Browsing by Author "Rosell Gratacòs, Jan"
Now showing items 1-20 of 98
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A framework for robotized teleoperated tasks
(Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
Conference report
Open AccessTeleoperation 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 lightweight perception module for planning purposes
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference lecture
Open AccessSensing is an essential component for robots to perform the manipulation tasks in real environments. This study proposes a lightweight deep-learning-based sensing modules which allows the robots to automatically model the ... -
A novel path planning proposal based on the combination of deterministic sampling and harmonic functions
(2007-03)
Research report
Open AccessThe 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
(2007-01)
Research report
Open AccessThe 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
(2019-01-01)
Article
Open AccessWithin 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
(2009-02-23)
Article
Open AccessPhD 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 simple yet smart head module for mobile manipulators
(2023)
Conference report
Open AccessMobile manipulators working in semi-structured human environments need smart vision capabilities to perceive the world and interact with human operators. With this purpose in mind, this paper presents the development of a ... -
A three-stage method for the 3D reconstruction of the tracheobronchial tree from CT scans
(2013-10)
Article
Restricted access - publisher's policyThis 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
(2019)
Part of book or chapter of book
Open AccessThe 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
(2004-09)
Research report
Open AccessThis 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
(IEEE, 2011)
Conference report
Restricted access - publisher's policyTeleoperation 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
(2019)
Conference lecture
Open AccessAutonomous 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
(Springer, 2017)
Conference report
Restricted access - publisher's policyIn 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
(IEEE Computer Society Publications, 2009)
Conference report
Open AccessThis 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
(2017)
Conference lecture
Restricted access - publisher's policyLa 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
(2019-07-01)
Article
Open AccessLa 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
(Springer, 2018)
Conference lecture
Open AccessAssembly 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 ... -
Automated depth dataset generation with integrated quality metrics for robotic manipulation
(2023)
Conference report
Open AccessThis work introduces a fully automatic and adaptable pipeline for synthetic depth dataset generation that later on can be used for the training of deep learning algorithms for robotic manipulation. From any available set ... -
Automatic generation of behavior trees for the execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2021)
Conference report
Open AccessRobots should be able to exercise reasoning in both symbolic and geometric levels in order to plan a manipulation task. The execution of such tasks needs to be robust enough to cope with real environments. In an attempt ... -
Automating adaptive execution behaviors for robot manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Open AccessRobotic manipulation in semi-structured and changing environments requires systems with: a) perception and reasoning capabilities able to capture and understand the state of the environment; b) planning and replanning ...
