Josep M. Porta Publications


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Journals     LNCS     Book Chapters     Thesis     Main Conferences     Other Conferences     Tech. Reports

Journal Papers

A. Bazaga, M. Roldán, C. Badosa, C. Jiménez-Mallebrera, J. M. Porta, A Convolutional Neural Network for the Automatic Diagnosis of Collagen VI-related Muscular Dystrophies, Applied Soft Computing, 2019 (PDF).

M. Faria, A. Valls, E. Prats, J. Bedrossiantz, M. Orozco, J. M. Porta, L. M. Gómez-Oliván, and D. Raldúa, Further characterization of the zebrafish model of acrylamide acute neurotoxicity: gait abnormalities and oxidative stress, Scientific Reports, 2019 (PDF).

F.Simăo, F. Martínez-Jerónimo, V. Blasco, F. Moreno, J. M. Porta, J. Pestana, A. M. V. M. Soares, D. Raldúa, C. Barata, Using a new high-throughput video-tracking platform to assess behavioural changes in Daphnia magna exposed to neuro-active drugs, Science of The Total Environment, 2019 (PDF).

J. M. Porta, F. Thomas, Closed-Form Position Analysis of Variable Geometry Trusses, Mechanism and Machine Theory, 2016 (PDF).

J. M. Porta, A. Rull, F. Thomas, Sensor Localization from Distance and Orientation Constraints, Sensors, 2016 (PDF).

F. Moreno, J. M. Porta, A Bayesian Approach to Simultaneously Recover Camera Pose and Non-Rigid Shape from Monocular Images, Image and Vision Computing, Vol. 52, pp. 141-153, 2016 (PDF).

J. M. Porta, S. Hernández-Juan, Path Planning for Active Tensegrity Structures, International Journal of Solids and Structures, Vol. 78-79, pp. 47-56, 2016 (PDF).

J. M. Porta, L. Ros, O. Bohigas, M. Manubens, C. Rosales, L. Jaillet, The CUIK Suite: Motion Analysis of Closed-chain Multibody Systems, IEEE Robotics and Automation Magazine, Vol. 21, No. 3, pp. 105-114, 2014 (PDF).

O. Bohigas, D. Zlatanov, L. Ros, M. Manubens, J. M. Porta, A General Method for the Numerical Computation of Manipulator Singularity Sets, IEEE Transactions on Robotics, Vol. 30, No. 2, pp. 340-351, 2014 (PDF).

L. Jaillet, J. M. Porta, Efficient Asymptotically-optimal Path Planning on Manifolds, Robotics and Autonomous Systems, Vol. 61, No. 8, pp. 797-807, 2013 (PDF).

O. Bohigas, M. E. Henderson, L. Ros, M. Manubens, J. M. Porta, Planning Singularity-free Paths on Closed-Chain Manipulators, IEEE Transactions on Robotics, Vol. 29, No. 4, pp. 888-898, 2013 (PDF).

R. Valencia, M. Morta, J. Andrade-Cetto, J. M. Porta, Planning Reliable Paths with Pose SLAM, IEEE Transactions on Robotics, Vol. 29, No. 4, pp. 1050-1059, 2013 (PDF).

C. Rosales. J. M. Porta, L. Ros Grasp Optimization Under Specific Contact Constraints, IEEE Transactions on Robotics, Vol. 29, No. 3, pp. 746-757, 2013 (PDF).

L. Jaillet, J. M. Porta, Path Planning under Kinematic Constraints by Rapidly Exploring Manifolds, IEEE Transactions on Robotics, Vol. 29, No. 1, pp. 105-117, 2013 (PDF).

J. M. Porta, L. Jaillet, Exploring the Energy Landscapes of Flexible Molecular Loops using Higher-Dimensional Continuation, Journal of Computational Chemistry, Vol. 34, No. 3, pp. 234-244, 2013 (PDF).

