Now showing items 1-20 of 76

    • A framework for robotized teleoperated tasks 

      Basañez Villaluenga, Luis; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Nuño Ortega, Emmanuel; Portilla Rodríguez, Henry (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
      Conference report
      Open Access
      Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability ...
    • A novel path planning proposal based on the combination of deterministic sampling and harmonic functions 

      Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro (2007-03)
      External research report
      Open Access
      The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant ...
    • A performance analysis tool of discrete-events systems 

      Casado Pastor, Francesc; Peñarroya Isanta, Albert; Rosell Gratacòs, Jan (2007-01)
      External research report
      Open Access
      The analysis of the logic correctness of the system and its performance evaluation are usually carried out using, respectively, the Petri nets formalism and the discrete-event simulation. Several tools exist for both. The ...
    • A review and comparison of ontology-based approaches to robot autonomy 

      Olivares Alarcos, Alberto; Bebler, Daniel; Khamis, Alaa; Goncalves, Paulo; Habib, Maki K.; Bermejo Alonso, Julita; Barreto, Marcoss; Diab, Mohammed; Rosell Gratacòs, Jan; Quintas, João; Olszewska, Joanna; Nakawala, Hirenkumar; Pignaton de Freitas, Edison; Gyrard, Amelie; Borgo, Stefano; Alenyà Ribas, Guillem; Beetz, Michael; Li, Howard (2019-01-01)
      Article
      Open Access
      Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot ...
    • A roadmap to robot motion planning software development 

      Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (2009-02-23)
      Article
      Open Access
      PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ...
    • A three-stage method for the 3D reconstruction of the tracheobronchial tree from CT scans 

      Rosell Gratacòs, Jan; Cabras, Paolo (2013-10)
      Article
      Restricted access - publisher's policy
      This paper proposes a method for segmenting the airways from CT scans of the chest to obtain a 3D modelthat can be used in the virtual bronchoscopy for the exploration and the planning of paths to the lesions.The method ...
    • A tool for knowledge-oriented physics-based motion planning and simulation 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan; Qazi, Wajahat Mahmood (2019)
      Part of book or chapter of book
      Open Access
      The book covers a variety of topics in Information and Communications Technology (ICT) and their impact on innovation and business. The authors discuss various innovations, business and industrial motivations, and impact ...
    • An adaptative deterministic sequence for sampling-based motion planners 

      Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro (2004-09)
      External research report
      Open Access
      This paper presents a deterministic sequence with good and useful features for sampling-based motion planners, On the one hand, the proposed sequence is able to generate samples over a hierarchical grid structure of the ...
    • An assisted re-synchronization method for robotic teleoperated tasks 

      Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (IEEE, 2011)
      Conference report
      Restricted access - publisher's policy
      Teleoperation tasks are performed at cartesian evel when the robot and the haptic device ave dissimilar inematics. If the size of the workspaces is also dissimilar, as it is usually the case, the mapping between workspaces ...
    • An ontology for failure interpretation in automated planning and execution 

      Diab, Mohammed; Pomarlan, Mihai; Bebler, Daniel; Akbari, Aliakbar; Bateman, John; Beetz, Michael; Rosell Gratacòs, Jan (2019)
      Conference lecture
      Restricted access - publisher's policy
      Autonomous indoor robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions, where task and motion planning levels are coupled. In both planning levels and execution phase, several source ...
    • An Ontology Framework for Physics-Based Manipulation Planning 

      Diab, Mohammed; Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
      Conference report
      Restricted access - publisher's policy
      In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ...
    • Analysis of fixturing quality for a variable number of fixturing points and friction values 

      Penalba, Francesc; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (IEEE Computer Society Publications, 2009)
      Conference report
      Open Access
      This paper copes with the automatic determination of fixturing points on 2D and 3D free-form objects, for any number of fixturing points and a variable friction coefficient at the contacts. A software tool that implements ...
    • Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica 

      García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (2017)
      Conference lecture
      Restricted access - publisher's policy
      La planificación de movimientos es un área de investigación básica en robótica, sobre todo desde que los robots se convirtieron en una parte esencial en muchos campos de aplicación tales como, por ejemplo, las industrias ...
    • Aspectos técnicos de los robots co-trabajadores con operadores humanos 

      Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2019-07-01)
      Article
      Open Access
      La robótica colaborativa, en la que los robots comparten el espacio de trabajo con los humanos e interactúan con ellos, toma un papel cada vez más relevante. En este contexto, el artículo presenta desarrollos realizados ...
    • Assembly planning in cluttered environments through heterogeneous reasoning 

      Beßler, Daniel; Pomarlan, Mihai; Akbari, Aliakbar; Ud Din, Muhayy; Diab, Mohammed; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (Springer, 2018)
      Conference lecture
      Open Access
      Assembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ...
    • Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander (2011-07)
      Article
      Open Access
      The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” ...
    • C-space decomposition using deterministic sampling and distances 

      Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander (Institute of Electrical and Electronics Engineers, 2007-11)
      Conference report
      Open Access
      Hierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper ...
    • Combined heuristic task and motion planning for bi-manual robots 

      Akbari, Aliakbar; Lagriffoul, Fabien; Rosell Gratacòs, Jan (2019-08-01)
      Article
      Restricted access - publisher's policy
      Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate ...
    • Contingent task and motion planning under uncertainty for human–robot interactions 

      Akbari, Aliakbar; Rosell Gratacòs, Jan; Diab, Mohammed (Multidisciplinary Digital Publishing Institute, 2020-03-01)
      Article
      Open Access
      Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human ...
    • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Conference lecture
      Open Access
      The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...