Now showing items 1-20 of 25

  • Aerial robotics in building inspection and maintenance 

    Grau Saldes, Antoni; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Puig-Pey Clavería, Ana María; Sanfeliu Cortés, Alberto (Technische Universität München, 2018)
    Conference lecture
    Open Access
    Buildings need periodic revision about their state, materials degrade with time and repairs or renewals have to be made driven by maintenance needs or safety requirements. That happens with any kind of buildings and ...
  • A Highest order hypothesis compatibility test for monocular SLAM 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2013-08)
    Article
    Open Access
    Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based ...
  • A solution for robotized sampling in wastewater plants 

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco; Gámiz Caro, Javier Francisco (IEEE Press, 2016)
    Conference report
    Open Access
    This work presents a solution to automatize the water sampling process of outdoor basins in a wastewater treatment plant. The system proposed is based on the utilization of collaborative robotics: a team of an UAV and a ...
  • Batch gating for data association in monocular SLAM 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Trans Tech Publications, 2013-05-27)
    Article
    Restricted access - publisher's policy
    This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) ...
  • Collaborative localization for autonomous robots in structured environments 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Restricted access - publisher's policy
    A complete approach to the visual localization and mapping problem (SLAM) is presented in this work. The presented approach exploits the enhanced capabilities of a system where a human and a robot collaborate in ...
  • Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments 

    Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2018-04-26)
    Article
    Open Access
    This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from ...
  • Cooperative monocular SLAM for multi-UAV systems 

    Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (MDPI AG, 2017-12-04)
    Other
    Open Access
  • Design and development of aerial robotic systems for sampling operations in industrial environment 

    Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Urzua, Sarquis; Bolea Monte, Yolanda; Grau Saldes, Antoni (InTech, 2017-09-06)
    Part of book or chapter of book
    Open Access
    This chapter describes the development of an autonomous fluid sampling system for outdoor facilities, and the localization solution to be used. The automated sampling system will be based on collaborative robotics, with a ...
  • Detection and positioning of pipes and columns with autonomous multicopter drones 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2018-06-21)
    Article
    Open Access
    A multimodal sensory array to accurately position aerial multicopter drones with respect to pipes has been studied, and a solution exploiting both LiDAR and vision sensors has been proposed. Several challenges, including ...
  • Full autonomous navigation for an aerial robot using behavior-based control motion and SLAM 

    Gómez Anaya, David; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    This work presents a complete navigation architecture for an autonomous aerial robot. The proposed scheme consist of: i) a low-level controller for establishing the attitude and position of the vehicle, ii) a Simultaneous ...
  • Human collaborative localization and mapping in indoor environments with non-continuous stereo 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2016-02-24)
    Article
    Open Access
    A new approach to the monocular simultaneous localization and mapping (SLAM) problem is presented in this work. Data obtained from additional bearing-only sensors deployed as wearable devices is fully fused into an Extended ...
  • Human-Robot SLAM in industrial environments 

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Restricted access - publisher's policy
    A novel approach to the SLAM problem has been tested in an industrial environment within a robotic assistance context. In order to be fully reliable in non-modelled circumstances where the environment cannot be considered ...
  • Implantació i difusió de la competència sostenibilitat i compromís social en l’enginyeria de sistemes 

    Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio; Manzanares Brotons, Manuel; Guerra Paradas, Edmundo; Miranda Añón, Alexandre (Universitat Politècnica de Catalunya. Institut de Ciències de l'Educació, 2013-02-08)
    Conference report / Conference lecture
    Open Access
    L’objectiu d’aquest projecte és dotar al cos docent de la UPC de materials, coneixements i sensibilitat necessaris per integrar en els seus ensenyaments la competència transversal de la “Sostenibilitat i el Compromís ...
  • Monocular SLAM : data association and sensing through a human-assisted uncalibrated visual system 

    Guerra Paradas, Edmundo (Universitat Politècnica de Catalunya, 2017-07-17)
    Doctoral thesis
    Open Access
    The Simultaneous Localization and Mapping (SLAM) problem is widely acknowledged as one of the fundamental problem to solve in perception and robotics to produce actual mobile robotic agents. The problem itself is that of ...
  • Monocular SLAM for autonomous robots with enhanced features initialization 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2014-04-02)
    Article
    Open Access
    This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI) framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D ...
  • New approach on bearing-only SLAM for indoor environments 

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (2011)
    Conference lecture
    Restricted access - publisher's policy
    In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, ...
  • Policy-based optimization for matching validation algorithm in monocular robotics 

    Guerra Paradas, Edmundo; Grau Saldes, Antoni; Bolea Monte, Yolanda (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    A novel policy to use the HOHCT validation algorithm is presented. HOHCT was introduced as a batch gating technique to validate data association in delayed initialization monocular SLAM. This new policy does not alter the ...
  • Pseudo-measured LPV Kalman filter for SLAM 

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers, 2012)
    Conference report
    Restricted access - publisher's policy
    This paper describes a new approach to the wellknown robotics problem of simultaneous location and mapping (SLAM). The proposed technique introduces a linear varying parameter (LPV) modeling solution for the estimation ...
  • Simulación de Modelos de Sistemas Dinámicos para Sostenibilidad 

    Guerra Paradas, Edmundo (Universitat Politècnica de Catalunya, 2009-01-29)
    Master thesis (pre-Bologna period)
    Open Access
    El principal objetivo de este PFC es la realización de una serie de simulaciones de sistemas dinámicos de temática vinculada al medio ambiente y la sostenibilidad, basándose en los modelos matemáticos que los describen. ...
  • Simulation and Modeling of Systems in Engineering Education for the Sustainability. The Renewable Energy Case 

    Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni (2011)
    Conference report
    Restricted access - publisher's policy
    In this paper we discuss about the use of computer simulations for sustainable systems. We propose laboratory practices for those subjects taught in the Engineering degrees that use systems or plants in their laboratories. ...