Recent Submissions

  • Competitive function approximation for reinforcement learning 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric (2014)
    External research report
    Open Access
    The application of reinforcement learning to problems with continuous domains requires representing the value function by means of function approximation. We identify two aspects of reinforcement learning that make the ...
  • Teaching grasping points using natural movements 

    Isleyici, Yalim; Alenyà Ribas, Guillem (2014)
    External research report
    Open Access
    A common strategy to teach a robot certain skills involves demonstration. While the demonstrations are best made by directly manipulating the robot, in hazardous conditions the only choice is teleoperation. Even though ...
  • Hybrid linear sewer network model 

    Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela (2013)
    External research report
    Open Access
    This technical report presents a novel control-oriented hybrid linear sewer network model. It also provides the mathematical details of the Mixed Logical Dynamic (MLD) systems reformulation of the system equations to turn ...
  • The MoveIt motion planning framework configuration for the IRI WAM robot 

    Gonzàlez Esteve, Adrià; Alenyà Ribas, Guillem (2013)
    External research report
    Open Access
    Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoid- ance facilities present at the MoveIt! framework. In particular, determine the configurations and API function calls to set the ...
  • Robot de telepresencia: imatge i so 

    Serra Ortega, Joan; Alenyà Ribas, Guillem (2013)
    External research report
    Open Access
    El robot Helena està dissenyat per ser un robot de telepresència que ha de servir per comunicar diferents persones d'un edifici sense necessitat de moure's.
  • Branch switching from singular points in higher-dimensional continuation 

    Bohigas Nadal, Oriol (2011)
    External research report
    Open Access
    We explain here how to perform branch switching when a singular point is found during higherdimensional continuation on a k-dimensional variety. This document is based on the information given in [1, 2, 3].
  • Stochastic approximations of average values using proportions of samples 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric (2011)
    External research report
    Open Access
    In 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.
  • A general strategy for interactive decision-making in robotic platforms 

    Agostini, Alejandro Gabriel; Torras, Carme; Wörgötter, Florentin (2011)
    External research report
    Open Access
    This work presents an intergated strategy for planning and learning suitable to execute tasks with robotic platforms without any previous task specification. The approach rapidly learns planning operators from few action ...
  • Registration of 3d point clouds for urban robot mapping 

    Teniente Avilés, Ernesto; Andrade-Cetto, Juan (2008)
    External research report
    Open Access
    We consider the task of mapping pedestrian urban areas for a robotic guidance and surveillance application. This mapping is performed by registering three-dimensional laser range scans acquired with two different robots. To ...
  • Path planning with pose SLAM 

    Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2010)
    External research report
    Open Access
    The probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse ...

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