• Concept, Development and Testing of Mars Rover Prototypes for ESA Planetary Exploration 

      Azkarate, Martin; Gerdes, Levin; Wiese, Tim; Zwick, Martin; Pagnamenta, Marco; [et al.] (2021)
      This paper presents the system architecture and design of two planetary rover laboratory prototypes developed at the European Space Agency (ESA). These research platforms have been developed to provide early prototypes for ...
    • Coupled path and motion planning for a rover-manipulator system 

      Perez-del-Pulgar-Mancebo, Carlos Jesus; Sánchez Ibáñez, José Ricardo; Paz Delgado, Gonzalo Jesús; Romeo Manrique, Pablo; Azkarate, Martin (2019-06-17)
      This paper introduces a motion planning strategy aimed at the coordination of a rover and manipulator. The main purpose is to fetch samples of scientific interest that could be placed on difficult locations, requiring ...
    • Creación de entorno de simulación en ingravidez con interacción entre satélite y robot 

      Cervilla Rivas, Rafael (2018-06-11)
      El presente trabajo fin de grado nace del especial interés acaecido a lo largo de estos años por la supresión de escombros espaciales, particularmente de satélites muertos, debido a la congestión que producen en las órbitas ...
    • Dynamic path planning for reconfigurable rovers using a multi-layered grid 

      Sánchez Ibáñez, José Ricardo; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, Martin; Gerdes, Levin; Garcia-Cerezo, Alfonso J. (2019-12-18)
      Autonomy on rovers is desirable in order to extend the traversed distance, and therefore, maximize the number of places visited during the mission. It depends heavily on the information that is available for the ...
    • Efficient Autonomous Navigation for Planetary Rovers with Limited Resources 

      Gerdes, Levin; Azkarate, Martin; Sánchez Ibáñez, José Ricardo; Joudrier, Luc; Perez-del-Pulgar-Mancebo, Carlos Jesus (2020-02-26)
      Rovers operating on Mars are in need of more and more autonomous features to ful ll their challenging mission requirements. However, the inherent constraints of space systems make the implementation of complex algorithms ...
    • GlSch: Observation Scheduler for the GLORIA Telescope Network 

      López Casado, Carmen; Perez-del-Pulgar-Mancebo, Carlos Jesus; Muñoz-Martínez, Víctor Fernando; Castro Tirado, Alberto (2017-11-06)
      This paper proposes the design and development of a scheduler for the GLORIA telescope network. This network, which main objective is to make astronomy closer to citizens in general, is formed by 18 telescopes spread ...
    • Multi-scale path planning for a planetary exploration vehicle with multiple locomotion modes 

      Sánchez, J. Ricardo; Azkarate, Martin; Perez-del-Pulgar-Mancebo, Carlos Jesus (2018-06-21)
      Planetary exploration vehicles (rovers) can encounter with a great variety of situations. Most of them are related to the terrain, which can cause the end of the mission if these vehicles are not able to traverse it. It ...
    • Path Planning for Reconfigurable Rovers in Planetary Exploration 

      Perez-del-Pulgar-Mancebo, Carlos Jesus; Sánchez, J.R.; Sánchez, A.J.; Azkarate, Martin; Visentin, Gianfranco (IEEE, 2017)
      This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Power consumption and traction are estimated by means of simplified dynamics ...
    • Path planning for reconfigurable rovers in planetary exploration 

      Sánchez, J.R.; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, M. (2017)
      This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Such algorithm, based on Fast Marching, calculates the optimal path in terms of ...
    • Smart Navigation in Surgical Robotics 

      Perez-del-Pulgar-Mancebo, Carlos Jesus (Servicio de Publicaciones y Divulgación Científica, 2015)
      La cirugía mínimamente invasiva, y concretamente la cirugía laparoscópica, ha supuesto un gran cambio en la forma de realizar intervenciones quirúrgicas en el abdomen. Actualmente, la cirugía laparoscópica ha evolucionado ...
    • Teleoperación de Instrumentos Quirúrgicos Articulados 

      Perez-del-Pulgar-Mancebo, Carlos Jesus; Reina, Antonio J.; Muñoz-Martínez, Víctor Fernando; Gómez, Ana M. (2017-10-02)
      En este trabajo se describe la plataforma CISOBOT, desarrollada por la Universidad de Málaga para intervenciones de cirugía mínimamente invasiva, así como su ampliación a través del diseño mecatrónico de un instrumento ...