Carlos Miguel Soria

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This paper presents a novel image-based controller for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are considered: an image-based approach and a position-based approach. Both are fully described including stability analysis and experimental results on real robots, discussing limitations(More)
BACKGROUND Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman(More)
The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some(More)
This work presents the development of a robotic wheelchair that can be commanded by users in a supervised way or by a fully automatic unsupervised navigation system. It provides flexibility to choose different modalities to command the wheelchair, in addition to be suitable for people with different levels of disabilities. Users can command the wheelchair(More)
In this work, original results, concerning the application of a discrete-time adaptive PID neural controller in mobile robots for trajectory tracking control, are reported. In this control strategy, the exact dynamical model of the robot does not need to be known, but a neural network is used to identify the dynamic model. To implement this strategy, two(More)
This work presents a control strategy that allows a follower robot to track a target vehicle moving along an unknown trajectory with unknown velocity. It uses only artificial vision to establish both the robot's position and orientation relative to the target, so as to maintain a specified formation at a given distance. The control system is proved to be(More)
This work presents a control strategy for coordination of multiple robots based on artificial vision to measure the relative posture between them, in order to reach and maintain a specified formation. Given a leader robot that moves about an unknown trajectory with unknown velocity, a controller is designed to maintain the robots following the leader at a(More)
This work presents a new approach to calculate the optical flow, which uses the decentralized information filter to accomplish a data fusion step. The proposal consists in taking some least mean square estimates of the optical flow vector associated to a certain region of the image considered and to fuse them in order to get a more accurate final estimate(More)