Ana Cruz-Martín

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This paper deals with modeling the delays in the transmission of sensory data from networked telerobots, which would allow us to predict future times of arrival and thus provide guarantees on the time requirements of these distributed systems. Considering sequences of delays as a uni-dimensional signal, they easily exhibit rich stochastic behaviours -(More)
Most research in networked robots that use Web interfaces for robot control has been focused recently on the network part, since Ethernet involves poor (unpredictable) time performance. However, we believe that the problem to be addressed is more general and should not be restricted only to communication engineering: the interfaced system as a whole should(More)
The use of the World Wide Web for robot teleoperation is growing in the last years due mainly to the pervasiveness of Internet and Web browsers, although Web interfaces usually use Ethernet networks that exhibit time unpredictability. Most recent research in the area has been focused on improving time predictability of the network under delays, jitter, and(More)
Networked telerobots carry sensors that send data, with stochastic transmission times, to a remote human operator, who must execute some real-time control task (e.g., navigation). In this paper we propose to regulate the sensory information being transmitted in order to guarantee soft real-time requirements and also optimize the quality of control, through(More)
Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development.(More)
Networked telerobots are remotely controlled through general purpose networks and components, which are highly heterogeneous and exhibit stochastic response times; however their correct teleoperation requires a timely flow of information from sensors to remote stations. In order to guarantee these time requirements, a good on-line probabilistic estimation(More)
This paper presents a methodology for planning trajectories in a multirobot system. The planner takes into account the speed constraints acting on the vehicles, so it provides a safe speed profile for every robot in the system. As the planner is decoupled and prioritized, it is necessary to set up some priority assignment that defines the order in which(More)
Mobile robots are increasingly being employed for performing complex tasks in dynamic environments. Reinforcement learning (RL) methods are recognized to be promising for specifying such tasks in a relatively simple manner. However, the strong dependency between the learning method and the task to learn is a well-known problem that restricts practical(More)
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