Papers by Vicente Matellan
A distributed simulator for intelligent autonomous robots
Waf, 2006
How to coordinate a set of robots is still an open issue. It is a problem made up by several sub-... more How to coordinate a set of robots is still an open issue. It is a problem made up by several sub-problems. One of them is how to share information among the members of a team without compromising the basic requirements of the application. In this paper we show the communication architecture we have designed to let a team of robots communicate. We present an application of this architecture to implement a simple ball booking protocol to share the information about the ball among the robotic team members in the 4-legged RoboCup. This protocol let us to define strategies for optimizing our tactic during a match.
Robust vision system with automatic filter calibration
2009 IEEE International Conference on Mechatronics, 2009
In this paper we present an adaptive vision system for the AIBO robots which is able to dynamical... more In this paper we present an adaptive vision system for the AIBO robots which is able to dynamically change the calibration of the colour filters implemented in the robots. This system tries to be robust by using techniques for coping with noise and hard environment characteristics, specially changing lighting conditions. This system has to be run with a processor with
En este artículo presentamos jdec, una implementación de la arquitectura basada en comportamiento... more En este artículo presentamos jdec, una implementación de la arquitectura basada en comportamientos Jerarquía Dinámica de Esquemas. Esta plataforma usa esquemas como unidad básica para la programación de aplicaciones con robots. Estos esquemas se combinan en jerarquías dinámicas para desarrollar comportamientos y en jdec se han implementado como hebras. La plataforma se ha probado en distintos robots reales con aplicaciones de navegación visual, de localización y navegación híbrida en interiores. Además, proporciona una capa de abstracción del hardware, ejecución distribuida, e interfaz gráfica para depuración así como una colección de esquemas ya realizados para componer nuevas aplicaciones.
Por localización se entienden las técnicas que se encargan de solucionar el problema de determina... more Por localización se entienden las técnicas que se encargan de solucionar el problema de determinar la posición de un robot en su entorno usando sus propios sensores. En este trabajo se presentará una técnica de localización que pretende aportar una nueva manera de localizar un robot equipado con una cámara en un entorno topológicamente estructurado mediante técnicas probabilísticas. Se mostrará su aplicación en entornos tan diferentes como espacios de oficinas o el campo de la Robocup 1 , y se comprobará como esta técnica es capaz de adaptarse a las tareas que el robot ha de realizar en estos entornos.
TR-GSYC-2002-2 1 Dynamic gridmaps: comparing building techniques
ABSTRACT
Programming Model Based on Concurrent
ABSTRACT
Robots are just starting to appear in peopled environments but in order to be accepted by humans,... more Robots are just starting to appear in peopled environments but in order to be accepted by humans, they should obey basic people's social rules. In particular, they have to be able to move around without disturbing people. This means that they have to obey the social rules that manage the movement of people, for example following virtual lanes when moving through corridors, not crossing in front of moving people, etc. In this paper some of these aspects are explained, as well as the implementation of preliminaries works to implement the proposed solutions are described. So, a slight modification to the Lane-Curvature Method is presented to improve the behavior of a mobile robot when crossing people in a corridor. Other works needed to test this modifications in the robot Amelia of the Reliable Autonomous Systems Lab, as the implementation of a fuzzy controller, are also described in this paper
This article describes two vision-based behaviors designed for an autonomous legged robot. These ... more This article describes two vision-based behaviors designed for an autonomous legged robot. These behaviors have been designed in a modular way in order to be able to integrate them in an architecture named DSH (Dynamic Schema Hierarchies), which is also briey described. These behaviors have been tested in oce indoor environments and experiments carried out are also described in this paper. The platform used in these experiments has been the Sony AIBO robot. The developed behaviors provide the robot with the follow wall and follow person capabilities, using as main sensor the robot on-board camera. Universidad Politécnica de Madrid, december 2003. [7] Francisco Martín Rico. Open-r: un enfoque práctico. Technical report, Robotic Lab, GSyC, 2005.
