Listar por autor "Martínez-Rodríguez, Jorge Luis"
Mostrando ítems 1-20 de 21
-
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 ... -
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 ... -
Aprendizaje mediante datos sintéticos de la navegación de un robot móvil terrestre equipado con un LiDAR 3D.
(UMA Editorial, 2024)En esta tesis se aborda la navegación de un vehículo autónomo terrestre en es- pacios naturales. Estos entornos poco estructurados presentan numerosos retos a superar para conseguir que un robot móvil se desplace de forma ... -
Automatic Generation of Labeled 3D Point Clouds of Natural Environments with Gazebo.
Sánchez, Manuel; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; Robles, Alfredo; Moran Prados, Mariano (IEEE, 2019-05-27)
Progress in applying supervised learning for nat- ural scene classification is impeded by the lack of appropriate datasets for training. This paper describes the automatic generation of synthetic three-dimensional (3D) ... -
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 ... -
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 ... -
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 ... -
Bridge Crane Monitoring using a 3D LiDAR and Deep Learning.
García, Jesús M.; Martínez-Rodríguez, Jorge Luis; Reina-Terol, Antonio Jesús (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 ... -
Detección de participantes del tráfico en entornos urbanos sobre imágenes RGB y nubes de puntos 3D.
Montenegro, Jorge; García-Guillén, Alejandro; Castro Payán, Francisco Manuel; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús (Comité Español de Automática, 2024)
This article proposes the development of a test environment for the detection of traffic participants in urban environments using neural networks based on the processing of data from vehicle sensors: an RGB camera and a ... -
ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes.
Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; Sánchez, Manuel; García-Cerezo, Alfonso José (IEEE, 2024)
This paper proposes a new kinematic model for wheeled skid-steer vehicles moving with low inertia on firm slopes that is based on the variation of the Instantaneous Center of Rotation (ICR) of its lateral treads. To this ... -
Incorporación de sensores realistas en la simulación en CARLA de la navegación de coches autónomos
(2023)Este trabajo de fin de grado (TFG) se ocupa del desarrollo, la configuración e incorporación de sensores reales en vehículos autónomos en CARLA Simulator. Entre los sensores modelados se incluyen un LiDAR tridimensional ... -
Inmótica en museos
(2023)En este trabajo se realiza un estudio sobre los diferentes sistemas inmóticos que se utilizan en los museos. En primer lugar, comenzaremos haciendo un recorrido por los términos de museo e inmótica como introducción a una ... -
Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.
Martínez-Sánchez, María Alcázar; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús (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 ... -
Navegación reactiva del robot móvil Andábata en entornos naturales
(UMA Editorial, 2021-11-10)En esta tesis se abordan posibles soluciones para la navegación reactiva del robot móvil terrestre Andábata, cuyo principal sensor exteroceptivo es un escáner láser tridimensional (3D), a baja velocidad en entornos naturales, ... -
La potencialidad de la tecnología wearable en el turismo
(2019)La tecnología es una parte esencial en nuestra vida, sin el cual ya no seríamos capaces de desarrollar nuestro día a día. En este Trabajo de Fin de Máster sobre Turismo Electrónico se analizará concretamente la rama de la ... -
Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Martínez-Sánchez, María Alcázar; Mandow, Anthony (Springer, 2009)
Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique ... -
Reactive Navigation on Natural Environments by Continuous Classification of Ground Traversability
Fernández-Lozano, J. Jesús; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; Sánchez-Montero, Manuel; Morán, Mariano; Reina, Antonio J.[et al.] (MDPI, 2020)
Reactivity is a key component for autonomous vehicles navigating on natural terrains in order to safely avoid unknown obstacles. To this end, it is necessary to continuously assess traversability by processing on-board ... -
Reinforcement and Curriculum Learning for Off-Road Navigation of an UGV with a 3D LiDAR
Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis (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 ... -
Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons.
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Mandow, Anthony; Serón-Barba, Javier; García-Cerezo, Alfonso José (IEEE, 2013)
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 ... -
Supervised learning of natural-terrain traversability with synthetic 3D laser scans
Martínez-Rodríguez, Jorge Luis; Morán, Mariano; Morales-Rodríguez, Jesús; Robles, Alfredo; Sánchez, Manuel (MDPI, 2020)
Autonomous navigation of ground vehicles on natural environments requires looking for traversable terrain continuously. This paper develops traversability classifiers for the three-dimensional (3D) point clouds acquired ...