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Listar por autor "Pérez-del-Pulgar-Mancebo, Carlos Jesús"
Mostrando ítems 1-20 de 22
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Autonomous navigation of planetary rovers
Azkarate Vecilla, Martin (UMA Editorial, 2022)Autonomous Navigation of Planetary Rovers deepens the field of autonomously-driven robotic systems and its application to planetary rovers. Based on the experience of previous successful Mars missions such as the Mars ... -
Concept, Development and Testing of Mars Rover Prototypes for ESA Planetary Exploration
Azkarate, Martin; Gerdes, Levin; Wiese, Tim; Zwick, Martin; Pagnamenta, Marco; Hidalgo-Carrió, Javier; Poulakis, Pantelis; Pérez-del-Pulgar-Mancebo, Carlos Jesús[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 ... -
Coupled path and motion planning for a rover-manipulator system
Pérez-del-Pulgar-Mancebo, Carlos Jesús; Sánchez Ibáñez, José Ricardo; Paz Delgado, Gonzalo Jesús; Romeo Manrique, Pablo; Azkarate, Martin (2019-06-17)This paper introduces a motion planning strategy aimed at the coordination of a rover and manipulator. The main purpose is to fetch samples of scientific interest that could be placed on difficult locations, requiring ... -
Creación de entorno de simulación en ingravidez con interacción entre satélite y robot
Cervilla Rivas, Rafael (2018-06-11)El presente trabajo fin de grado nace del especial interés acaecido a lo largo de estos años por la supresión de escombros espaciales, particularmente de satélites muertos, debido a la congestión que producen en las órbitas ... -
Desarrollo de un planificador para una red heterogénea de telescopios con diferentes algoritmos de decisión
López Casado, María Carmen Luisa (UMA Editorial, 2021-05-05)Esta tesis propone el diseño y desarrollo de un planificador para la red de telescopios GLORIA. Esta red, cuyo principal objetivo es acercar los ciudadanos a la astronomía, está formada por 18 telescopios ubicados en cuatro ... -
Detección y recogida de muestras por vehículos de exploración planetaria
Mantoani, Laura; Castilla-Arquillo, Raúl; Paz Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin (Jornadas de Robótica, Educación y Bioingeniería, Málaga, 2022)Las futuras misiones de exploración planetaria exigen cada vez más autonomía, ya que estas misiones son cada vez más complejas. Un ejemplo claro es la misión de retorno de muestras a Marte, en la que el Sample Fetch Rover ... -
Dynamic path planning for reconfigurable rovers using a multi-layered grid
Sánchez Ibáñez, José Ricardo; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin; Gerdes, Levin; García-Cerezo, Alfonso José (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; Pérez-del-Pulgar-Mancebo, Carlos Jesús (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 ... -
Extreme Path Planning for Exploration Mobile Robots
Sánchez Ibáñez, José Ricardo (UMA Editorial, 2022)Increasing autonomy on mobile robots is essential. The main reason is to provide them with the ability to perform operations on their own. This skill is desirable in fields such as planetary exploration or search and rescue ... -
GlSch: Observation Scheduler for the GLORIA Telescope Network
López Casado, Carmen; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Muñoz-Martínez, Víctor Fernando; Castro-Tirado, Alberto J. (2017-11-06)This paper proposes the design and development of a scheduler for the GLORIA telescope network. This network, which main objective is to make astronomy closer to citizens in general, is formed by 18 telescopes spread ... -
Hardware-Accelerated Mars Sample Localization Via Deep Transfer Learning From Photorealistic Simulations.
Castilla-Arquillo, Raúl; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Paz-Delgado, Gonzalo Jesús; Gerdes, Levin (2023-05)The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover ... -
Multi-scale path planning for a planetary exploration vehicle with multiple locomotion modes
Planetary exploration vehicles (rovers) can encounter with a great variety of situations. Most of them are related to the terrain, which can cause the end of the mission if these vehicles are not able to traverse it. It ... -
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
Paz-Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin; Kirchner, Frank; García-Cerezo, Alfonso José (Springer, 2023)This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers ... -
Optimal path planning using a continuous anisotropicmodel for navigation on irregular terrains.
Sánchez Ibáñez, José Ricardo; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Serón-Barba, Javier; García-Cerezo, Alfonso José (Springer Nature, 2022-12-05)Mobile robots usually need to minimize energy when they are traversing uneven terrains. To reach a location of interest, one strategy consists of making the robot follow the path that demands the least possible amount of ... -
Path Planning for Reconfigurable Rovers in Planetary Exploration
Pérez-del-Pulgar-Mancebo, Carlos Jesús; Sánchez, J.R.; Sánchez, A.J.; Azkarate, Martin; Visentin, Gianfranco (IEEE, 2017)This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Power consumption and traction are estimated by means of simplified dynamics ... -
Path planning for reconfigurable rovers in planetary exploration
This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Such algorithm, based on Fast Marching, calculates the optimal path in terms of ... -
Path planning with far-away obstacles detection under uncertainty.
Nowadays faster terrestrial and space exploration robots are being investigated, in response to the growing demand for faster, more efficient, and cost-effective exploration and research capabilities. For these rapid mobile ... -
Samples detection and retrieval for a sample fetch rover
Mantoani, Laura; Castilla-Arquillo, Raúl; Paz Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin (2022)Future planetary exploration missions are demanding more and more autonomy since these missions are getting more complex. A clear example is the Mars Sample Return mission, where the Sample Fetch Rover needs to collect ... -
Smart Navigation in Surgical Robotics
Pérez-del-Pulgar-Mancebo, Carlos Jesús (Servicio de Publicaciones y Divulgación Científica, 2015)La cirugía mínimamente invasiva, y concretamente la cirugía laparoscópica, ha supuesto un gran cambio en la forma de realizar intervenciones quirúrgicas en el abdomen. Actualmente, la cirugía laparoscópica ha evolucionado ... -
Teleoperación de Instrumentos Quirúrgicos Articulados
Pérez-del-Pulgar-Mancebo, Carlos Jesús; Reina-Terol, Antonio Jesús; Muñoz-Martínez, Víctor Fernando; Gómez, Ana M. (2017-10-02)En este trabajo se describe la plataforma CISOBOT, desarrollada por la Universidad de Málaga para intervenciones de cirugía mínimamente invasiva, así como su ampliación a través del diseño mecatrónico de un instrumento ...