Antonio Barrientos

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Antonio Barrientos, Julian Colorado, and Jaime del Cerro Centre for Automation and Robotics, UPM-CSIC, Madrid, Spain Alexander Martinez Centre for Automation and Robotics, UPM-CSIC, Madrid, Spain, and Robotics and Automation Group, Pontificia Universidad Javeriana, Cali, Colombia Claudio Rossi, David Sanz, and João Valente Centre for Automation and(More)
Dominant optic atrophy (DOA) and axonal peripheral neuropathy (Charcot-Marie-Tooth type 2, or CMT2) are hereditary neurodegenerative disorders most commonly caused by mutations in the canonical mitochondrial fusion genes OPA1 and MFN2, respectively. In yeast, homologs of OPA1 (Mgm1) and MFN2 (Fzo1) work in concert with Ugo1, for which no human equivalent(More)
This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aerial robot, which is applied to real-time frost monitoring in vineyards. The core feature of our system is a dynamic mobile node carried by an aerial robot, which ensures communication between sparse clusters located at fragmented parcels and a base station. This(More)
We develop a real-time method to detect and track moving objects (DATMO) from unmanned aerial vehicles (UAVs) using a single camera. To address the challenging characteristics of these vehicles, such as continuous unrestricted pose variation and low-frequency vibrations, new approaches must be developed. The main concept proposed in this work is to create(More)
This paper presents a novel bat-like unmanned aerial vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should manoeuvre by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight(More)
This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV). The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps of these(More)
8 The coverage path planning (CPP) problem, is a problem belonging to a subfield of motion planning where the goal is to compute a complete coverage trajectory from initial to final position, within the robot workspace subjected to a set of restrictions. This problem has a complexity NP-complete, and has no general solution. Moreover, there are very few(More)
This paper describes a mathematical model of a small-scale helicopter developed at "Universidad Politecnica of Madrid" as a part of VAMPIRA (multi-sensor aerial vehicle for autonomous inspections) project. A hybrid (analytic and empiric) model of a small helicopter is presented. The stability and response of the model is presented after a brief comparison(More)
In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then(More)
This research considers a sensory substitution device that allows the exploration of the environment through normal walking, leaning and standing. The device includes an array of 24 coin motors placed vertically on the torso, with the intensity of vibration of each motor being a function of the distance to the first-encountered object. Thresholds were(More)