Now showing items 1-20 of 28

    • 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms 

      Aguilar Castillo, Wilbert Geovanny; Morales, Stephanie G. (2016-10-18)
      Article
      Open Access
      This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 ...
    • A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot 

      Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha; Romera Formiguera, Juli (Institute of Electrical and Electronics Engineers (IEEE), 2015-06-01)
      Article
      Restricted access - publisher's policy
      This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable ...
    • A multi-agent system based on fuzzy logic applied to RoboCup's enviroment 

      Aguirre Molina, Eugenio; Gámez, Juan Carlos; González Muñoz, Antonio (Universitat Politècnica de Catalunya. Secció de Matemàtiques i Informàtica, 2001)
      Article
      Open Access
      Artificial Intelligent has been applied successfully to many and varied domains. In particular, the recent steps forward which are been producing in the development of dynamic, collaborative, real time and adversarial ...
    • An adaptive controller for nonlinear teleoperators with variable time-delays 

      Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis (2014-10-01)
      Article
      Restricted access - publisher's policy
      In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the ...
    • An identified LPV model for mobile robots navigation with audio features 

      Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni (2010)
      Conference report
      Open Access
      Non-speech audio is becoming more attractive to be used as features to mobile robots navigation in industrial environments. In this paper authors present their advances in determining robot’s position in indoor spaces ...
    • Billardor: electrónica para la integración de un robot 

      Esplugas Martínez, Marc (Universitat Politècnica de Catalunya, 2019-10-21)
      Bachelor thesis
      Open Access
      Este trabajo forma parte de un proyecto matriz llamado Billador, un proyecto ambicioso cuyo objetivo es crear un prototipo de robot que permita jugar al billar de manera autónoma contra cualquier oponente. El punto de ...
    • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

      Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
      Article
      Restricted access - publisher's policy
      This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can ...
    • Control de movimiento de un robot móvil omnidireccional 

      Magnabosco, Luca (Universitat Politècnica de Catalunya, 2012-09)
      Master thesis (pre-Bologna period)
      Open Access
      Los robots m´oviles Omnidireccionales son cada vez m´as populares debido a su mayor movilidad. Comparados a los m´as com´unes “car-like robots”, tienen una agilidad superior para moverse hacia cualquier posici´on y ...
    • Control de velocitat d'un robot mòbil 

      Ollé Lamiel, Nil (Universitat Politècnica de Catalunya, 2017-07)
      Bachelor thesis
      Open Access
      En aquest projecte s’ha dut a terme la implementació d’un control de velocitat i posició en una plataforma robòtica mòbil. Al llarg del projecte es repassa la història de la robòtica autònoma, la seva evolució i el moment ...
    • Control remot d'un robot mòbil des d'un dispositiu Android 

      Pagan Fernàndez, Josep (Universitat Politècnica de Catalunya, 2014-10)
      Bachelor thesis
      Restricted access - author's decision
    • Control simulation of a line tracker vehicle using Gazebo 

      Lloses Miró, Joel (Universitat Politècnica de Catalunya, 2017-06-15)
      Bachelor thesis
      Open Access
      The process of designing the control strategy for mobile robots may turn into a difficult task as can appear difficult dynamisms on a mechanical an electronic level that are difficult to model and, besides, its testing ...
    • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Conference lecture
      Open Access
      The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...
    • Desenvolupament d'algorismes de planificació de camins amb Robotino i ROS 

      Osio Silva, Guillermo (Universitat Politècnica de Catalunya, 2018-06)
      Bachelor thesis
      Open Access
    • Estudi del modelat i control d'un robot mòbil omnidireccional. 

      Bars Betrián, Emilio (Universitat Politècnica de Catalunya, 2017-01)
      Bachelor thesis
      Restricted access - author's decision
      El projecte consisteix en la modelització i control d'un robot mòbil omnidireccional de 4 rodes. Es pretén desenvolupar un model dinàmic/cinemàtic del robot que s’implementarà mitjançant Matlab/Simulink. La calibració dels ...
    • Estudi, control i optimització d’un LEGO Segway 

      Llevat Pàmies, David (Universitat Politècnica de Catalunya, 2015-07)
      Bachelor thesis
      Open Access
      Al llarg d’aquesta memòria es desenvolupa l’estudi per a construir, controlar i optimitzar el comportament d’un Segway, o pèndul invertit de dues rodes, mitjançant els components cedits per la companyia de joguines LEGO ...
    • Estudio y diseño de un sistema de control anticipativo para un robot móvil 

      Roca Garcia, Bernat (Universitat Politècnica de Catalunya, 2015-01-29)
      Bachelor thesis
      Open Access
      Este proyecto trata del estudio y diseño de un sistema de control para un robot móvil, anticipando obstáculos tipo rampa, utilizando los sensores disponibles. El objetivo de control consiste en hacer que el sistema sea ...
    • Fault detection and isolation for autonomous mobile robot systems 

      Ruiz Royo, Adrián (Universitat Politècnica de Catalunya, 2014-06-30)
      Bachelor thesis
      Restricted access - author's decision
      This Project is about the fault detection and isolation with a tolerant control for autonomous mobile robot systems. The omnidirectional robot model is developed to obtain a benchmark that can be implemented as a simulator. ...
    • Grasp synthesis of 3D articulated objects with n links 

      Alvarado Tovar, Noé; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference report
      Restricted access - publisher's policy
      This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a ...
    • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

      Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
      Conference lecture
      Restricted access - publisher's policy
      In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ...
    • Path planning with pose SLAM 

      Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria (2010)
      External research report
      Open Access
      The probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse ...