Now showing items 1-20 of 124

    • 3D Mapping of indoor environments using RGB-D Kinect camera for robotic mobile application 

      Perez Bonnal, Emmanuel (Universitat Politècnica de Catalunya / Politecnico di Torino, 2010)
      Master thesis (pre-Bologna period)
      Open Access
      RGB-D cameras are new, low cost, sensors that provide depth information for every RGB pixel acquired. Combining this information, it is possible to develop 3D perception in an indoor environment. In this paper we investigate ...
    • A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot 

      Stancu, Alexandru; Codres, Eduard; Puig Cayuela, Vicenç (IEEE Press, 2016)
      Conference report
      Open Access
      When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant ...
    • 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 metrics review for performance evaluation on assisted wheelchair navigation 

      Urdiales García, Cristina; Peula, José Ma.; Cortés García, Claudio Ulises; Barrué Subirana, Cristian; Fernández Espejo, Blanca; Annicchiarico, Roberta; Sandoval, Francisco; Caltagirone, Carlo (Springer Verlag, 2009-06-10)
      Conference report
      Restricted access - publisher's policy
      In nowadays aging society, many people require assistance for non-pedestrian mobility. In some cases, assistive devices require a certain degree of autonomy when the persons’ disabilities difficult manual control. In this ...
    • A mobile robotic platform capable of stereo vision based on blod detection 

      Caminal Pallarès, Helena (Universitat Politècnica de Catalunya, 2014-12)
      Master thesis (pre-Bologna period)
      Open Access
      In robotics, vision is an indispensable tool. It is used for a wide spectrum of applications, such as Simultaneous Localization And Mapping (SLAM), object recognition and communication. Vision is expensive both in terms ...
    • A POMDP approach to the hide and seek game 

      Georgaraki, Chryso (Universitat Politècnica de Catalunya, 2012-01-13)
      Master thesis
      Open Access
      Partially observable Markov decision processes (POMDPs) provide an elegant mathematical framework for modeling complex decision and planning problems in uncertain and dynamic environments. They have been successfully ...
    • A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system 

      Munguía Alcalá, Rodrigo Francisco; Castillo Toledo, Bernardino; Grau Saldes, Antoni (2013-07-03)
      Article
      Open Access
      Simultaneous Localization and Mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on ...
    • A simplified LPV model for mobile robots navigation with audio features 

      Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni (2012)
      Conference lecture
      Open Access
    • A three-dof actuated robot 

      Mirats Tur, Josep Maria; Camps Sala, Josep (2011)
      Article
      Open Access
      This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed ...
    • Action evaluation for mobile robot global localization in cooperative environments 

      Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2008-01)
      Article
      Open Access
      This work is about solving the global localization issue for mobile robots operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot or team of robots in the map reference ...
    • Adaptive Cruise Control, an scaled model: platooning using two-wheeled robots 

      Conejo Barcelo, Carlos (Universitat Politècnica de Catalunya, 2017-06-15)
      Bachelor thesis
      Open Access
      The aim of the project is to recreate, in a small-scale, the interaction between vehicles that circulate in the same path. Several technological options like Adaptive Cruise Control or Cooperative Adaptive Cruise Control ...
    • Aibo JukeBox : a robot dance interactive experience 

      Angulo Bahón, Cecilio; Comas-Fernandez, Joan; Pardo Ayala, Diego Esteban (2011-06)
      Article
      Restricted access - publisher's policy
      This paper presents a human-robot interaction system based on the Aibo platform. This robot is both, complex and empathetic enough to generate a high level of interest from the user. The complete system is an interactive ...
    • Aiding a SLAM system with an IMU sensor 

      Ibáñez Cuadal, Carlos (Universitat Politècnica de Catalunya, 2019-03-29)
      Bachelor thesis
      Restricted access - author's decision
      Covenantee:   Università degli studi di Roma "La Sapienza"
      This project consists of aid an existing SLAM system by developing and implementing a motion estimator based on the Inertial measurements of a VI-sensor in the SLAM pipeline. This entire project has been carried out at ...
    • Algoritmo compensador neuronal discreto de dinámica en robots móviles usando filtro de Kalman extendido 

      Rossomando, F.G.; Soria, C.; Carelli, R. (Universitat Politècnica de Catalunya. CIMNE, 2013)
      Article
      Open Access
      Este artículo presenta el diseño de un algoritmo basado en redes neuronales en tiempo discreto para su aplicación en robótica móvil. También se muestran las condiciones de estabilidad y una evaluación de los resultados. El ...
    • An ontology for failure interpretation in automated planning and execution 

      Diab, Mohammed; Pomarlan, Mihai; Bebler, Daniel; Akbari, Aliakbar; Bateman, John; Beetz, Michael; Rosell Gratacòs, Jan (2019)
      Conference lecture
      Restricted access - publisher's policy
      Autonomous 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 ...
    • Analysis and Prediction of Human Motion Trajectories in Urban Environments 

      Ferrer M´ınguez, Gonzalo (Universitat Politècnica de Catalunya, 2011-09)
      Master thesis
      Restricted access - author's decision
      The design and development of intelligent service mobile robots that interact with humans in daily living activities or cooperate with persons in specific tasks, requires the design of new tools that allow the understanding ...
    • Anticipative kinodynamic planning: multi-objective robot navigation in urban and dynamic environments 

      Ferrer, Gonzalo; Sanfeliu Cortés, Alberto (2018-01-01)
      Article
      Open Access
      This paper presents the anticipative kinodynamic planning (AKP) approach for robot navigation in urban environments, while satisfying both dynamic and nonholonomic constraints. Our main motivation is to minimize the impact ...
    • Anticipative kinodynamic real-time motion planning for autonomous driving in dynamic road environaments 

      Pérez Talamino, Jordi (Universitat Politècnica de Catalunya, 2017-06-15)
      Master thesis
      Restricted access - confidentiality agreement
    • Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica 

      García, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (2017)
      Conference lecture
      Restricted access - publisher's policy
      La 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 ...
    • Automation of an underwater vacuum cleaner 

      Valdivieso Merino, Marc (Universitat Politècnica de Catalunya, 2018-03-11)
      Bachelor thesis
      Open Access
      Reparation and improvement of the capabilities of an underwater vacuum cleaner for the study of software capabilities of underwater robotic platforms