J. M. Porta, L. Jaillet, O. Bohigas, Randomized Path Planning on Manifolds based on Higher-Dimensional Continuation, International Journal of Robotics Research, Vol. 31, No. 2 pp. 201-215, 2012 (PDF).

V. Ruiz de Angulo, J. Cortés, J. M. Porta, Rigid-CLL: Avoiding Constant-distance Computations in Cell Linked-Lists Algorithms, Journal of Computational Chemistry, Vol. 33, No. 3, pp. 294-300, 2012 (PDF).

V. Ila, J. M. Porta, J. Andrade-Cetto, Amortized Constant Time State Estimation in Pose SLAM and Hierarchical SLAM using a Mixed Kalman-Information Filter, Robotics and Autonomous Systems, Vol. 59, No. 5, pp. 310-318, 2011 (PDF).

C. Rosales, L. Ros, J. M. Porta, R. Suarez, Synthesizing Grasp Configurations with Specified Contact Regions, International Journal of Robotics Research, Vol. 30, No. 4, pp 431-443, 2011 (PDF).

V. Ila, J. M. Porta, J. Andrade-Cetto, Information-based Compact Pose SLAM, IEEE Transactions on Robotics, Vol. 26, No. 1, pp 78-93, 2010 (PDF).

J. M. Porta, F. Thomas, Concise Proof of Tienstra's Formula, ASCE Journal of Surveying Engineering, Vol. 135. Núm. 4, pp. 170-172, 2009 (PDF).

J. M. Porta, L. Ros, F. Thomas, A Linear Relaxation Technique for the Position Analysis of Multiloop Linkages, IEEE Transactions on Robotics, Vol. 25, Núm. 2, pp. 225-239, 2009 (PDF).

J. M. Porta, L. Ros, F. Thomas, F. Corcho, J. Cantó, J.J. Pérez, Complete Maps of Molecular Loop Conformational Spaces, Journal of Computational Chemistry, Vol. 28, Núm. 13, pp. 2170-2189, 2007 (PDF).

J. M. Porta, L. Ros, T.Creemers, F. Thomas, Box Approximations of Planar Linkage Configuration Spaces, ASME Journal of Mechanical Design, Vol. 127, Num. 4, pp. 397-405, 2007 (PDF).

J. Martínez, J. M. Porta, F. Thomas, Matrix-Based Approach to the Image Moment Problem, Journal of Mathematical Imaging and Vision, Vol. 26, Núm. 1-2, pp. 105-113, 2006 (PDF).

J. M. Porta, N, Vlassis, M.T.J. Spaan, P. Poupart, Point-Based Value Iteration for Continuous POMDPs, Journal of Machine Learning Research, Vol 7, pp. 2329-2367, 2006 (PDF).

J. M. Porta, B. J. A. Kröse, Appearance-based Concurrent Map Building and Localization, Robotics and Autonomous Systems, Vol 54, Num 2, pp. 159-164, 2006 (PDF).

J. M. Porta, E. Celaya, Reinforcement Learning for Agents with Many Sensors and Actuators Acting in Categorizable Environments, Journal of Artificial Intelligence Research, Vol 23, pages 79-122, 2005 (PDF).

J. M. Porta, J.J. Verbeek, B. J. A. Kröse, Active Appearance-Based Robot Localization Using Stereo Vision, Autonomous Robots, Vol 18, Num 1, pp. 59-80, 2005 (PDF).

J. M. Porta, F. Thomas, L. Ros, C. Torras, A Branch-and-Prune Solver for Distance Constraints, IEEE Transactions on Robotics, Vol. 21, Num. 2 pp. 176-187, 2005 (PDF).

J. M. Porta, E. Celaya, Reactive Free-Gait Generation to Follow Arbitrary Trajectories with a Hexapod Robot, Robotics and Autonomous Systems, Vol. 47, Num 4, pp. 187-201, 2004 (PDF).

E. Celaya, J. M. Porta, A Control Structure for the Locomotion of a Legged Robot on Difficult Terrain, IEEE Robotics and Automation Magazine, Vol. 5, pp. 43-51, 1998 (PDF).



