IOC - Institut d'Organització i Control de Sistemes Industrials
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Articles de revista [119]
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Reports de recerca [89]
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Recent Submissions
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Cellular-enabled collaborative robots planning and operations for search-and-rescue scenarios
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessMission-critical operations, particularly in the context of Search-and-Rescue (SAR) and emergency response situations, demand optimal performance and efficiency from every component involved to maximize the success probability ... -
Hybrid stereo dense depth estimation for robotic tasks in industrial automation
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessWe introduce a simple yet effective approach for dense depth reconstruction that operates directly on raw disparity data, eliminating the need for additional disparity refinement stages. By leveraging disparity maps generated ... -
Software package for efficient use of a robotic anthropomorphic hand
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessThe aim of this work is the development of a complete software package to exploit a robotic anthropomorphic hand, such as the Allegro Robotic Hand, allowing to easily perform accurate grasps. It includes the Inverse and ... -
Evaluation of grasp quality measures in real grasps
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessThis paper presents the implementation of grasp quality measures in a real-world robotic setup. Specifically, the largest wrench that a grasp can resist due to perturbations in any direction has been computed considering ... -
PI Passivity-based control of a stand-alone three-phase current source inverter
(Elsevier, 2024)
Conference report
Open AccessThis paper presents the design of a Proportional-Integral Passivity-based Controller (PI-PBC) for a current source inverter feeding a resistive load. Thanks to the definition of a new passive output, the closed-loop system ... -
Averaged models and analysis of a three-phase CSI as a dual of a three-phase VSI
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessThe averaged model of a current source inverter (CSI) as a voltage source inverter (VSI) dual is presented in this paper. The differential equations defining the CSI are in-troduced in matrix representation for phase-to-phase ... -
Improved dynamic resource reservation-based AGV traffic control with optimized task allocation
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessTraffic management of multi-AGV fleets through improved dynamic resource reservation (IDRR) has been recently proven to be an interesting alternative within zone control-based approaches in terms of time completion efficiency ... -
Dual-arm robotic manipulation using visual guidance
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessDual-arm manipulation poses many challenges in order to actually perform manipulation tasks with enough efficiency. To cope with this challenges, this work-in-progress describes a system for motion coordination of a mobile ... -
Analytical approach to reorient unknown objects via in-hand manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Open AccessThis paper introduces a novel strategy to enhance the dexterous in-hand manipulation capabilities of robotic hands, focusing on reorienting unknown objects around any specified axis. The proposed method leverages tactile ... -
Optimal recharge sequencing in multi-AGV systems: A mixed ILP approach
(2024-10)
Article
Open AccessBattery level is a critical issue in AGV transportation systems, as AGVs cannot run out of power while operating. Hence, at some point they will be forced to stop and recharge at any of the charging stations available in ... -
Distributed control for collaborative robotic systems using 5G edge computing
(Institute of Electrical and Electronics Engineers (IEEE), 2024-01-01)
Article
Open AccessCollaborative and mobile robotics for industrial environments promise to enable autonomous and flexible production processes. However, this vision also poses significant challenges to the robotic systems, requiring them ... -
Effect of layout discretization on the performance of zone control-based multi-AGV traffic management systems
(Multidisciplinary Digital Publishing Institute, 2024-09-03)
Article
Open AccessAutomatic Guided Vehicles (AGVs) are widely used in flexible manufacturing systems for material handling inside the factory. Traffic management strategies, required to guarantee a conflict-free operation of the overall ...
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