Now showing items 13-24 of 266

    • Human-robot collaborative navigation search using social reward sources 

      Dalmasso Blanch, Marc; Garrell Zulueta, Anais; Jimenez Schlegl, Pablo; Sanfeliu Cortés, Alberto (2019)
      Conference report
      Open Access
      This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, ...
    • Effects of a social force model reward in robot navigation based on deep reinforcement learning 

      Gil Viyuela, Óscar; Sanfeliu Cortés, Alberto (2019)
      Conference report
      Open Access
      In this paper is proposed an inclusion of the Social Force Model (SFM) into a concrete Deep Reinforcement Learning (RL) framework for robot navigation. These types of techniques have demonstrated to be useful to deal with ...
    • Timed-elastic smooth curve optimization for mobile-base motion planning 

      Deray, Jeremie; Magyar, Bence; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Open Access
      This paper proposes the use of piecewise Cn smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth Curve (TESC) planner. Based on a Timed-Elastic Band, the problem is defined so that the ...
    • People's V-formation and side-by-side model adapted to accompany groups of people by social robots 

      Repiso Polo, Ely; Zanlungo, Francesco; Kanda, Takayuki; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Open Access
      This paper presents a new method to allow robots to accompany a person or a group of people imitating pedestrians behavior. Two-people groups usually walk in a side-by-side formation and three-people groups walk in a ...
    • Unidimensional multiscale local features for object detection under rotation and mild occlusions 

      Villamizar Vergel, Michael Alejandro; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (Springer, 2007)
      Conference report
      Restricted access - publisher's policy
      In this article, scale and orientation invariant object detection is performed by matching intensity level histograms. Unlike other global measurement methods, the present one uses a local feature description that allows ...
    • Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains 

      Vidal Calleja, Teresa; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan
      Conference report
      Open Access
      In this paper we present a real-time active motion strategy for a mobile robot navigating in a non-¿at terrain and its 3D constrained motion model. The aim is to control the robot with measurements from only one camera ...
    • Galileo and EGNOS as an asset for UTM safety and security 

      Jimenez, Adrian; Andrade-Cetto, Juan; Tesfai, Ivan; Dontas, Ioannis; Capitan, Carlos; Oliveres, Enric; Jia, Huamin; Kostaridis, Antonis (2019)
      Conference report
      Open Access
      GAUSS (Galileo-EGNOS as an Asset for UTM Safety and Security) is a H2020 project1 that aims at designing and developing high performance positioning systems for drones within the U-Space framework focusing on UAS (Unmanned ...
    • Improving map re-localization with deep 'movable' objects segmentation on 3D LiDAR point clouds 

      Vaquero Gómez, Víctor; Fischer, Kai; Moreno-Noguer, Francesc; Sanfeliu Cortés, Alberto; Milz, Stefan (2019)
      Conference report
      Open Access
      Localization and Mapping is an essential compo-nent to enable Autonomous Vehicles navigation, and requiresan accuracy exceeding that of commercial GPS-based systems.Current odometry and mapping algorithms are able to ...
    • Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration 

      Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (2019)
      Conference report
      Open Access
      This paper describes a self-calibration procedure that jointly estimates the extrinsic parameters of an exteroceptive sensor able to observe ego-motion, and the intrinsic parameters of an odometry motion model, consisting ...
    • Robot navigation to approach people using G2-spline path planning and extended social force model 

      Galvan, Marta; Repiso Polo, Ely; Sanfeliu Cortés, Alberto (2019)
      Conference report
      Open Access
      When a robot has to interact with a person in a dynamic environment, it has to navigate to reach a close distance and to be in front of the person. This navigation has to be smooth and take care of the person's movements, ...
    • Observability analysis and optimal sensor placement in stereo radar odometry 

      Corominas Murtra, Andreu; Vallvé Navarro, Joan; Solà Ortega, Joan; Flores Abad, Ismael; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference report
      Open Access
      Localization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement ...
    • Teaching a drone to accompany a person from demonstrations using non-linear ASFM 

      Garrell Zulueta, Anais; Coll Gomilla, Carles; Alquézar Mancho, René; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Restricted access - publisher's policy
      In this paper, we present a new method based on the Aerial Social Force Model (ASFM) to allow human-drone side-by-side social navigation in real environments. To tackle this problem, the present work proposes a new ...