Listar por autor "García-Cerezo, Alfonso"
Mostrando ítems 1-20 de 87
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3D Segmentation Method for Natural Environments based on a Geometric-Featured Voxel Map
Plaza, Victoria; Ababsa, Fakhr-Eddine; García-Cerezo, Alfonso José
; Gómez-Ruiz, José Antonio (2015-03-26)
This work proposes a new segmentation algorithm for three-dimensional dense point clouds and has been specially designed for natural environments where the ground is unstructured and may include big slopes, non-flat areas ... -
A large area tactile sensor patch based on commercial force sensors
Barquero, María José; Castellanos-Ramos, Julián; Sánchez-Durán, José Antonio; Serón-Barba, Javier; Vidal-Verdú, Fernando; Navas-González, Rafael Jesús; García-Cerezo, Alfonso José[et al.] (MDPI, 2011)
This paper reports the design of a tactile sensor patch to cover large areas of robots and machines that interact with human beings. Many devices have been proposed to meet such a demand. These realizations are mostly ... -
A multidimensional Bayesian architecture for real-time anomaly detection and recovery in mobile robot sensory systems
Castellano Quero, Manuel; Castillo-López, Manuel; Fernández-Madrigal, Juan Antonio; Arévalo-Espejo, Vicente Manuel; Voos, Holger; García-Cerezo, Alfonso José[et al.] (Elsevier, 2023)
For mobile robots to operate in an autonomous and safe manner they must be able to adequately perceive their environment despite challenging or unpredictable conditions in their sensory apparatus. Usually, this is addressed ... -
A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture
This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every ... -
Análisis de técnicas de aumento de datos y entrenamiento en YOLOv3 para detección de objetos en imágenes RGB y TIR del UMA-SAR Dataset
Vázquez-Martín, Ricardo; Mandow, Anthony; Morales-Rodríguez, Jesús; García-Cerezo, Alfonso José; Galán Cuenca, Álvaro (Universidade da Coruña, Servizo de Publicacións. Comité Español de Automática., 2021-09)
El uso de imágenes de los espectros visible (RGB) e infrarrojo térmico (TIR) para la detección de objetos puede resultar crucial en aplicaciones donde las condiciones de visibilidad están limitadas, como la robótica ... -
Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
Morales-Rodríguez, Jesús; Plaza Leiva, Victoria; Mandow, Anthony; Gómez-Ruiz, José Antonio; Serón-Barba, Javier; García-Cerezo, Alfonso José[et al.] (MDPI, 2018)
Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light, and accessible 3D sensors, but they offer limited vertical resolution and field of view. The addition of a degree-of-freedom to build a rotating ... -
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; García-Caicedo, Jesús Marcey; García-Cerezo, Alfonso José (IEEE, 2023)
The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain with constant local coordinates, which allows to establish an equivalence ... -
Automatically annotated dataset of a ground mobile robot in natural environments via Gazebo simulations
Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José (MDPI, 2022)
This paper presents a new synthetic dataset obtained from Gazebo simulations of an Unmanned Ground Vehicle (UGV) moving on different natural environments. To this end, a Husky mobile robot equipped with a tridimensional ... -
Automatically Annotated Dataset of a Ground Mobile Robot in Natural Environments via Gazebo Simulations
Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José (2022-07-26)
This paper presents a new synthetic dataset openly available at https://www.uma.es/robotics-and-mechatronics/info/132852/negs-ugv-dataset obtained from Gazebo simulations of an Unmanned Ground Vehicle (UGV) moving on ... -
Automation of the Arm-Aided Climbing Maneuver for Tracked Mobile Manipulators
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Mandow, Anthony; Serón-Barba, Javier; García-Cerezo, Alfonso José (IEEE, 2013-04-02)
This paper analyzes the effect of towing a single-axle trailer on static tip-over stability for field mobile robots on slopes. For this purpose, this study defines altered supporting polygons (ASP) for both tractor and ... -
Autonomous navigation of planetary rovers
(UMA Editorial, 2022)Autonomous Navigation of Planetary Rovers deepens the field of autonomously-driven robotic systems and its application to planetary rovers. Based on the experience of previous successful Mars missions such as the Mars ... -
Autonomous Wristband Placement in a Moving Hand for Victims in Search and Rescue Scenarios With a Mobile Manipulator.
Pastor-Martín, Francisco; Ruiz-Ruiz, Francisco Jesús; Gómez-de-Gabriel, Jesús Manuel; García-Cerezo, Alfonso José (2023)
In this letter, we present an autonomous method for the placement of a sensorized wristband to victims in a Search-And-Rescue (SAR) scenario. For this purpose, an all-terrain mobile robot includes a mobile manipulator, ... -
Bayesian and neural inference on lstm-based object recognition from tactile and kinesthetic information
Pastor-Martín, Francisco; García-González, Jorge; Gandarias, Juan Manuel; Medina, Daniel; Closas, Pau; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel[et al.] (IEEE, 2020-11-16)
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile ... -
Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation
Cantizani-Estepa, Juan; Bravo-Arrabal, Juan; Fernández-Lozano, Juan Jesús; Fortes-Rodríguez, Sergio; Barco-Moreno, Raquel; García-Cerezo, Alfonso José; Mandow, Anthony[et al.] (IEEE, 2022)
In the field of rescue robotics, data collection about the environment and efficient communications are fundamental for the success of search and rescue missions. Digitalization provides new ways of detecting and localizing ... -
Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots
Mandow, Anthony; Cantador, Tomás J.; Reina-Terol, Antonio Jesús; Martínez, Jorge L.; Morales-Rodríguez, Jesús; García-Cerezo, Alfonso José[et al.] (2015-11-24)
The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To ... -
Clasificación de información táctil para la detección de personas
Este artículo presenta el diseño de un efector final táctil y la aplicación de técnicas de inteligencia artificial para la detección de personas mediante un brazo manipulador ligero de 6 grados de libertad. Este efector ... -
Close detection robotic platform for Search And Rescue missions based on Bluetooth Low Energy
Cantizani-Estepa, Juan; Bravo-Arrabal, Juan; Fernández-Lozano, Juan Jesús; Fortes-Rodríguez, Sergio; Barco-Moreno, Raquel; García-Cerezo, Alfonso José[et al.] (2022-02)
Improvements in telecommunications and digitalization directly improve the efficacy of a wide variety of processes. Recently, detection systems have received considerable attention because of the importance of tracking ... -
CNN-Based Methods for Object Recognition With High-Resolution Tactile Sensors.
Gandarias Palacios, Juan Manuel; García-Cerezo, Alfonso José; Gómez-de-Gabriel, Jesús Manuel (IEEE, 2019-08-15)
Novel high-resolution pressure-sensor arrays allow treating pressure readings as standard images. Computer vision algorithms and methods such as convolutional neural networks (CNN) can be used to identify contact objects. ... -
Collapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Maps
Reina-Terol, Antonio Jesús; Martínez, Jorge L.; Mandow, Anthony; Morales-Rodríguez, Jesús; García-Cerezo, Alfonso José (IEEE, 2014-07-11)
Elevation maps offer a compact 2 1/2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds con- taining overhangs, such as tree canopy or ... -
Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots
Martínez, Jorge L.; Morales-Rodríguez, Jesús; Reina-Terol, Antonio Jesús; Mandow, Anthony; Pequeño-Boyer, Alejandro; García-Cerezo, Alfonso José[et al.] (2015-03-23)
Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360◦ field-of-view 3D laser scanner for mobile robots that avoids the high ...