering. Those methods ...