Listar ISA - Artículos por título
Mostrando ítems 1-20 de 53
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A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM
(Sage Publications, 2016-07-11)This work addresses the development and application of a novel approach, called sparser relative bundle adjustment (SRBA), which exploits the inherent flexibility of the relative bundle adjustment (RBA) framework to devise ... -
A multidimensional Bayesian architecture for real-time anomaly detection and recovery in mobile robot sensory systems
(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 predictive model for the maintenance of industrial machinery in the context of industry 4.0
(Elsevier, 2020-01)The Industry 4.0 paradigm is being increasingly adopted in the production, distribution and commercialization chains worldwide. The integration of the cutting-edge techniques behind it entails a deep and complex revolution ... -
A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture
(MDPI, 2021)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 ... -
A semantic-based gas source localization with a mobile robot combining vision and chemical sensing.
(MDPI, 2018-11-28)This paper addresses the localization of a gas emission source within a real-world human environment with a mobile robot. Our approach is based on an efficient and coherent system that fuses different sensor modalities ... -
A Tighter Relaxation for the Relative Pose Problem Between Cameras
(Springer, 2022-04-06)This paper tackles the resolution of the Relative Pose problem with optimality guarantees by stating it as an optimization problem over the set of essential matrices that minimizes the squared epipolar error. We relax this ... -
A tool for the educational study of manufacturing systems
(Wiley, 2010)In this article, a new application for teaching manufacturing systems is presented. A manufacturing system can be considered as a discrete-event system constructed from devices that have a finite speed of operation. This ... -
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems.
(IEEE, 2021-06-22)The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement each other well. However, in order to perform this fusion, the biases ... -
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
(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 ... -
Artificial neural networks for adaptive control of profiled haemodialysis in patients with renal insufficiency
(Elsevier, 2023-06-12)Background and objective: Currently, haemodialysis treatment is performed using an open-loop control approach, with initial settings of parameters such as ultrafiltration rate and dialyser composition being adapted to ... -
Automatic Waypoint generation to improve robot navigation through narrow spaces
(MDPI, 2019-12)In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass ... -
Automatically annotated dataset of a ground mobile robot in natural environments via Gazebo simulations
(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 ... -
Bridge Crane Monitoring using a 3D LiDAR and Deep Learning.
(IEEE, 2023-01-11)The use of overhead cranes in warehouses and factories has advantages for handling and transporting bulky and/or heavy loads. But it also involves risks such as collisions with other fixed or mobile elements in the ... -
Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots
(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 ... -
Concept, Development and Testing of Mars Rover Prototypes for ESA Planetary Exploration
(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 ... -
Control and soft sensing strategies for a wastewater treatment plant using a neuro-genetic approach.
(Elsevier, 2020-10-28)During the last years, machine learning-based control and optimization systems are playing an important role in the operation of wastewater treatment plants in terms of reduced operational costs and improved effluent ... -
Dataset with Tactile and Kinesthetic Information from a Human Forearm and Its Application to Deep Learning
(IOAP-MDPI, 2022-11-12)There are physical Human–Robot Interaction (pHRI) applications where the robot has to grab the human body, such as rescue or assistive robotics. Being able to precisely estimate the grasping location when grabbing a human ... -
DEM-AIA: Asymmetric inclination-aware trajectory planner for off-road vehicles with digital elevation models
(Elsevier, 2023)Planning safe and effective trajectories for off-road unmanned ground vehicles (UGV) is a critical Artificial Intelligence (AI) challenge that can benefit from recent advances in digital elevation models (DEM) for readily ... -
Development and Evaluation of Fuzzy Logic Controllers for Improving Performance of Wind Turbines on Semi-Submersible Platforms under Different Wind Scenarios
(IOAP-MDPI, 2023-02-13)Among renewable energy technologies, wind energy features one of the best possibilities for large-scale integration into power systems. However, there are specific restrictions regarding the installation areas for this ... -
Dynamic path planning for reconfigurable rovers using a multi-layered grid
(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 ...