Recent Submissions

  • 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 ...
  • A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems 

    López Estrada, Francisco Ronay; Rotondo, Damiano; Valencia Palomo, Guillermo (2019)
    Article
    Open Access
    This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an ...
  • On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices 

    Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2019-05-09)
    Article
    Open Access
    A real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ...
  • Robust fault detection and isolation based on zonotopic unknown input observers for discrete-time descriptor systems 

    Wang, Ye; Puig Cayuela, Vicenç; Xu, Feng; Cembrano Gennari, Gabriela (2019-01-01)
    Article
    Restricted access - publisher's policy
    In this paper, we propose a robust fault detection and isolation (FDI) strategy based on zonotopic unknown input observers (UIOs) for discrete-time descriptor linear time-varying (LTV) systems subject to uncertainties and ...
  • Exploiting symmetries in reinforcement learning of bimanual robotic tasks 

    Amadio, Fabio; Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Article
    Open Access
    Movement Primitives (MPs) have been widely adopted for representing and learning robotic movements using Reinforcement Learning Policy Search. Probabilistic Movement Primitives (ProMPs) are a kind of MP based on a stochastic ...
  • A survey on the computation of quaternions from rotation matrices 

    Sarabandi, Soheil; Thomas, Federico (ASME PRESS, 2019-04-01)
    Article
    Open Access
    The parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer ...
  • On inferring intentions in shared tasks for industrial collaborative robots 

    Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (2019)
    Article
    Open Access
    Inferring human operators' actions in shared collaborative tasks, plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and ...
  • Assistive robotics: research challenges and ethics education initiatives 

    Torras, Carme (2019)
    Article
    Open Access
    Assistive robotics is a fast growing field aimed at helping healthcarers in hospitals, rehabilitation centers and nursery homes, as well as empowering people with reduced mobility at home, so that they can autonomously ...
  • Bibliographical review on cyber attacks from a control oriented perspective 

    Sánchez Corrales, Helem Sabina; Rotondo, Damiano; Escobet Canal, Teresa; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2019)
    Article
    Open Access
    This paper presents a bibliographical review of definitions, classifications and applications concerning cyber attacks in networked control systems (NCSs) and cyber-physical systems (CPSs). This review tackles the topic ...
  • Robust spatio-temporal clustering and reconstruction of multiple deformable bodies 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2019-04-01)
    Article
    Open Access
    In this paper we present an approach to reconstruct the 3D shape of multiple deforming objects from a collection of sparse, noisy and possibly incomplete 2D point tracks acquired by a single monocular camera. Additionally, ...
  • Shape basis interpretation for monocular deformable 3D reconstruction 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (2019)
    Article
    Open Access
    In this paper, we propose a novel interpretable shape model to encode object non-rigidity. We first use the initial frames of a monocular video to recover a rest shape, used later to compute a dissimilarity measure based ...
  • Detection of replay attacks in cyber-physical systems using a frequency-based signature 

    Sánchez Corrales, Helem Sabina; Rotondo, Damiano; Escobet Canal, Teresa; Puig Cayuela, Vicenç; Saludes Closa, Jordi; Quevedo Casín, Joseba Jokin (2019-03-01)
    Article
    Open Access
    This paper proposes a frequency-based approach for the detection of replay attacks affecting cyber-physical systems (CPS). In particular, the method employs a sinusoidal signal with a time-varying frequency (authentication ...

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