• A Tighter Relaxation for the Relative Pose Problem Between Cameras 

      Garcia-Salguero, Mercedes; Briales, Jesus; Gonzalez-Jimenez, Antonio Javier (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 ...
    • Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots 

      Mandow, Anthony; Cantador, Tomás J.; Reina, Antonio J.; Martínez, Jorge L.; Morales-Rodriguez, Jesus; [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 ...
    • 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 ...
    • 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 ...
    • Efficient semantic place categorization by a robot through active line-of-sight selection 

      Matez-Bandera, Jose Luis; González Monroy, Javier; Gonzalez-Jimenez, Antonio Javier (Elsevier, 2022)
      In this paper, we present an attention mechanism for mobile robots to face the problem of place categorization. Our approach, which is based on active perception, aims to capture images with characteristic or distinctive ...
    • Metaheuristic Parameter Identification of Motors Using Dynamic Response Relations 

      Rodríguez-Abreo, Omar; Rodríguez-Reséndiz, Juvenal; Álvarez-Alvarado, José Manuel; Garcia-Cerezo, Alfonso J. (IOAP-MPDI, 2022-05-27)
      This article presents the use of the equations of the dynamic response to a step input in metaheuristic algorithm for the parametric estimation of a motor model. The model equations are analyzed, and the relations in ...
    • Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems 

      Gómez-de-Gabriel, Jesús Manuel; Mandow, Anthony; Fernández-Lozano, Juan Jesús; Garcia-Cerezo, Alfonso J. (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. ...
    • Robot@VirtualHome, an ecosystem of virtual environments and tools for realistic indoor robotic simulation 

      Fernandez-Chaves, David; Ruiz-Sarmiento, Jose Raul; Jaenal, Alberto; Petkov, Nicolai; Gonzalez-Jimenez, Antonio Javier (Elsevier, 2022-12)
      Simulations and synthetic datasets have historically empower the research in different service robotics-related problems, being revamped nowadays with the utilization of rich virtual environments. However, with their use, ...
    • Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition With Mobile Robots 

      Jaenal, Alberto; Moreno, Francisco-Angel; Gonzalez-Jimenez, Antonio Javier (IEEE, 2022-06-27)
      Visual Place Recognition (VPR), the task of identifying the place where an image has been taken from, is at the core of important robotic problems as relocalization, loop-closure detection or topological navigation. Even ...
    • ViMantic, a distributed robotic architecture for semantic mapping in indoor environments 

      Fernandez-Chaves, David; Ruiz-Sarmiento, Jose Raul; Petkov, Nicolai; Gonźalez-Jiḿenez, Javier Poncela (ELSEVIER, 2021-11-28)
      Semantic maps augment traditional representations of robot workspaces, typically based on their geometry and/or topology, with meta-information about the properties, relations and functionalities of their composing elements. ...