2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
In general, the problems of objects' and rooms' categorizations for robotic appli... more In general, the problems of objects' and rooms' categorizations for robotic applications have been addressed separately. The current trend is, however, towards a joint modelling of both issues in order to leverage their mutual contextual relations: object -> room (e.g. the detection of a microwave indicates that the room is likely to be a kitchen), and room -> object (e.g. if the robot is in a bathroom, it is probable to nd a toilet). Probabilistic Graphical Models (PGMs) are typically employed to conveniently cope with such relations, relying on inference processes to hypothesize about objects' and rooms' categories. In this work we present a Conditional Random Field (CRF) model, a particular type of PGM, to jointly categorize objects and rooms from RGBD images exploiting object-object and object-room relations. The learning phase of the proposed CRF uses Human Knowledge (HK) to eliminate the necessity of gathering real training data. Concretely, HK is acquired through elicitation and codied into an ontology, which is exploited to effortless generate an arbitrary number of representative synthetic samples for training. The performance of the proposed CRF model has been assessed using the NYU2 dataset, achieving a success of 70% categorizing both, objects and rooms.
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range... more This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications, that is recently receiving increasing attention for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixed, well-localized beacons. Though this is a well-known problem in the scientific literature (the trilateration problem), the peculiarities of UWB range measurements (basically, distance errors and multipath effects) demand a different treatment to other similar solutions, as for example, those based on laser. This work presents a thorough experimental characterization of UWB ranges within a variety of environments and situations. From these experiments, we derive a probabilistic model which is then used by a particle filter to combine different readings from UWB beacons as well as the vehicle odometry. To account for the possible offset error due to multipath effects, the state tracked by the particle filter includes the offset of each beacon in addition to the planar robot pose (x,y,ϕ)(x,y,ϕ), both estimated sequentially. We show navigation results for a robot moving in indoor scenarios covered by three UWB beacons that validate our proposal.
This paper describes a robotic wheelchair called SENA. It is based on a commercial powered wheelc... more This paper describes a robotic wheelchair called SENA. It is based on a commercial powered wheelchair which has been endowed with several sensors and devices managed by an onboard laptop. The sensorial system of SENA entails a proximity laser scanner, a ring of infrared sensors, a camera mounted on a pan&tilt unit, and two rotating sonars. SENA is a long-term project aimed to cover the requirements needed to perform in daily indoor environments. Some experiences of the use of our robotic wheelchair are also described at the end of the paper
This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant... more This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant, for instance as a fair or congress host. This robot has been constructed upon a commercial platform on which a number of sensors and devices have been integrated. A software control architecture has been implemented and adapted to this particular robot, enabling it to perform in human scenarios. Among the different subsystems of the control architecture developed for SANCHO, we highlight in this paper two of the most relevant ones: the navigation component which permits the robot to navigate in a safe and robust manner within crowded and dynamic environments, and the communication component which provides different possibilities for human-robot interaction. We illustrate the performance of SANCHO through a number of experiences carried out in public shows.
... 309-322, 2004. 5. Fong TW and Thorpe C. Robot as Partner: Vehicle Teleoperation with Collabor... more ... 309-322, 2004. 5. Fong TW and Thorpe C. Robot as Partner: Vehicle Teleoperation with Collaborative Control,Proc. of the NRL Workshop on Multi-Robot Systems, 2002. Page 11. ... 10. Kaelbling LP, Littman ML, Moore AW Reinforcement Learning: A Survey. ...
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
In general, the problems of objects' and rooms' categorizations for robotic appli... more In general, the problems of objects' and rooms' categorizations for robotic applications have been addressed separately. The current trend is, however, towards a joint modelling of both issues in order to leverage their mutual contextual relations: object -> room (e.g. the detection of a microwave indicates that the room is likely to be a kitchen), and room -> object (e.g. if the robot is in a bathroom, it is probable to nd a toilet). Probabilistic Graphical Models (PGMs) are typically employed to conveniently cope with such relations, relying on inference processes to hypothesize about objects' and rooms' categories. In this work we present a Conditional Random Field (CRF) model, a particular type of PGM, to jointly categorize objects and rooms from RGBD images exploiting object-object and object-room relations. The learning phase of the proposed CRF uses Human Knowledge (HK) to eliminate the necessity of gathering real training data. Concretely, HK is acquired through elicitation and codied into an ontology, which is exploited to effortless generate an arbitrary number of representative synthetic samples for training. The performance of the proposed CRF model has been assessed using the NYU2 dataset, achieving a success of 70% categorizing both, objects and rooms.
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range... more This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications, that is recently receiving increasing attention for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixed, well-localized beacons. Though this is a well-known problem in the scientific literature (the trilateration problem), the peculiarities of UWB range measurements (basically, distance errors and multipath effects) demand a different treatment to other similar solutions, as for example, those based on laser. This work presents a thorough experimental characterization of UWB ranges within a variety of environments and situations. From these experiments, we derive a probabilistic model which is then used by a particle filter to combine different readings from UWB beacons as well as the vehicle odometry. To account for the possible offset error due to multipath effects, the state tracked by the particle filter includes the offset of each beacon in addition to the planar robot pose (x,y,ϕ)(x,y,ϕ), both estimated sequentially. We show navigation results for a robot moving in indoor scenarios covered by three UWB beacons that validate our proposal.
This paper describes a robotic wheelchair called SENA. It is based on a commercial powered wheelc... more This paper describes a robotic wheelchair called SENA. It is based on a commercial powered wheelchair which has been endowed with several sensors and devices managed by an onboard laptop. The sensorial system of SENA entails a proximity laser scanner, a ring of infrared sensors, a camera mounted on a pan&tilt unit, and two rotating sonars. SENA is a long-term project aimed to cover the requirements needed to perform in daily indoor environments. Some experiences of the use of our robotic wheelchair are also described at the end of the paper
This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant... more This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant, for instance as a fair or congress host. This robot has been constructed upon a commercial platform on which a number of sensors and devices have been integrated. A software control architecture has been implemented and adapted to this particular robot, enabling it to perform in human scenarios. Among the different subsystems of the control architecture developed for SANCHO, we highlight in this paper two of the most relevant ones: the navigation component which permits the robot to navigate in a safe and robust manner within crowded and dynamic environments, and the communication component which provides different possibilities for human-robot interaction. We illustrate the performance of SANCHO through a number of experiences carried out in public shows.
... 309-322, 2004. 5. Fong TW and Thorpe C. Robot as Partner: Vehicle Teleoperation with Collabor... more ... 309-322, 2004. 5. Fong TW and Thorpe C. Robot as Partner: Vehicle Teleoperation with Collaborative Control,Proc. of the NRL Workshop on Multi-Robot Systems, 2002. Page 11. ... 10. Kaelbling LP, Littman ML, Moore AW Reinforcement Learning: A Survey. ...
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Papers by Cipriano Galindo