Now showing items 1-13 of 13

  • 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 ...
  • Automatización de instrumentos musicales : un proyecto integral de ingeniería industrial 

    Vallvé Navarro, Joan; Costa Castelló, Ramon (2012)
    Conference lecture
    Restricted access - publisher's policy
    En las titulaciones de ingeniería es cada vez más común incorporar asignaturas basadas en la resolución de pequeños proyectos. Adicionalmente el ámbito de la ingeniería industrial es un ámbito pluridisciplinar en el que ...
  • 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 ...
  • Disseny i construcció d'un conjunt musical automatitzat 

    Vallvé Navarro, Joan (Universitat Politècnica de Catalunya, 2012-05)
    Master thesis (pre-Bologna period)
    Open Access
    El present projecte és el resultat d’un procés d’experimentació i estudi de viabilitat de l’aplicació de l’automàtica en la música. El que es pretén és analitzar fins a quin punt és factible, raonable, una proposta ...
  • Factor descent optimization for sparsification in graph SLAM 

    Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (IEEE Press, 2017)
    Conference report
    Open Access
    In the context of graph-based simultaneous localization and mapping, node pruning consists in removing a subset of nodes from the graph, while keeping the graph’s information content as close as possible to the original. ...
  • Graph SLAM sparsification with populated topologies using factor descent optimization 

    Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Open Access
    Current solutions to the simultaneous localization and mapping (SLAM) problem approach it as the optimization of a graph of geometric constraints. Scalability is achieved by reducing the size of the graph, usually in two ...
  • Information metrics for localization and mapping 

    Vallvé Navarro, Joan (2019-02-27)
    Doctoral thesis
    Open Access
    Decades of research have made possible the existence of several autonomous systems that successfully and efficiently navigate within a variety of environments under certain conditions. One core technology that has allowed ...
  • Laboratorio virtual para prácticas de control por computador 

    Vallvé Navarro, Joan; Costa Castelló, Ramon; Hernández Valdivieso, Alher Mauricio (Comité Español de Automática / Universidad de Huelva, 2007-09)
    Conference report
    Open Access
    Aquest treball descriu un laboratori virtual desenvolupat per a donar suport a les pràctiques de Control per Computador de l'ETSEIB (Escola Tècnica Superior d'Enginyers Industrials de Barcelona). El laboratori està totalment ...
  • Localization in highly dynamic environments using dual-timescale NDT-MCL 

    Valencia Carreño, Rafael; Saarinen, Jari; Andreasson, Henrik; Vallvé Navarro, Joan; Andrade-Cetto, Juan; Lilienthal, Achim (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Industrial environments are rarely static and often their configuration is continuously changing due to the material transfer flow. This is a major challenge for infrastructure free localization systems. In this paper we ...
  • Mobile robot exploration with potential information fields 

    Vallvé Navarro, Joan; Andrade-Cetto, Juan (2013)
    Conference report
    Open Access
    We present a mobile robot exploration strategy that computes trajectories that minimize both path and map entropies. The method evaluates joint entropy reduction and computes a potential ¿eld in robot con¿guration space ...
  • Observability analysis and optimal sensor placement in stereo radar odometry 

    Corominas Murtra, Andreu; Vallvé Navarro, Joan; Solà Ortega, Joan; Flores Abad, Ismael; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Open Access
    Localization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement ...
  • Pose-graph SLAM sparsification using factor descent 

    Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (2019-09-01)
    Article
    Open Access
    Since state of the art simultaneous localization and mapping (SLAM) algorithms are not constant time, it is often necessary to reduce the problem size while keeping as much of the original graph’s information content. In ...
  • Potential information fields for mobile robot exploration 

    Vallvé Navarro, Joan; Andrade-Cetto, Juan (2015-07-01)
    Article
    Open Access
    We present a decision theoretic approach to mobile robot exploration. The method evaluates the reduction of joint path and map entropy and computes a potential information field in robot configuration space using these ...