Angel Llamazares

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does not require adding new hardware to the experimental environment. It relies on the WiFi access points (APs) widely available in most public and private buildings. We include a practical experimentation where good results were achieved. I. INTRODUCTION People activity recognition provides interesting applications in many areas, e.g., to filter the phone(More)
The framework of this paper is robot localization inside buildings by means of wireless localization systems. Such kind of systems make use of the Wireless Fidelity (WiFi) signal strength sensors which are becoming more and more useful in the localization stage of several robotic platforms. Robot localization is usually made up of two phases: training and(More)
— The goal of this paper is to study a noisy WiFi range-only sensor and its application in the development of localization and mapping systems. Moreover, the paper shows several localization and mapping techniques to be compared. These techniques have been applied successfully with other technologies, like ultra-wide band (UWB), but we demonstrate that even(More)
This paper presents different techniques to achieve the tasks proposed in the DARPA (Defense Advanced Research Projects Agency) VRC (Virtual Robotics Challenge), which entails the recognition of objects , the robot localization and the mapping of the simulated environments in the Challenge. Data acquisition relies on several sensors such as a stereo camera,(More)
The goal of this paper is to solve the problem of dynamic obstacle avoidance for a mobile platform using the stochastic optimal control framework to compute paths that are optimal in terms of safety and energy efficiency under constraints. We propose a three-dimensional extension of the Bayesian Occupancy Filter (BOF) (Coué et al. Int. J. Rob. Res. 2006,(More)
—This paper presents the results of a set of extensive experiments carried out under both daytime and nighttime real traffic conditions. The data were captured using an enhanced or extended Floating Car Data system (xFCD) that includes a stereo vision sensor for detecting the local traffic ahead. The collected information is then used to propose a novel(More)
In this paper we present a technique to build 3D maps of the environment using a 2D laser scanner combined with a robot's action model. This paper demonstrates that it is possible to build 3D maps in a cheap way using an angled 2D laser. We introduce a scan matching method to minimize the odometer errors of the robotics platform. Some experimental results(More)
Mapping techniques based on Wireless Range-Only Sensors (WROS) consist of locating the beacons using distance measurements only. In this work we use WROS working at 2.4GHz band (same as WiFi), which has the disadvantage of being affected by a high noise. The goal of this paper is to study a noisy range-only sensor and its application in the development of(More)