Lecture Notes in Computer Science

F. Moreno, J. M. Porta, P. Fua, Exploiting Ambiguities for Monocular Non-Rigid Shape Estimation, European Conference on Computer Vision, ECCV (Crete, Greece), Lecture Notes in Computer Science, Vol 6313, pp. 370-383, 2010 (PDF).

B. J. A. Kröse, J. M. Porta, K. Crucq, A.J.N. van Breemen, M. Nuttin, E. Demeester, Lino, the User-Interface Robot, First European Symposium on Ambience Intelligence, Lecture Notes in Computer Science, Vol. 2875, pp. 264-274, 2003 (PDF).

J. M. Porta, B. J. A. Kröse, Vision-Based Localization for Mobile Robots, First European Symposium on Ambience Intelligence, Lecture Notes in Computer Science, Vol. 2875, pp. 208-219, 2003 (PDF).



PhD Thesis

J. M. Porta, Behavior-based Robots and Reinforcement Learning: A case Study on Legged Robots 2001 (PDF).



Book Chapters

R. Bordalba, L. Ros, J. M. Porta, Randomized Planning of Dynamic Motions Avoiding Forward Singularities, Advances in Robot Kinematics, 2018 (PDF).

J. M. Porta, F. Thomas, The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra, Advances in Robot Kinematics, 2018 (PDF).

F. Thomas, J. M. Porta, Distance Geometry in Active Structures, Mechatronics for Cultural Heritage and Civil Engineering, Springer ISCA Bookseries, 2018 (PDF).

F. Thomas, J. M. Porta, Closure Polynomials for Strips of Tetrahedra, Advances in Robot Kinematics, Springer Proceedings on Advanced Robotics, 2016 (PDF).

F. Thomas, J. M. Porta, L. Ros, Distance Constraints Solved Geometrically, Advances in Robot Kinematics, Kluwer Academic Publishers, pp. 31-40, 2004 (PDF).

J. M. Porta, L. Ros, F. Thomas, Isolating Self-Motion Manifolds on a PlayStation, Advances in Robot Kinematics, Kluwer Academic Publishers, pp. 123-132, 2004 (PDF).

J. M. Porta, L. Ros, F. Thomas, C. Torras, Solving Multi-loop Linkages by Iterating 2D Clippings, Advances in Robot Kinematics, Kluwer Academic Publishers, pp. 255-264, 2002 (PDF).



Main Conference Papers

R. Bordalba, J. M. Porta, L. Ros, A Singularity-Robust LQR Controller for Parallel Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (Madrid, Spain), 2018 (PDF).

R. Bordalba, L. Ros, J. M. Porta, Randomized Kinodynamic Planning for Constrained Systems, IEEE International Conference on Robotics and Automation, ICRA (Brisbane, Australia), 2018 (PDF).

J. M. Porta, F. Thomas, Yet Another Approach to the Gough-Stewart Platform Forward Kinematics, IEEE International Conference on Robotics and Automation, ICRA (Brisbane, Australia), 2018 (PDF).

A. Rull, J. M. Porta, F. Thomas, Distance Bound Smoothing under Orientation Constraints, IEEE International Conference on Robotics and Automation, ICRA (Seattle, USA), 2015 (PDF).

L. Jaillet, J. M. Porta, Asymptotically-optimal Path Planning on Manifolds, Robotics: Science and Systems VIII, RSS (Sydney, Australia), 2012 (PDF).

O. Bohigas, D. Zlatanov, L. Ros, M. Manubens, J. M. Porta, Numerical Computation of Manipulator Singularities, IEEE International Conference on Robotics and Automation, ICRA (St. Paul, USA), 2012 (PDF).

O. Bohigas, M. E. Henderson, L. Ros, J. M. Porta, A Singularity-free Path Planner for Closed-chain Manipulators, IEEE International Conference on Robotics and Automation, ICRA (St. Paul, USA), 2012 (PDF).

