Research Project

NAVEGA: Navegación basada en visión de robots autónomos en entornos no estructurados.

Type

National Project

Start Date

01/08/1997

End Date

31/07/2000

Project Code

TAP97-1209

Project illustration

Staff

Project Description

En aquest projecte s'aborda el problema de la navegació en entorns no estructurats en els que l'us de rodes pot presentar dificultats i en els que resulta ventatjós l'ús de robots amb potes.
Si bé l'informació sobre l'entorn immediat del robot, necessaria per controlar els moviments a curt plaç, s'obtindrà mitjançant sensors locals de relativamente curt alcanç, simples i fàcils d'interpretar (sensors de força, contacte, infrarroigs, ultrasons, etc.), l'información de més llarg alcanç, que servirà per determinar la ruta a seguir, s'obtindrà amb un sistema de visió estéreo, que es controlarà mitjançant tècniques de visió activa, a fi de facilitar l'obtenció de l'informació de l'entorn que resulti més relevant en cada moment.

Project Publications

Journal Publications

  • E. Martinez and C. Torras. Qualitative vision for the guidance of legged robots in unstructured environments. Pattern Recognition, 34(8): 1585-1599, 2001.

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  • G. Wells and C. Torras. Assessing image features for vision-based robot positioning. Journal of Intelligent and Robotic Systems, 30(1): 95-118, 2001.

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  • E. Celaya and J.M. Porta. A control structure for the locomotion of a legged robot on difficult terrain. IEEE Robotics and Automation Magazine, 5(2): 43-51, 1998.

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Conference Publications

  • J.M. Porta and E. Celaya. Learning in categorizable environments, 6th International Conference on Simulation of Adaptative Behavior, 2000, Paris, França, in From Animals to Animats, pp. 343-352, 2000, MIT Press, Cambridge, Estats Units d'Amèrica.

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  • J.M. Porta and E. Celaya. Body and leg coordination for omni-directional walking in rough terrain, 3rd International Conference on Climbing and Walking Robots, 2000, Madrid, Espanya, in Proceedings of the Third International Conference on Climbing and Walking Robots, pp. 499-506, 2000, Professional Engineering Publishing Limited, Suffolk, Anglaterra.

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  • E. Todt and C. Torras. Detection of natural landmarks through multiscale opponent features, 15th International Conference on Pattern Recognition, 2000, Barcelona, Espanya, pp. 976-979, 2000, IEEE Computer Society, Barcelona, Espanya.

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  • E. Martinez and C. Torras. Epipolar geometry from the deformation of an active contour, 15th International Conference on Pattern Recognition, 2000, Barcelona, Espanya, pp. 534-537, 2000, IEEE Computer Society, Barcelona, Espanya.

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  • E. Martinez and C. Torras. Depth map from the combination of matched points with active contours, 2000 IEEE Intelligent Vehicles Symposium, 2000, Dearborn, MI, USA, pp. 332-337, 2000, IEEE.

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  • J.M. Porta and E. Celaya. Reinforcement learning and automatic categorization, 7th IEEE International Conference on Emerging Technologies and Factory Automation, 1999, Barcelona, Espanya, pp. 159-166, IEEE.

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  • E. Celaya and J.M. Porta. Navigation of a walking robot in natural environments, 2nd International Conference on Climbing and Walking Robots, 1999, Portsmouth, Gran Bretanya, pp. 423-432, 1999, Professional Engineering Publishing Limited, Suffolk, Anglaterra.

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  • E. Celaya, J.M. Porta and V. Ruiz de Angulo. Reactive gait generation for varying speed and direction, 1st International Conference on Climbing and Walking Robots, 1998, Brusel·les, Bèlgica, pp. 83-88, 1998, Professional Engineering Publishing Limited, Suffolk, Anglaterra.

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Other Publications

  • T. Vidal-Calleja. 2-D visual servoing for MARCO. Technical Report IRI-DT-03-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2003.

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