MG
Authored
20 records found
MROS
A framework for robot self-adaptation
Self-adaptation can be used in robotics to increase system robust- ness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework implements and pack- ages Metacontrol
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Multi-robot Systems, Virtual Reality and ROS
Developing a New Generation of Operator Interfaces
This chapter describes a series of works developed in order to integrate ROS-based robots with Unity-based virtual reality interfaces. The main goal of this integration is to develop immersive monitoring and commanding interfaces, able to improve the operator’s situational awaren
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Pedestrian trajectory prediction in large infrastructures
A long-term approach based on path planning
This paper presents a pedestrian trajectory prediction technique. Its mail novelty is that it does not require any previous observation or knowledge of pedestrian trajectories, thus making it useful for autonomous surveillance applications. The prediction requires only a set of p
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Pedestrian trajectory prediction in large infrastructures
A long-term approach based on path planning
This paper presents a pedestrian trajectory prediction technique. Its mail novelty is that it does not require any previous observation or knowledge of pedestrian trajectories, thus making it useful for autonomous surveillance applications. The prediction requires only a set of p
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Using ROS in multi-robot systems
Experiences and lessons learned from real-world field tests
This chapter presents a series of experiences and lessons learned during several implementations and real-world tests of ROS-based Multi-Robot Systems. It also describes, analyses and compares several ROS components relevant for these applications, taking into account the scenari
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Using ROS in multi-robot systems
Experiences and lessons learned from real-world field tests
This chapter presents a series of experiences and lessons learned during several implementations and real-world tests of ROS-based Multi-Robot Systems. It also describes, analyses and compares several ROS components relevant for these applications, taking into account the scenari
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A game of drones
Game theoretic approaches for multi-robot task allocation in security missions
This work explores the potential of game theory to solve the task allocation problem in multi-robot missions. The problem considers a swarm with dozens of drones that only know their neighbors, as well as a mission that consists of visiting a series of locations and performing ce
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Integrating 3D Reconstruction and Virtual Reality
A New Approach for Immersive Teleoperation
The current state of technology permits very accurate 3D reconstructions of real scenes acquiring information through quite different sensors altogether. A high precision modelling that allows simulating any element of the environment on virtual interfaces has also been achieved.
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Wireless sensor networks for planetary exploration
Experimental assessment of communication and deployment
Planetary surface exploration is an appealing application of wireless sensor networks that has been investigated in recent years by the space community, including the European Space Agency. The idea is to deploy a number of self-organizing sensor nodes forming a wireless networke
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Multi-robot visual coverage path planning
Geometrical metamorphosis of the workspace through raster graphics based approaches
Aerial multi-robot systems are a robust remote sensing choice to collect environmental data from the Earth's surface. To accomplish this mission in a collaborative way, unmanned aerial vehicles must perform a full coverage trajectory over a target area while acquiring imagery of
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Press start to play
Classifying multi-robot operators and predicting their strategies through a videogame
One of the active challenges in multi-robot missions is related to managing operator workload and situational awareness. Currently, the operators are trained to use interfaces, but in the near future this can be turned inside out: the interfaces will adapt to operators so as to f
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The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of roboti
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Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that su
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Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer develop
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This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a func
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This paper presents a novel tool capable of collecting thermal signatures inside a building by using low-cost IR temperature sensors mounted on-board an aerial platform. The proposed system aims to facilitate the detection of heat loss inside buildings, which is a key aspect for
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Success of teleoperation tasks for mobile robots in disaster scenarios depends largely on the skills of the operator. This article proposes a solution to facilitate this task with two UGVs working together in a master-slave structure. The slave robot is used as an external mobile
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Greenhouse farming is based on the control of the environment of the crops and the supply of water and nutrients to the plants. These activities require the monitoring of the environmental variables at both global and local scale. This paper presents a ground robot platform for m
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This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms
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This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms
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