Listar por autor "Morales-Rodríguez, Jesús"
Mostrando ítems 1-20 de 33
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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 ... -
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 (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 ... -
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 ... -
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 ... -
Conversión de un Robot Móvil de Cadenas en Vehículo Híbrido Eléctrico
Valbuena, Javier; Morales-Rodríguez, Jesús; Mandow, Anthony; Martínez, Jorge L.; García-Cerezo, Alfonso José (2014-09-09)
En la remodelación del robot móvil Auriga-a, desarrollado en el año 2000, solo se ha conservado su sistema de locomoción. Además de la actualización de los sistemas informáticos y equipos de control, el principal objetivo ... -
Desarrollo de un simulador para el diseño de sistemas de percepción y control de vehículos autónomos en el entorno de la ampliación del Campus de Teatinos
(Universidad de Málaga, 2020-07)Este trabajo emplea el simulador de vehículos autonomos CARLA para obtener datos sensoriales en el entorno de la ampliación del Campus de Teatinos de la Universidad de Málaga. Dicho entorno ha sido modelado mediante la ... -
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 ... -
Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling
Martínez, Jorge L.; Reina-Terol, Antonio Jesús; Morales-Rodríguez, Jesús; Mandow, Anthony; García-Cerezo, Alfonso José; Serón-Barba, Javier[et al.] (2013-12-20)
Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed ... -
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 ... -
Inertia-based ICR Kinematic Model for Tracked Skid-Steer Robots
Martínez, Jorge L.; Morales-Rodríguez, Jesús; Mandow, Anthony; Pedraza, Salvador; García-Cerezo, Alfonso José (IEEE, 2017)
Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant ... -
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 ...