Programa de Doctorat en Automàtica, Robòtica i Visió: Recent submissions
Now showing items 81-100 of 141
Physics-based motion planning for grasping and manipulation
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 ...
A contribution to the incorporation of sociability and creativity skills to computers and robots
This dissertation contains the research and work completed by the PhD candidate on the incorporation of sociability and creativity skills to computers and robots. Both skills can be directly related with empathy, which is ...
Fault detection and fault tolerant control in wind turbines
Renewable energy is an important sustainable energy in the world. Up to now, as an essential part of low emissions energy in a lot of countries, renewable energy has been important to the national energy security, and ...
A template based approach for human action recognition
Visual analysis of human movements concerns the understanding of human activities from image sequences. The goal of the action/gesture recognition is to recognize the label that corresponds to an action or gesture made by ...
Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning
In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in ...
The role of population games in the design of optimization-based controllers: a large-scale insight
This thesis is mainly devoted to the study of the role of evolutionary-game theory in the design of distributed optimization-based controllers. Game theoretical approaches have been used in several engineering fields, e.g., ...
Estimating and understanding motion : from diagnostic to robotic surgery
Estimating and understanding motion from an image sequence is a central topic in computer vision. The high interest in this topic is because we are living in a world where many events that occur in the environment are ...
Prognostics and health aware model predictive control of wind turbines
Wind turbines components are subject to considerable stresses and fatigue due to extreme environmental conditions to which they are exposed, especially those located offshore. Also, the most common faults present in wind ...
Searching and tracking of humans in urban environments with humanoid robots
Searching and tracking are important behaviours for a mobile service robot to assist people, to search-and-rescue and, in general, to locate mobile objects, animals or humans. Even though searching might be evident for ...
Visual guidance of unmanned aerial manipulators
The ability to fly has greatly expanded the possibilities for robots to perform surveillance, inspection or map generation tasks. Yet it was only in recent years that research in aerial robotics was mature enough to allow ...
Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems
Proton exchange membrane (PEM) fuel cells, which use hydrogen as fuel, provide high power densities while operating at lower temperatures, reducing the cost of materials and maintenance. PEM fuel cells are suitable for a ...
Learning relational models with human interaction for planning in robotics
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 ...
Monocular SLAM : data association and sensing through a human-assisted uncalibrated visual system
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 ...
3D pose estimation in complex environments
Although there has been remarkable progress in the pose estimation literature, there are still a number of limitations when existing algorithms must be applied in everyday applications, especially in uncontrolled environments. ...
Perceiving dynamic environments : from surface geometry to semantic representation
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 ...
Task-oriented viewpoint planning for free-form objects
This thesis deals with active sensing and its use in real exploration tasks under both scene ambiguities and measurement uncertainties. While object modeling is the implicit objective of most of active sensing algorithms, ...
Parallel robots with unconventional joints to achieve under-actuation and reconfigurability
The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and/or reconfigurable. The new ...
Programación de actividades en celdas robotizadas de tipo flowshop con buffers finitos y piezas distintas
In this dissertation it is solved a problem of optimization in automated systems of production based on robotic cells where the time of completion of parts Cmax is minimized and where there are buffers between pairs of ...
Distributed large scale systems : a multi-agent RL-MPC architecture
This thesis describes a methodology to deal with the interaction between MPC controllers in a distributed MPC architecture. This approach combines ideas from Distributed Artificial Intelligence (DAI) and Reinforcement ...
Multi-robot cooperative platform : a task-oriented teleoperation paradigm
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, ...
