Reports de recerca
Recent Submissions
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Knowledge-based execution configuration of behavior trees
(2024-05-13)
Research report
Open AccessAutomated planning is commonly used to obtain plans to solve particular tasks. To execute the plans, Behavior Trees (BTs) have emerged as a popular execution architecture due to their reactivity and modularity. Configuring ... -
Efficient motion planning for high DOF hands using principal motion directions
(2008-10)
Research report
Open AccessThe paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, but reducing the dimension of the search ... -
Modelo de planificación agregada de la producción, la plantilla, el tiempo de trabajo y la tesorería
(2008-04)
Research report
Open AccessEn este trabajo se propone un modelo de planificación agregada que incorpora, junto a la planificación de la producción, la gestión de la tesorería y las finanzas, a corto plazo, y la organización flexible del tiempo de ... -
Finding a fourth contact that allows the loss of two out of three existing ones remaining as force-closure grasp
(2008-03)
Research report
Open Access -
Capacidades de fabricación y almacenaje óptimas en un sistema con logística inversa y demanda aleatoria
(2009-04)
Research report
Open AccessEn el presente trabajo se estudia un sistema con demanda y retornos aleatorios para calcular las capacidades óptimas de fabricación y almacenaje. El modelo presentado permite estudiar el comportamiento de las capacidades ... -
Non-uniform sampling in digital repetitive control systems: An LMI stability analysis
(2009-03)
Research report
Open AccessDigital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be ... -
Robust Exact Differentiation via Sliding Mode Technique applied to a Fixed-Frequency Quasi-Sliding Control Algorithm
(2008-01)
Research report
Open AccessThis paper presents the design of a DC-AC power converter controller that bears the same benefits of a sliding mode controller but with the advantage of a fixed-frequency control signal. The controller is based on the ... -
Taking decisions on assignment of tasks with path dependent learning curves
(2008-10)
Research report
Open AccessPerformance in doing a task in the learning stage depends on the previous practice on other tasks –learning curve is path dependent. A mathematical program aimed to assign a set of tasks to a set of workers considering ... -
Técnicas y algoritmos para la adquisición, transmisión y visualización de escenas 3D
(2008-09)
Research report
Open Access -
Programming assignments to learn how to build a Probabilistic Roadmap Planner
(2008-09)
Research report
Open AccessResearch in robot motion planning requires the availability of a simulation environment where to test and validate the theoretic contributions. Nevertheless, PhD programs and graduate studies that include robot motion ... -
Sampling C-obstacles border using a filtered deterministic sequence
(2008-09)
Research report
Open AccessThis paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and ... -
Exploration of the grasp space using independent contact and non-graspable regions
(2008-04)
Research report
Open AccessThis report presents the use of independent contact and non-graspable regions to generate the grasp space for 2D and 3D discrete objects. The grasp space is constructed via a sampling method, which provides samples of ...
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