Now showing items 1-20 of 114

    • 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 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 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 ...
    • 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 ...
    • Aerial robotics in building inspection and maintenance 

      Grau Saldes, Antoni; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Puig-Pey Clavería, Ana María; Sanfeliu Cortés, Alberto (Technische Universität München, 2018)
      Conference lecture
      Open Access
      Buildings need periodic revision about their state, materials degrade with time and repairs or renewals have to be made driven by maintenance needs or safety requirements. That happens with any kind of buildings and ...
    • 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 ...
    • 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
    • Autonomous navigation of a robot with computer vision 

      Magallón Hernández, Ignacio (Universitat Politècnica de Catalunya / Universidade de Sao Paulo, 2011)
      Master thesis (pre-Bologna period)
      Restricted access - author's decision
      This TCC (Undergraduate Course Final Project) aims to develop a solution for intelligent autonomous navigation with mobile robots using computer vision. Using C language and OpenCV, an image processing library, the ...
    • Billardor. Módulo de locomoción en superficies planas para robots 

      Gallart Matas, Daniel (Universitat Politècnica de Catalunya, 2011-06-15)
      Master thesis (pre-Bologna period)
      Restricted access - author's decision
      Aquest projecte tracta el disseny d’un mòdul de locomoció per a robots mòbils d’aproximadament 100 kg de pes, que es desplacen sobre superfícies planes. Aquest projecte esta contingut dins el marc del disseny d’un robot ...
    • Biologically inspired path execution using SURF flow in robot navigation 

      Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio (2011-06)
      Article
      Restricted access - publisher's policy
      An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, ...
    • Biologically inspired turn control for autonomous mobile robots 

      Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio (IOS Press, 2011)
      Conference report
      Restricted access - publisher's policy
      An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors ...