• 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 ...
    • Collapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Maps 

      Reina, Antonio; Martínez, Jorge L.; Mandow, Anthony; Morales-Rodriguez, Jesus; Garcia-Cerezo, Alfonso J. (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-Rodriguez, Jesus; Reina, Antonio J.; Mandow, Anthony; Pequeño-Boyer, Alejandro; [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-Rodriguez, Jesus; Mandow, Anthony; Martínez, Jorge L.; Garcia-Cerezo, Alfonso J. (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 ...
    • Ground Extraction from 3D Lidar Point Clouds 

      Pomares, Antonio; Martínez, Jorge L.; Mandow, Anthony; Martinez-Sanchez, Maria Alcazar; Morán, Mariano (IEEE, 2018)
      Ground extraction from three-dimensional (3D) range data is a relevant problem for outdoor navigation of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation ...
    • Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling 

      Martínez, Jorge L.; Reina, Antonio J.; Morales-Rodriguez, Jesus; Mandow, Anthony; Garcia-Cerezo, Alfonso J.; [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 ...
    • Inertia-based ICR Kinematic Model for Tracked Skid-Steer Robots 

      Martínez, Jorge L.; Morales-Rodriguez, Jesus; Mandow, Anthony; Pedraza, Salvador; Garcia-Cerezo, Alfonso J. (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 ...
    • obtención de barridos láser 3D nivelados conn el robot móvil Andábata en movimiento 

      Martínez, Jorge L.; Morales-Rodriguez, Jesus; Zafra, Manuel (2016)
      Este artículo describe la adquisición de barridos tridimensionales (3D) nivelados en el robot móvil Andábata sin necesidad de detener su movimiento. Para ello, la computadora de Andábata debe integrar cada uno de los rangos ...
    • Project-Based Learning of Scientific Writing and Communication Skills for Postgraduate Students 

      Mandow, Anthony; Martínez, Jorge L.; Garcia-Cerezo, Alfonso J. (2014-10-27)
      This paper addresses education on scientific publication skills for post-graduate engineering students. In particular, a project-based learning strategy is proposed to lead students through the preparation a research paper. ...
    • Sistemas de documentación y elaboración de textos científicos: Una asignatura para aprender a publicar en ingeniería 

      Martínez, Jorge L.; Mandow, Anthony; Garcia-Cerezo, Alfonso J. (2013)
      Hoy en día, la elaboración y presentación de informes de investigación resulta indispensable para muchos profesionales de la ingeniería. En este artículo se describe una asignatura de máster universitario cuyo principal ...
    • Slide-Down Prevention for Wheeled Mobile Robots on Slopes 

      Martínez, Jorge L.; Mandow, Anthony; Garcia-Cerezo, Alfonso J.; García, Jesús M. (Springer, 2017)
      Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck. This paper ...