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dc.contributor.authorGuerra Paradas, Edmundo
dc.contributor.authorBolea Monte, Yolanda
dc.contributor.authorMunguía Alcalá, Rodrigo Francisco
dc.contributor.authorGrau Saldes, Antoni
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationGuerra, E. [et al.]. Robotic monocular SLAM in wastewater treatment plants with a sampling device. A: International Conference on Applied Human Factors and Ergonomics. "Proceedings of the AHFE 2019 International Conference on Human Factors in Robots and Unmanned Systems". Springer, Charm, 2019, p. 150-162. ISBN 978-3-030-20466-2. DOI 10.1007/978-3-030-20467-9_14.
dc.descriptionThe final publication is available at
dc.description.abstractA novel application is presented in this paper. Wastewater treatment plants need to sample water to follow the cleaned process continuously. This task is very tedious for laboratory workers and, mainly, can be done in reduced areas of the large basins that form the whole plant, specifically only in the edges of those basins. The new proposal is to enlarge the sampling area and reduce the load for workers. A new unmanned aerial vehicle has been designed together with a novel tool to take water samples. Moreover, a new architecture for the mission plan is presented in form of multi-agents. Experiments have been done in order to test the feasibility of the proposal.
dc.description.sponsorshipThis research has been funded by AEROARMS EU Project H2020-ICT-2014-1-644271
dc.format.extent13 p.
dc.publisherSpringer, Charm
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherMonocular SLAM
dc.subject.otherMobile robotics
dc.subject.otherWastewater treatment plant
dc.titleRobotic monocular SLAM in wastewater treatment plants with a sampling device
dc.typeConference lecture
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/644271/EU/AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance/AEROARMS
local.citation.authorGuerra, E.; Bolea, Y.; Munguia, R.F.; Grau, A.
local.citation.contributorInternational Conference on Applied Human Factors and Ergonomics
local.citation.publicationNameProceedings of the AHFE 2019 International Conference on Human Factors in Robots and Unmanned Systems

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