Enviaments recents

  • On average real sliding dynamics in linear systems 

    Olm Miras, Josep Maria; Biel Solé, Domingo; Repecho del Corral, Víctor; Shtessel, Yuri B. (2017-07-01)
    Article
    Accés obert
    It is well known that in implementations of sliding mode controllers using hysteresis comparators, when the hysteresis band amplitude tends to zero the real dynamics tends to the ideal sliding dynamics. However, in real ...
  • Word ordering and document adjacency for large loop closure detection in 2D laser maps 

    Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Article
    Accés obert
    We address in this paper the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very large areas. Consistent with the state of the art, the map is encoded as a graph of poses, ...
  • Kinodynamic planning on constraint manifolds 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
    Report de recerca
    Accés obert
    This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...
  • ROS wrapper for real-time multi-person pose estimation with a single camera 

    Arduengo García, Miguel; Jorgensen, Steven Jens; Hambuchen, Kimberly; Sentis, Luis; Moreno-Noguer, Francesc; Alenyà Ribas, Guillem (2017)
    Report de recerca
    Accés obert
    For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have ...
  • Dual REPS: a generalization of relative entropy policy search exploiting bad experiences 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
    Article
    Accés obert
    Policy search (PS) algorithms are widely used for their simplicity and effectiveness in finding solutions for robotic problems. However, most current PS algorithms derive policies by statistically fitting the data from the ...
  • Economic model predictive control for energy dispatch of a smart micro-grid system 

    Nassourou, M; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquim; Ocampo-Martínez, Carlos (2017)
    Text en actes de congrés
    Accés obert
    The problem of energy dispatch in heterogeneous complex systems such as smart grids cannot be efficiently solved using classical control or ad-hoc methods. This paper proposes the application of Economic Model Predictive ...
  • Towards SLAM with an events-based camera 

    Clavera Gilaberte, Ignasi; Solà Ortega, Joan; Andrade-Cetto, Juan (2016)
    Report de recerca
    Accés obert
    Event-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high ...
  • Identification of PEM fuel cells based on support vector regression and orthonormal bases 

    Feroldi, Diego Hernan; Gómez, Juan Carlos; Roda Serrat, Vicente (2016)
    Text en actes de congrés
    Accés obert
    Polymer Electrolyte Membrane Fuel Cells (PEMFC) are efficient devices that convert the chemical energy of the reactants in electricity. In this type of fuel cells, the performance of the air supply system is fundamental ...
  • Parallax angle parametrization in incremental SLAM 

    Paiva Mendes, Ellon; Lacroix, Simon; Solà Ortega, Joan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés obert
    The lack of depth information in camera images has triggered much work on their use for localization and mapping in robotics. In particular, specific landmark parametrizations that isolate the unknown depth in one variable, ...
  • Different architectures to develop repetitive controllers 

    Sanz i López, Víctor; Costa Castelló, Ramon; Ramos Fuentes, German A. (2017)
    Text en actes de congrés
    Accés obert
    In this work several architectures to implement repetitive controllers are compared. A complete analytical analysis is performed for these dierent architectures and a simulation example with a power converter is included.

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