Universitat Politècnica de Catalunya
Now showing items 21-40 of 42
This thesis develops a series of modeling and reasoning tools for knowledge-oriented manipulation planning in semi/unstructured environments. The main idea is to use high-level knowledge-based reasoning to capture a rich ...
Automated planning has proven to be useful to solve problems where an agent has to maximize a reward function by executing actions. As planners have been improved to salve more expressive and difficult problems, there is ...
Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile ...
This thesis reports research on mapping, path planning, and autonomous exploration. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common ...
Aquesta Tesi estudia el control d'un sistema complex, un sistema d'emmagatzement d'energia cinètica, incloent les seves especificacions de control, modelat, disseny de controladors, simulacions, muntatge i validació ...
The Simultaneous Localization and Mapping (SLAM) problem is widely acknowledged as one of the fundamental problem to solve in perception and robotics to produce actual mobile robotic agents. The problem itself is that of ...
Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve ...
This thesis is devoted to design a multi-layer MPC controller applied to the complex water network taking into account that the different layers with different time scales and control objectives have their own controller. ...
This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP. In standard teleoperation, ...
This thesis develops general solutions to two open problems of robot kinematics: the exhaustive computation of the singularity set of a manipulator, and the synthesis of singularity-free paths between given configurations. ...
This thesis is devoted to design Model Predictive Control (MPC) strategies aiming to enhance the management of constrained generalised flow-based networks, with special attention to the economic optimisation and robust ...
Perceiving human environments is becoming increasingly fundamental with the gradual adaptation of robots for domestic use. High-level tasks such as the recognition of objects and actions need to be performed far the active ...
This thesis develops a series of knowledge-oriented physics-based motion planning algorithms for grasping and manipulation in cluttered an uncertain environments. The main idea is to use high-level knowledge-based reasoning ...
One of the main topics to be solved in order to fully automate a robotized assembly task is the automatic determination of the movements to be done by the robot to properly perform the tasks when the existing uncertainty ...
En los métodos planificadores de trayectorias basados en funciones potenciales, la utilización de las funciones armónicas tiene la importante propiedad de no presentar mínimos locales. Sin embargo, la creación de ...
One of the main challenges in Robotics is to develop robots that can interact with humans in a natural way, sharing the same dynamic and unstructured environments. Such an interaction may be aimed at assisting, helping or ...
The present work aims to increase the diagnosis systems capabilities by choosing the location of sensors in the process. Therefore, appropriate sensor location will lead to better diagnosis performance and implementation ...
En esta Tesis ha sido analizado el control de la màquina sincrónica de rotor bobinado actuando en isla. Para esta configuración, la velocidad mecànica determina la frecuencia, y la tensión de rotor se utiliza para fijar ...
Deploying mobile robots in social environments requires novel navigation algorithms which are capable of providing valid solutions in such challenging scenarios. The main objective of the present dissertation is to develop ...
Human-machine interaction in teleoperation, through the adequate user interface, allows achieving the level of intelligence necessary to execute complex tasks that cannot be executed by machines or robots alone neither ...
