Exploració per autor "Celaya Llover, Enric"
Ara es mostren els items 11-28 de 28
-
Exact interval propagation for the efficient solution of planar linkages
Celaya Llover, Enric; Creemers, Tom Lambert; Ros Giralt, Lluís (ASME, 2007)
Text en actes de congrés
Accés obertThis paper presents an interval propagation algorithm for variables in single-loop linkages. Given allowed intervals of values for all variables, the algorithm provides, for every variable, the exact interval of values for ... -
Exact interval propagation for the efficient solution of position analysis problems on planar linkages
Celaya Llover, Enric; Creemers, Tom Lambert; Ros Giralt, Lluís (2012)
Article
Accés obertThis paper presents an interval propagation algorithm for variables in planar single-loop linkages. Given intervals of allowed values for all variables, the algorithm provides, for every variable, the whole set of values, ... -
Learning rules from cause-effects explanations
Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (2008)
Report de recerca
Accés obertIn this work we propose a learning system to learn on-line an action policy coded in rules using natural human instructions about cause-effect relations in currently observed situations. The instructions only on currently ... -
Model predictive control for a Mecanum-wheeled robot navigating among obstacles
Moreno Caireta, Iñigo; Celaya Llover, Enric; Ros Giralt, Lluís (Elsevier, 2021)
Text en actes de congrés
Accés obertMecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, ... -
Natural landmark detection for visually-guided robot navigation
Celaya Llover, Enric; Albarral, José L.; Jiménez Schlegl, Pablo; Torras, Carme (Springer, 2007)
Capítol de llibre
Accés obertThe main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ... -
Natural landmark detection for visually-guided robot navigation
Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jiménez Schlegl, Pablo; Torras, Carme (2007)
Text en actes de congrés
Accés obertThe main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. ... -
On-line learning of macro planning operators using probabilistic estimations of cause-effects
Agostini, Alejandro Gabriel; Wörgötter, Florentin; Celaya Llover, Enric; Torras, Carme (2008)
Report de recerca
Accés obertIn this work we propose an on-line learning method for learning action rules for planning. The system uses a probabilistic approach of a constructive induction method that combines a beam search with an example-based search ... -
Online EM with weight-based forgetting
Celaya Llover, Enric; Agostini, Alejandro Gabriel (2015)
Article
Accés obertIn the on-line version of the EM algorithm introduced by Sato and Ishii (2000), a time-dependent discount factor is introduced for forgetting the effect of the old posterior values obtained with an earlier, inaccurate ... -
Online reinforcement learning using a probability density estimation
Agostini, Alejandro Gabriel; Celaya Llover, Enric (The MIT Press. Massachusetts Institute of Technology, 2017-01-01)
Article
Accés obertFunction approximation in online, incremental, reinforcement learning needs to deal with two fundamental problems: biased sampling and nonstationarity. In this kind of task, biased sampling occurs because samples are ... -
Probability density estimation of the Q Function for reinforcement learning
Agostini, Alejandro Gabriel; Celaya Llover, Enric (2009)
Report de recerca
Accés obertPerforming Q-Learning in continuous state-action spaces is a problem still unsolved for many complex applications. The Q function may be rather complex and can not be expected to fit into a predefined parametric model. In ... -
Reinforcement learning for robot control using probability density estimations
Agostini, Alejandro Gabriel; Celaya Llover, Enric (INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2010)
Text en actes de congrés
Accés restringit per política de l'editorialThe successful application of Reinforcement Learning (RL) techniques to robot control is limited by the fact that, in most robotic tasks, the state and action spaces are continuous, multidimensional, and in essence, too ... -
Reinforcement learning with a Gaussian mixture model
Agostini, Alejandro Gabriel; Celaya Llover, Enric (2010)
Text en actes de congrés
Accés obertRecent approaches to Reinforcement Learning (RL) with function approximation include Neural Fitted Q Iteration and the use of Gaussian Processes. They belong to the class of fitted value iteration algorithms, which use a ... -
Robot task specification and execution through relational positioning
Rodríguez Tsouroukdissian, Adolfo; Basañez Villaluenga, Luis; Celaya Llover, Enric (IFAC, 2007)
Text en actes de congrés
Accés obertThis paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, and for assisting the execution of teleoperated tasks featuring precise or repetitive movements. ... -
Second order collocation
Celaya Llover, Enric (2021)
Report de recerca
Accés obertCollocation methods for optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form dx/dt = f(x, u, t), where x is the state and u the control vector. However, in many cases, the ... -
Solution intervals for variables in spatial RCRCR linkages
Celaya Llover, Enric (2019-03-01)
Article
Accés obertAn analytic method to compute the solution intervals for the input variables of spatial RCRCR linkages and their inversions is presented. The input-output equation is formulated as the intersection of a single ellipse with ... -
Stochastic approximations of average values using proportions of samples
Agostini, Alejandro Gabriel; Celaya Llover, Enric (2011)
Report de recerca
Accés obertIn this work we explain how the stochastic approximation of the average of a random variable is carried out when the observations used in the updates consist in proportion of samples rather than complete samples. -
Visually-guided robot navigation: from artificial to natural landmarks
Celaya Llover, Enric; Albarral Garcia, Jose Luis; Jiménez Schlegl, Pablo; Torras, Carme (2007)
Text en actes de congrés
Accés obertLandmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, ... -
Visually-guided robot navigation: From artificial to natural landmarks
Celaya Llover, Enric; Albarral, José L.; Jiménez Schlegl, Pablo; Torras, Carme (Springer, 2007)
Capítol de llibre
Accés obertLandmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, ...