L. Jaillet, J. Hoffman, J. van den Berg, P. Abbeel, J. M Porta, K. Goldberg, EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (San Francisco, USA), pp. 2646-2652, 2011 (PDF).

L. Jaillet, J. M. Porta, Path Planning with Loop Closure Constraints using an Atlas-based RRT, International Symposium on Robotics Research, ISRR (Flagstaff, USA), 2011 (PDF).

C. Rosales, J. M. Porta, L. Ros Global Optimization of Robotic Grasps, Robotics: Science and Systems VII, RSS (Los Angeles, USA), 2011 (PDF).

F. Moreno, J. M. Porta, Probabilistic Simultaneous Pose and Non-Rigid Shape Recovery, IEEE Computer Vision and Pattern Recognition, CVPR (Colorado Springs, USA), pp. 1289-1296, 2011 (PDF).

R. Valencia, J. Andrade-Cetto, J. M. Porta, Path Planning in Belief Space with Pose SLAM, IEEE International Conference on Robotics and Automation, ICRA (Shangai, China), pp. 78-83, 2011 (PDF).

J. M. Porta, L. Jaillet, Path Planning on Manifolds using Randomized Higher-Dimensional Continuation, Workshop on the Algorithmic Foundations of Robotics, WAFR (Singapore), pp, 337-353, 2010 (PDF).

V. Ila, J. M. Porta, J. Andrade-Cetto, Reduced State Representation in Delayed-State SLAM, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (St. Louis, USA), pp. 4919-4924, 2009 (PDF).

C. Rosales, J. M. Porta, R. Suarez, L. Ros, Finding All Valid Hand Configurations for a given Precision Graps, IEEE International Conference on Robotics and Automation, ICRA (Pasadena, USA), pp. 1634-1640, 2008 (PDF).

J. M. Porta, J. Cortés, L. Ros, F. Thomas, A Space Decomposition Method for Path Planning of Loop Linkages, IEEE International Conference on Intelligent Robots and Systems, IROS (San Diego, USA), pp. 1882-1888, 2007 (PDF).

J. M. Porta, L. Ros, F. Thomas, Multi-loop Position Analysis via Iterated Linear Programming, Robotics: Science and Systems II, RSS (Philadelphia, USA), pp. 169-178, 2006 (PDF).

T. Creemers, J. M. Porta, L. Ros, F. Thomas, Fast Multiresolutive Approximations of Planar Linkage Configuration Spaces, IEEE International Conference on Robotics and Automation, ICRA (Orlando, USA), pp. 1511-1517, 2006 (PDF).

J. M. Porta, L. Ros, F. Thomas, On the Trilaterable Six-Degree-of-Freedom Parallel and Serial Manipulators, IEEE International Conference on Robotics and Automation, ICRA (Barcelona, Spain), pp. 972-979, 2005 (PDF).

J. M. Porta, CuikSlam: A Kinematic-based approach to SLAM, IEEE International Conference on Robotics and Automation, ICRA (Barcelona, Spain), pp. 2436-2442, 2005 (PDF).

J. M. Porta, M.T.J. Spaan, N. Vlassis Robot Planning in Partially Observable Continuous Domains, Robotics: Science and Systems I, RSS (Cambridge, USA), pp. 217-224, 2005 (PDF).

J. M. Porta, B. J. A. Kröse, Appearance-based Concurrent Map Building and Localization using a Multi-Hypotheses Tracker, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (Senday, Japan), pp. 3424-3429, 2004 (PDF).

J. M. Porta, B. Terwjin, B. J. A. Kröse, Efficient Entropy-based Action Selection for Robot Localization, IEEE International Conference on Robotics and Automation, ICRA (Taipei, Taiwan), pp. 2842-2847, 2003 (PDF).

J. M. Porta, J.J. Verbeek, B. J. A. Kröse, Enhancing Appearance-based Robot Localization Using Non-Dense Disparity Maps, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (Las Vegas, USA), pp. 980-985, 2003 (PDF).

