Recent Submissions

  • Minimalistic approach for monocular SLAM system applied to micro aerial vehicles in GPS-denied environments 

    Sarquís Urzúa Cevallos, Isidro; Munguía Alcalá, Rodrigo Francisco; Nuño Ortega, Emmanuel; Grau Saldes, Antoni (2018-12-01)
    Article
    Open Access
    In this work, a novel monocular simultaneous localization and mapping (SLAM) system with application to micro aerial vehicles is proposed. The main difference with respect to previous approaches is that a barometer is used ...
  • The Sustainability Matrix: A tool for integrating and assessing sustainability in the bachelor and master theses of engineering degrees 

    Sánchez Carracedo, Fermín; López Álvarez, David; Martín Escofet, Carme; Vidal López, Eva María; Cabré Garcia, José M.; Climent Vilaró, Joan (2020-07-17)
    Article
    Open Access
    It is vital that subjects such as the circular economy, sustainable design, green computing or environmental engineering be included in the engineering curriculum. Education for sustainable development will enable engineers ...
  • Fuzzy gain scheduling and feed-forward control for drinking water treatment plants (DWTP) chlorination process 

    Gámiz Caro, Javier Francisco; Vilanova Arbos, Ramon; Martínez García, Herminio; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2020-06-12)
    Article
    Open Access
    Chlorination in drinking water treatment plants (DWTP) is the final process applied to water before it is sent to storage tanks in the supply network for subsequent human consumption. An excessive dosage of chlorine or, ...
  • Sustainability at the Technical University of Catalonia 

    Grau Saldes, Antoni (2020-05)
    Article
    Open Access
    The Technical University of Catalonia (UPC) has a large tradition of including Sustainable Development in its technical degrees. Although UPC does not offer degrees in social sciences or humanities, Education for Sustainable ...
  • Cooperative visual-SLAM system for UAV-based target tracking in GPS-denied environments: a target-centric approach 

    Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Urzúa Sarquis, Isidro; Grau Saldes, Antoni (2020-05-15)
    Article
    Open Access
    Autonomous tracking of dynamic targets by the use of Unmanned Aerial Vehicles (UAVs) is a challenging problem that has practical applications in many scenarios. In this context, a fundamental aspect that must be addressed ...
  • Automated chlorine dosage in a simulated drinking water treatment plant: a real case study 

    Gámiz Caro, Javier Francisco; Grau Saldes, Antoni; Martínez García, Herminio; Bolea Monte, Yolanda (Multidisciplinary Digital Publishing Institute, 2020-06-11)
    Article
    Open Access
    In this paper, we present a simulator of a drinking water treatment plant. The model of the plant was based in hydraulic and matter transportation models. In order to not introduce more inaccuracies in the simulation, the ...
  • Online learning and detection of faces with low human supervision 

    Villamizar Vergel, Michael Alejandro; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Springer, 2019)
    Article
    Open Access
    We present an efficient,online,and interactive approach for computing a classifier, called Wild Lady Ferns (WiLFs), for face learning and detection using small human supervision. More precisely, on the one hand, WiLFs ...
  • Timed-elastic bands for manipulation motion planning 

    Magyar, Bence; Tsiogkas, Nikolaos; Deray, Jeremie; Pfeiffer, Sammy; Lane, David (Institute of Electrical and Electronics Engineers (IEEE), 2019-10-01)
    Article
    Open Access
    Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, ...
  • Hybrid visual servoing with hierarchical task composition for aerial manipulation 

    Lippiello, Vincenzo; Cacace, Jonathan; Santamaria Navarro, Àngel; Andrade-Cetto, Juan; Trujillo, Miguel Angel; Rodrigez Esteves, Yamnia; Viguria, Antidio (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Article
    Open Access
    In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach ...
  • 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 ...
  • 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 ...
  • Active SLAM for autonomous underwater exploration 

    Palomeras, Narcís; Carreras, Marc; Andrade-Cetto, Juan (Multidisciplinary Digital Publishing Institute (MDPI), 2019)
    Article
    Open Access
    Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping ...

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