http://hdl.handle.net/10016/6979 Thu, 23 May 2013 15:09:27 GMT 2013-05-23T15:09:27Z http://hdl.handle.net/10016/16248 Title: Context-Aided Sensor Fusion for Enhanced Urban Navigation Author(s): Martí, Enrique David; Martin, David; García, Jesús; Escalera, Arturo de la; Molina, José M.; Armingol, José M. Abstract: The deployment of Intelligent Vehicles in urban environments requires reliable estimation of positioning for urban navigation. The inherent complexity of this kind of environments fosters the development of novel systems which should provide reliable and precise solutions to the vehicle. This article details an advanced GNSS/IMU fusion system based on a context-aided Unscented Kalman filter for navigation in urban conditions. The constrained non-linear filter is here conditioned by a contextual knowledge module which reasons about sensor quality and driving context in order to adapt it to the situation, while at the same time it carries out a continuous estimation and correction of INS drift errors. An exhaustive analysis has been carried out with available data in order to characterize the behavior of available sensors and take it into account in the developed solution. The performance is then analyzed with an extensive dataset containing representative situations. The proposed solution suits the use of fusion algorithms for deploying Intelligent Transport Systems in urban environments. Fri, 30 Nov 2012 23:00:00 GMT http://hdl.handle.net/10016/16248 2012-11-30T23:00:00Z http://hdl.handle.net/10016/9855 Title: Robots de servicio Author(s): Aracil, Rafael; Balaguer, Carlos; Armada, Manuel Abstract: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1) sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2) sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Description: 8 págs, 9 figs. Mon, 31 Mar 2008 22:00:00 GMT http://hdl.handle.net/10016/9855 2008-03-31T22:00:00Z http://hdl.handle.net/10016/9854 Title: Compact Modeling Technique for Outdoor Navigation Author(s): Castejón, Cristina; Blanco Rojas, Dolores; Moreno, Luis Abstract: In this paper, a new methodology to build compact local maps in real time for outdoor robot navigation is presented. The environment information is obtained from a 3-D scanner laser. The navigation model, which is called traversable region model, is based on a Voronoi diagram technique, but adapted to large outdoor environments. The model obtained with this methodology allows a definition of safe trajectories that depend on the robot's capabilities and the terrain properties, and it will represent, in a topogeometric way, the environment as local and global maps. The application presented is validated in real outdoor environments with the robot called GOLIAT. Description: 16 pages, 46 figures. Mon, 31 Dec 2007 23:00:00 GMT http://hdl.handle.net/10016/9854 2007-12-31T23:00:00Z http://hdl.handle.net/10016/9848 Title: Tracking Moving Optima Using Kalman-Based Predictions Author(s): Rossi, Claudio; Abderrahim, Mohamed; Díaz C., Julio César Abstract: The dynamic optimization problem concerns finding an optimum in a changing environment. In the field of evolutionary algorithms, this implies dealing with a time-changing fitness landscape. In this paper we compare different techniques for integrating motion information into an evolutionary algorithm, in the case it has to follow a time-changing optimum, under the assumption that the changes follow a nonrandom law. Such a law can be estimated in order to improve the optimum tracking capabilities of the algorithm. In particular, we will focus on first order dynamical laws to track moving objects. A vision-based tracking robotic application is used as testbed for experimental comparison. Description: 30 pages, 23 figures. Fri, 29 Feb 2008 23:00:00 GMT http://hdl.handle.net/10016/9848 2008-02-29T23:00:00Z