J. M. Porta, F. Thomas, L. Ros, C. Torras, A Branch-and-Prune Algorithm for Solving Systems of Distance Constraints, IEEE International Conference on Robotics and Automation, ICRA (Taipei, Taiwan), pp. 342-348, 2003 (PDF).

J. M. Porta, E. Celaya, Learning in Categorizable Environments, From Animals to Animats 6, International Conference on Similation of Adaptive Behavior, From Animals to Animats, SAB (Paris, France), pp. 343-352, 2000 (PDF).

E. Celaya, J. M. Porta, Control of a Six-Legged Robot Walking on Abrupt Terrain, IEEE International Conference on Robotics and Automation, ICRA (Minneapolis, USA), pp. 2731-2736, 1996 (PDF).



Papers in Other Conferences

S. Sarabandi, P. Grosch, J. M. Porta, F. Thomas,, A Reconfigurable Asymmetric 3-UPU Parallel Robot, IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (Delf, The Netherlands), 2018 (PDF).

R. Bordalba, J.M. Porta, L. Ros, Randomized Kinodynamic Planning for Cable-suspended Parallel Robots, Third International Conference on Cable-Driven Parallel Robots (Quebec City, Canada), 2017 (PDF).

D. Fornas, P. J. Sanz, J. M. Porta, and F. Thomas, Improving Local Symmetry Estimations In RGB-D Images by Fitting Superquadrics, Jornadas de Automática (Madrid, Spain), 2016.

L. Ros, J. M. Porta, O. Bohigas, M. Manubens, C. Rosales, and L. Jaillet, An Open-Source Toolbox for Motion Analysis of Closed-chain Mechanisms, Workshop on Computational Kinematics, CK (Barcelona, Spain), 2013 (PDF).

J. M. Porta, L. Ros, B. Schulze, A. Sljoka, and W. Whiteley, On the Symmetric Molecular Conjectures, Workshop on Computational Kinematics, CK (Barcelona, Spain), 2013 (PDF).

V.Ila, J. M. Porta, J. Andrade-Cetto, Amortized Constant time State Estimation in SLAM using a Mixed Kalman-Information Filter, European Conference on Mobile Robots (Mlini/Dubrovnik, Croatia), pp. 211-216, 2009 (PDF).

J. M. Porta, L. Ros, F. Thomas, Inverse Kinematics by Distance Matrix Completion, Workshop on Computational Kinematics, CK (Cassino, Italy), 2005 (PDF).

B. Terwijn, J. M. Porta, B. J. A. Kröse, A Particle Filter to Estimate non-Markovian States, International Conference on Inteligent Autonomous Systems, IAS (Amsterdam, NL), pp. 1062-1069, 2004 (PDF).

J. M. Porta and B. J. A. Kröse, Appearance-based Concurrent Map Building and Localization, International Conference on Inteligent Autonomous Systems, IAS (Amsterdam, NL), pp. 1022-1029, 2004 (PDF).

J. M. Porta, B. J. A. Kröse, On the Use of Disparity Maps for Robust Robot Localization under Different Illumination Conditions, Proceedings of the International Conference on Advanced Robotics, ICAR (Coimbra, Portugal), pp. 124-129, 2003 (PDF).

A.J.N. van Breemen, K. Crucq, B. J. A. Kröse, M. Nuttin, J. M. Porta, E. Demeester, A User-Interface Robot for Ambience Intelligent Environments, Proceedings of the International Conference on Advances on Service Robots, ASER (Bardolino, Italy), Published by Fraumhofer IRB Verlag, pp. 132-139, 2003 (PDF).

J. M. Porta, E. Celaya, Efficient Gait Generation Using Reinforcement Learning, Proceedings of the 4th. International Conference on Climbing and Walking Robots, CLAWAR (Karlsruhe, Germany), pp. 411-418, 2001 (PDF).

