Now showing items 1-14 of 14

    • 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 ...
    • Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments 

      Villagra, Jorge; Vallvé Navarro, Joan; Medina Lee, Juan; Solà Ortega, Joan; Artuñedo, Antonio; Andrade-Cetto, Juan (Instituto de Carboquímica, 2020)
      Article
      Open Access
      To make autonomous driving a mass reality in cities there are still important technological barriers to be solved. It is therefore foreseeable that its implementation will be gradual, prioritising its appearance in operational ...