Now showing items 1-20 of 97

    • 3D mapping for urban service robots 

      Valencia Carreño, Rafael; Teniente López, Ernest; Trulls Fortuny, Eduard; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
      Conference report
      Open Access
      We present an approach to the problem of 3D map building in urban settings for service robots, using threedimensional laser range scans as the main data input. Our system is based on the probabilistic alignment of 3D point ...
    • A hybrid control-oriented PEMFC model based on echo state networks and gaussian radial basis functions 

      Aguilar Plazaola, José Agustín; Chanal, Damien; Chamagne, Didier; Yousfi-Steiner, Nadia; Péra, Marie-Cécile; Husar, Attila Peter; Andrade-Cetto, Juan (2024-01-01)
      Article
      Open Access
      The goal of increasing efficiency and durability of fuel cells can be achieved through optimal control of their operating conditions. In order to implement such controllers, accurate and computationally efficient fuel cell ...
    • A wire-based active tracker 

      Andrade-Cetto, Juan; Thomas, Federico (IEEE, 2008)
      Article
      Open Access
      Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the ...
    • Action selection for robotic manipulation of deformable objects 

      Cuén Rochín, Saúl; Andrade-Cetto, Juan; Torras, Carme (ESF-JSPS, 2008)
      Conference report
      Open Access
      This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition ...
    • Action selection for single-camera SLAM 

      Vidal Calleja, Teresa; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (2010)
      Article
      Open Access
      A method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help ...
    • Active pose SLAM 

      Valencia Carreño, Rafael; Valls Miró, Jaime; Dissanayake, Gamini; Andrade-Cetto, Juan (2012)
      Conference report
      Open Access
      We present an active exploration strategy that complements Pose SLAM [1] and optimal navigation in Pose SLAM [2]. The method evaluates the utility of exploratory and place revisiting sequences and chooses the one that ...
    • Active pose SLAM with RRT* 

      Vallvé Navarro, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      We propose a novel method for robotic exploration that evaluates paths that minimize both the joint path and map entropy per meter traveled. The method uses Pose SLAM to update the path estimate, and grows an RRT* tree to ...
    • Active SLAM for autonomous underwater exploration 

      Palomeras, Narcís; Carreras, Marc; Andrade-Cetto, Juan (Multidisciplinary Digital Publishing Institute (MDPI), 2019)
      Article
      Open Access
      Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping ...
    • Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2011)
      Article
      Open Access
      The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the ...
    • Amortized constant time state estimation in SLAM using a mixed Kalman-information filter 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2009)
      Conference lecture
      Open Access
      The computational bottleneck in all informationbased algorithms for SLAM is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data ...
    • Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors 

      Santamaria Navarro, Àngel; Loianno, Giuseppe; Solà Ortega, Joan; Kumar, Vijay; Andrade-Cetto, Juan (2018-06-01)
      Article
      Open Access
      The combination of visual and inertial sensors for state estimation has recently found wide echo in the robotics community, especially in the aerial robotics field, due to the lightweight and complementary characteristics ...
    • Boosted Random ferns for object detection 

      Villamizar Vergel, Michael Alejandro; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2018-02-01)
      Article
      Open Access
      In this paper we introduce the Boosted Random Ferns (BRFs) to rapidly build discriminative classifiers for learning and detecting object categories. At the core of our approach we use standard random ferns, but we introduce ...
    • Box-Jenkins autoregressive models for PEMFC operating under dynamical conditions 

      Aguilar Plazaola, José Agustín; Husar, Attila Peter; Andrade-Cetto, Juan (2021)
      Conference report
      Open Access
      The objective of the present work is to explore and validate autoregressive, control oriented models models Proton Exchange Membrane Fuel Cells coperatinf under dynamic condditions. Autoregressive models have several ...
    • Calibrating an outdoor distributed camera network using laser range finder data 

      Ortega Jiménez, Agustín Alberto; Dias, Bruno; Teniente Avilés, Ernesto; Bernardino Malheiro, Alexandre José; Gaspar, José; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
      Conference report
      Open Access
      Outdoor camera networks are becoming ubiquitous in critical urban areas of large cities around the world. Although current applications of camera networks are mostly limited to video surveillance, recent research projects ...
    • Calibration of an outdoor distributed camera network with a 3D point cloud 

      Ortega, Agustin; Silva, Manuel; Teniente Avilés, Ernesto Homar; Ferreira, Ricardo; Bernardino Bernardino Malheiro, Alexandre José; Gaspar, José; Andrade-Cetto, Juan (2014)
      Article
      Open Access
      Outdoor camera networks are becoming ubiquitous in critical urban areas of the largest cities around the world. Although current applications of camera networks are mostly tailored to video surveillance, recent research ...
    • Combination of distributed camera network and laser-based 3D mapping for urban service robots 

      Andrade-Cetto, Juan; Ortega Jiménez, Agustín Alberto; Teniente Avilés, Ernesto; Trulls Fortuny, Eduard; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (2009)
      Conference report
      Open Access
    • Control-oriented estimation of the exchange current density in PEM fuel cells via stochastic filtering 

      Aguilar Plazaola, José Agustín; Andrade-Cetto, Juan; Husar, Attila Peter (2022-08)
      Article
      Open Access
      Increasing efficiency and durability of fuel cells can be achieved through advanced model-based optimal control of its operating conditions, and the efficient online estimation of fuel cell parameters and internal states ...
    • Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas 

      Spaan, Matthijs T.J.; Sequeira, Joao; Ollero, A.; Moreno, Plinio; Mirats Tur, Josep Maria; Merino, Luis; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitan, Jesus; Corominas Murtra, Andreu; Gilbert, Andrew; Illingworth, John (2010-03)
      Article
      Open Access
      In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an ...
    • Deconvolutional networks for point-cloud vehicle detection and tracking in driving scenarios 

      Vaquero Gómez, Víctor; del Pino Bastida, Iván; Moreno-Noguer, Francesc; Solà Ortega, Joan; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (IEEE Press, 2017)
      Conference report
      Open Access
      Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive ...
    • 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 ...