Recent Submissions

  • Searching and tracking of humans in urban environments with humanoid robots 

    Goldhoorn, Alex (Universitat Politècnica de Catalunya, 2017-09-21)
    Doctoral thesis
    Open Access
    Searching and tracking are important behaviours for a mobile service robot to assist people, to search-and-rescue and, in general, to locate mobile objects, animals or humans. Even though searching might be evident for ...
  • Visual guidance of unmanned aerial manipulators 

    Santamaria Navarro, Àngel (Universitat Politècnica de Catalunya, 2017-04-24)
    Doctoral thesis
    Open Access
    The ability to fly has greatly expanded the possibilities for robots to perform surveillance, inspection or map generation tasks. Yet it was only in recent years that research in aerial robotics was mature enough to allow ...
  • Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems 

    Luna Pacho, Julio Alberto (Universitat Politècnica de Catalunya, 2017-02-27)
    Doctoral thesis
    Open Access
    Proton exchange membrane (PEM) fuel cells, which use hydrogen as fuel, provide high power densities while operating at lower temperatures, reducing the cost of materials and maintenance. PEM fuel cells are suitable for a ...
  • Learning relational models with human interaction for planning in robotics 

    Martínez Martínez, David (Universitat Politècnica de Catalunya, 2017-02-21)
    Doctoral thesis
    Open Access
    Automated planning has proven to be useful to solve problems where an agent has to maximize a reward function by executing actions. As planners have been improved to salve more expressive and difficult problems, there is ...
  • Monocular SLAM : data association and sensing through a human-assisted uncalibrated visual system 

    Guerra Paradas, Edmundo (Universitat Politècnica de Catalunya, 2017-07-17)
    Doctoral thesis
    Open Access
    The Simultaneous Localization and Mapping (SLAM) problem is widely acknowledged as one of the fundamental problem to solve in perception and robotics to produce actual mobile robotic agents. The problem itself is that of ...
  • 3D pose estimation in complex environments 

    Peñate Sánchez, Adrián (Universitat Politècnica de Catalunya, 2017-04-07)
    Doctoral thesis
    Open Access
    Although there has been remarkable progress in the pose estimation literature, there are still a number of limitations when existing algorithms must be applied in everyday applications, especially in uncontrolled environments. ...
  • Perceiving dynamic environments : from surface geometry to semantic representation 

    Husain, Syed Farzad (Universitat Politècnica de Catalunya, 2016-10-27)
    Doctoral thesis
    Open Access
    Perceiving human environments is becoming increasingly fundamental with the gradual adaptation of robots for domestic use. High-level tasks such as the recognition of objects and actions need to be performed far the active ...
  • Parallel robots with unconventional joints to achieve under-actuation and reconfigurability 

    Grosch, Patrick (Universitat Politècnica de Catalunya, 2016-06-23)
    Doctoral thesis
    Open Access
    The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and/or reconfigurable. The new ...
  • Programación de actividades en celdas robotizadas de tipo flowshop con buffers finitos y piezas distintas 

    Pendones, Juan Pablo (Universitat Politècnica de Catalunya, 2016-04-20)
    Doctoral thesis
    Open Access
    In this dissertation it is solved a problem of optimization in automated systems of production based on robotic cells where the time of completion of parts Cmax is minimized and where there are buffers between pairs of ...
  • Distributed large scale systems : a multi-agent RL-MPC architecture 

    Javalera Rincón, Valeria (Universitat Politècnica de Catalunya, 2016-04-07)
    Doctoral thesis
    Open Access
    This thesis describes a methodology to deal with the interaction between MPC controllers in a distributed MPC architecture. This approach combines ideas from Distributed Artificial Intelligence (DAI) and Reinforcement ...
  • Multi-robot cooperative platform : a task-oriented teleoperation paradigm 

    Hernansanz Prats, Albert (Universitat Politècnica de Catalunya, 2016-04-14)
    Doctoral thesis
    Open Access
    This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP. In standard teleoperation, ...
  • Demand modeling for water networks calibration and leak localization 

    Sanz Estapé, Gerard (Universitat Politècnica de Catalunya, 2016-03-18)
    Doctoral thesis
    Open Access
    The success in the application of any model-based methodology (e.g. design, control, supervision) highly depends on the availability of a well calibrated model. There is no best or unique solution for the calibration problem ...

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