ListarISA - Artículos por tema "Robótica"
Mostrando ítems 1-12 de 12
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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 ... -
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 ... -
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 ... -
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 ... -
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 ... -
Efficient Autonomous Navigation for Planetary Rovers with Limited Resources
(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 ... -
Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots
(IEEE, 2021-04)Gas source localization (GSL) by an olfactory robot is a research field with a great potential for applications but also with numerous unsolved challenges, particularly when the search must take place in realistic, indoor ... -
Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems
(IEEE, 2015)This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. ... -
Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.
(2015-01-22)Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a ... -
Reinforcement and Curriculum Learning for Off-Road Navigation of an UGV with a 3D LiDAR
(MDPI, 2023-03-18)This paper presents the use of deep Reinforcement Learning (RL) for autonomous navigation of an Unmanned Ground Vehicle (UGV) with an onboard three-dimensional (3D) Light Detection and Ranging (LiDAR) sensor in off-road ... -
Sequential Monte Carlo localization in topometric appearance maps.
(Sage, 2023-09-05)Representing the scene appearance by a global image descriptor (BoW, NetVLAD, etc.) is a widely adopted choice to address Visual Place Recognition (VPR). The main reasons are that appearance descriptors can be effectively ... -
The Robot@Home2 dataset: A new release with improved usability tools
(Elsevier, 2023-07)Released in 2017, Robot@Home is a dataset captured by a mobile robot during indoor navigation sessions in apartments. This paper presents Robot@Home2, an enhanced version of the Robot@Home dataset, aimed at improving ...