Recent Submissions

  • Continuous real time POMCP to find-and-follow people by a humanoid service robot 

    Goldhoorn, Alex; Garrell Zulueta, Anais; Alquézar Mancho, René; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
  • Localization in highly dynamic environments using dual-timescale NDT-MCL 

    Valencia Carreño, Rafael; Saarinen, Jari; Andreasson, Henrik; Vallvé Navarro, Joan; Andrade-Cetto, Juan; Lilienthal, Achim (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we ...
  • Dimensionality reduction for probabilistic movement primitives 

    Colomé Figueras, Adrià; Neumann, Gerhard; Peters, Jan; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Humans as well as humanoid robots can use a large number of degrees of freedom to solve very complex motor tasks. The high-dimensionality of these motor tasks adds difficulties to the control problem and machine learning ...
  • Output-feedback model predictive control of sewer networks through moving horizon estimation 

    Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Based on a simplified control-oriented hybrid linear delayed model, model predictive control (MPC) of a sewer network designed to reduce pollution during heavy rain events is presented. The lack of measurements at many ...
  • Dense entropy decrease estimation for mobile robot exploration 

    Vallvé Navarro, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    We propose a method for the computation of entropy decrease in C-space. These estimates are then used to evaluate candidate exploratory trajectories in the context of autonomous mobile robot mapping. The method evaluates ...
  • Exploration on continuous Gaussian process frontier maps 

    Jadidi, Maani Ghaffari; Valls Miró, Jaime; Valencia Carreño, Rafael; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    An information-driven autonomous robotic explo- ration method on a continuous representation of unknown envi- ronments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a ...
  • Realtime tracking and grasping of a moving object from range video 

    Husain, Syed Farzad; Colomé Figueras, Adrià; Dellen, Babette Karla Margarete; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    In this paper we present an automated system that is able to track and grasp a moving object within the workspace of a manipulator using range images acquired with a Microsoft Kinect sensor. Realtime tracking is achieved ...
  • Geodesic finite mixture models 

    Simó Serra, Edgar; Torras, Carme; Moreno-Noguer, Francesc (2014)
    Conference report
    Open Access
    We present a novel approach for learning a finite mixture model on a Riemannian manifold in which Euclidean metrics are not applicable and one needs to resort to geodesic distances consistent with the manifold geometry. ...
  • Dynamic object detection fusing LIDAR data and images 

    Ortega Jimenez, Agustin Alberto; Andrade-Cetto, Juan (2014)
    Conference lecture
    Open Access
    We present a method to segment dynamic objects on point clouds using images and 3D laser data. Per-pixel background classes are adapted online as Gaussian Mixtures independently for each sensor. The learned classes are ...
  • The humanoidLab: involving students in a research centre through an educational initiative 

    Alenyà Ribas, Guillem; Rivero Partida, José Luís; Rull Sanahuja, Aleix; Grosch Obregon, Patrick John; Hernádez Juan, Sergi (SciTePress, 2014)
    Conference report
    Open Access
    The HumanoidLab is a more than 5 year old activity aimed to use educational robots to approach students to our Research Centre. Different commercial educative humanoid platforms have been used to introduce students to ...

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