J. M. Porta, E. Celaya, Body and Leg Coordination for Omni-Directional Walking in Rough Terrain, Proceedings of the 3rd. International Conference on Climbing and Walking Robots, CLAWAR (Madrid, Spain), pp. 499-506, 2000 (PDF).

E. Celaya, J. M. Porta, Navigation of a Walking Robot in Natural Environments, Proceedings of the 2nd. International Conference on Climbing and Walking Robots, CLAWAR (Portsmouth, UK), pp. 423-432, 1999 (PDF).

J. M. Porta, E. Celaya, Reinforcement Learning and Automatic Categorization, Proceedings of the 7th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA (Barcelona, Spain), pp. 159-166, 1999 (PDF).

E. Celaya, J. M. Porta, V. Ruiz de Angulo, Reactive Gait Generation for Varying Speed and Direction, Proceedings of the First International Symposium on Climbing and Walking Robots, CLAWAR (Brussels, Belgium), pp. 83-88, 1998 (PDF).

J. M. Porta, E. Celaya, Walking in Unstructured Natural Environments, Proceedings of the European Workshop on Hazardous Robotics, HEROS (Barcelona, Spain), pp. 99-107, 1996 (PDF).

E. Celaya, J. M. Porta, Force-Based Control of a Six-Legged Robot on Abrupt Terrain using the Subsumtion Architecture, Proceedings of the 7th International Conference on Advanced Robotics, ICAR (Sant Feliu de Guixols, Spain), pp. 413-419, 1995 (PDF).

E. Celaya, J. M. Porta, Adding a Force-Compliance Layer to a Subsumption-Based Control for a Walking Robot, Poster proceedings of the 3rd International Conference on Artificial Life, ECAL (Granada, Spain), 1995.



Technical Reports

R. Bordalba, J.M. Porta and L. Ros, Kinodynamic planning on constraint manifolds, IRI Technical Report, IRI-DT-17-01, 2017 (PDF).

R. Valencia, J. Andrade-Cetto, J. M. Porta, Path Planning with Pose SLAM, IRI Technical Report, IRI-DT-10-03, 2010 (PDF).

J. M. Porta, L. Ros, F. Thomas, Linear Relaxation Technique for the Position Analysis of Multi-Loop Linkages, IRI Technical Report, IRI-DT-08-01, 2008 (PDF).

J. M. Porta, M.T.J. Spaan, N. Vlassis, Value Iteration for Continuous-State POMDPs, IAS Technical Report, University of Amsterdam, IAS-UVA-04-04, 2004 (PDF).

J. M. Porta, Rho-learning: A Robotics Oriented Reinforcement Learning Algorithm, Technical Report Instituto de Robótica e Informática Industrial, IRI-DT2000/3, 2000 (PDF).

J. M. Porta, The Legged Robot 3D Simulator: Description and Programming Guide, Technical Report Instituto de Robótica e Informática Industrial, IRI-DT2000/4, 2000 (PDF).

J. M. Porta, Reinforcement-Based Learning with Automatic Categorization, Technical Report Instituto de Robótica e Informática Industrial, IRI-DT-9902, 1999 (PDF).

D. Lora, J. M. Porta, E. Celaya, Diseńo y programación del protocolo de comunicaciones entre un robot hexápodo y un PC a través de línea serie, Technical Report Instituto de Robótica e Informática Industrial, IRI-DT-9903, 1999 (PDF).

J. M. Porta, E. Celaya, Gait Analysis for Six-Legged Robots, Technical Report Instituto de Robótica y Informática Industrial, IRI-DT-9805, 1998 (PDF).

J. M. Porta, The Behavior Language for PC: User's Guide, Technical Report Instituto de Robótica e Informática Industrial, IRI-DT-9602, 1996 (PS.GZ).

J. M. Porta, Descripció dels Comportaments del Genghis, Technical Report Instituto de Cibernética, IC-DT-9602, 1996 (PS.GZ).