ISA - Conferencias Científicas
Envíos recientes
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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 ... -
The Space Robotics Lab 2016-2023.
This presentation introduces the Space Robotics Lab at the University of Malaga, which was presented at ICRA2023 workshop. -
Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions
Fernández-Lozano, Juan Jesús; Mandow, Anthony; Martín-Guzmán, Miguel; Martín-Ávila, Juan; Gómez-Ruiz, José Antonio; Socarras-Bertiz, Carlos Alberto; Miranda-Páez, Jesús; García-Cerezo, Alfonso José[et al.] (2018-10-15)
Search and rescue operations in the context of emergency response to human or natural disasters have the major goal of finding potential victims in the shortest possible time. Multi-agent teams, which can include specialized ... -
Geometric-based Line Segment Tracking for HDR Stereo Sequences
Gómez-Ojeda, Rubén; González-Jiménez, Antonio Javier (2018-09-21)
In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments. To that purpose, we ... -
Tutorial para el reconocimiento de objetos basado en características empleando herramientas Phyton
Ruiz-Sarmiento, José Raúl; Moreno-Dueñas, Francisco Ángel; González-Monroy, Javier; González-Jiménez, Antonio Javier (2018-09-21)
El reconocimiento de objetos es algo innato en el ser humano. Cuando las personas miramos una fotografía, somos capaces de detectar sin esfuerzo elementos como animales, señales, objetos de interés, etc. En el campo de la ... -
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 ... -
Convex Global 3D Registration with Lagrangian Duality
Briales Garcia, Jesus; González-Jiménez, Antonio Javier (IEEE, 2017)
The registration of 3D models by a Euclidean transformation is a fundamental task at the core of many application in computer vision. This problem is non-convex due to the presence of rotational constraints, making traditional ... -
Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis
Gas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has ... -
Initialization of 3D Pose Graph Optimization using Lagrangian duality
Briales Garcia, Jesus; González-Jiménez, Antonio Javier (IEEE, 2017-05)
Pose Graph Optimization (PGO) is the de facto choice to solve the trajectory of an agent in Simultaneous Localization and Mapping (SLAM). The Maximum Likelihood Estimation (MLE) for PGO is a non-convex problem for which ... -
Online Estimation of 2D Wind Maps for Olfactory Robots
This work introduces a novel solution to approximate in real time the 2D wind flow present in a geometrically known environment. It is grounded on the probabilistic framework provided by a Markov random field and enables ... -
A Robotic Experiment Toward Understanding Human Gas-Source Localization Strategies
This paper describes an experiment for gas-source localization with a human-teleoperated mobile robot devised to gather data on how humans search for odor-sources. To that end, more than 150 repetitions of the search ... -
Real-Time odor classification through sequential bayesian filtering
González-Monroy, Javier; González-Jiménez, Antonio Javier (2015-07-08)
The classification of volatiles substances with an e-nose is still a challenging problem, particularly when working under real-time, out-of-the-lab environmental conditions where the chaotic and highly dynamic characteristics ... -
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 ...