This paper addresses the problem of determining the current 3D location of a moving object and ro... more This paper addresses the problem of determining the current 3D location of a moving object and robustly tracking it from a sequence of camera images. The approach presented here uses a particle filter and does not perform any explicit triangulation. Only the color of the object to be tracked is required, but not any precise motion model. The observation model we have developed avoids the color filtering of the entire image. That and the Monte-Carlo techniques inside the particle filter provide real time performance. Experiments with two real cameras are presented and lessons learned are commented. The approach scales easily to more than two cameras and new sensor cues.
Uso de Simuladores en Docencia de Robótica Móvil
Visual attention is a natural tool which allows animals to locate relevant objects or areas in a ... more Visual attention is a natural tool which allows animals to locate relevant objects or areas in a given scene, discarding the rest of elements present and thus reducing the amount of information to deal with. In this paper we present the design an implementation of a visual attention mechanism based on a saliency map and its implementation in the Nao humanoid. This control mechanism is applied to solve one of the challenges proposed in the RoboCup competition named "any-ball". The results obtained are analysed and future works derived from that analysis are presented.
Actas del VII Workshop de Agentes Físicos WAF'2006, Las Palmas de Gran Canaria, 27-28 de Abril de 2006
This paper presents a visual based localization mechanism for a legged robot in indoor office env... more This paper presents a visual based localization mechanism for a legged robot in indoor office environments. Our proposal is a probabilistic approach which uses partially observable Markov decision processes. We use a precompiled topological map where natural landmarks like doors or ceiling lights are recognized by the robot using its on-board camera. Experiments have been conducted using the AIBO Sony robotic dog showing that it is able to deal with noisy sensors like vision and to approximate world models representing indoor office environments. The major contributions of this work is the use of an active vision as the main input and localization in not-engineered environments.
DRAFT. Accepted in WAF'2004
This paper describes a method to estimate the position of a mobile robot in an indoor scenario us... more This paper describes a method to estimate the position of a mobile robot in an indoor scenario using the odometric calculus and the WiFi energy received from the wireless infrastructure. This energy will be measured by wireless network card on-board a mobile robot, and it will be used as another regular sensor to improve position estimation. The Bayes rule will be used to accumulate localization probability as the robot moves on. In this paper several experiments in a university building are shown. The two major contributions of the presented work are that the self-localization error achieved is bounded, and that no significant degradation is observed when the theoretical WiFi energy at each point is taken from radio propagation model instead of an a priori experimental intensity map of the environment.
Despite the remarkable success of open source software, there are a number of challenges to colla... more Despite the remarkable success of open source software, there are a number of challenges to collaboration in open source software development, in particular, with respect to supporting collaboration among developers, supporting potential contributors, and in bringing users and developers together. In this paper, we examine some of the possible enhancements of open source development environments, and consider the application of Semantic Web technology to address these. challenges of collaboration in open source software environments.
This paper describes a teleoperator system developed for the EyeBot robot under a client-server a... more This paper describes a teleoperator system developed for the EyeBot robot under a client-server architecture. The teleoperator is made up of two di#erent programs: a server, running on robot's microprocessor, and a client running on a PC. They talk to each other through a serial connection following an specific protocol. The server gathers sensor information required by the client, sends it and executes movement commands. The client asks for sensor data to the server on behalf of the human operator and sends motion orders. It also shows her a graphical interface, so she can see the values from all robot sensors and she can request di#erent movements to its motors and servomotors.
When facing the problem of teaching the basis of robot control programming to computer science st... more When facing the problem of teaching the basis of robot control programming to computer science students, apart from the syllabus of the course, some other requirements have to be taken into account. For instance, which are the most appropriate robotic platforms, and which are the best programming tools for teaching it. In this paper we describe the platforms and programming environments chosen for different senior and graduate robotic courses at Rey Juan Carlos University, focusing on the reasons under our choices. We also point out the practical assignments demanded on the courses. Finally, we will present the results along four years, the feedback from our students, and the lessons we have learned.
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Papers by Vicente Matellan