Browsing by Subject "Mobile robots"

Now showing items 1-20 of 171

    • 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 ...

    • A vision-based line following method for micro air vehicles 

      Majó Casero, Pol (Universitat Politècnica de Catalunya, 2021-06-20)
      Bachelor thesis
      Open Access
      Covenantee:   Technische Universität Wien
      This project has two phases. The first one, where an algorithm and a 3D simulation has to be designed using Simulink, in which a minidrone takes off, follows a line of red colour, and finally ends up landing in a circle. ...

    • ACHORD: communication-aware multi-robot coordination with intermittent connectivity 

      Saboia Da Silva, Maira; Clack, Lillian; Thangavelu, Vivek; Edlund, Jeffrey; Kyohei, Otsu; Correa, Gustavo J; Varadharajan, Vivek Shankar; Santamaria Navarro, Àngel; Touma, Thomas; Bouman, Amanda; Melikyan, Hovhannes; Pailevanian, Torkom; Kim, Sung-Kyun; Archanian, Avak; Vaquero, Tiago Stegun; Beltrame, Giovanni; Napp, Nils; Pessin, Gustavo; Agha-mohammadi, Ali-akbar (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Article
      Open Access
      Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring ...

    • 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 Barceló, 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 ...

    • Adaptive side-by-side social robot navigation to approach and interact with people 

      Repiso Polo, Ely; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto (2020-08)
      Article
      Open Access
      This paper presents a new framework for how autonomous social robots approach and accompany people in urban environments. The method discussed allows the robot to accompany a person and approach to other one, by adapting ...

    • 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 addendum to NeBula: toward extending team CoSTAR’s solution to larger scale environments 

      Morrell, Benjamin; Kyohei, Otsu; Agha-mohammadi, Ali-akbar; Fan, David D.; Kim, Sung-Kyun; Edlund, Jeffrey; Bouman, Amanda; Correa, Gustavo J; Saboia Da Silva, Maira; Santamaria Navarro, Àngel; Fadhil Ginting, Muhammad; Lei, Xianmei; Fakoorian, Seyed; Chávez, Fernando; Kim, Taeyeon; López, Brett; Kim, Boseong; Jung, Chanyoung (2024)
      Article
      Open Access
      This paper presents an appendix to the original NeBula autonomy solution [Agha et al., 2021] developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. ...

    • An Approach to Attract and Manitain Attention of People with Interactive Mobile Robots 

      San Martin Igarza, Ane (Universitat Politècnica de Catalunya, 2020-07-28)
      Master thesis
      Open Access
      Covenantee:   Politecnico di Milano
      Autism Spectrum Disorder (ASD) are neuro-developed mental conditions which mainly affect the interaction in the social area of the affected people. In order to improve this disorder, different therapies have been developed ...

    • An evaluation environment for a track limits detection algorithm of a formula student autonomous system 

      Pareras Velasco, Oriol (Universitat Politècnica de Catalunya, 2023-10-25)
      Bachelor thesis
      Open Access
      This thesis introduces an innovative testing framework designed to enhance the Track Limits algorithm utilized in Formula Student Autonomous Systems. To gain a comprehensive understanding of how a specific algorithm ...