Diego Rodríguez-Losada

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This paper presents a new exact maximum clique algorithm which improves the bounds obtained in state of the art approximate coloring by reordering the vertices at each step. Moreover the algorithm can make full use of bit strings to sort vertices in constant time as well as to compute graph transitions and bounds efficiently, exploiting 10 the ability of(More)
This paper describes new improvements for BB-MaxClique [13], a leading maximum clique algorithm which uses bit string data structures to efficiently compute basic operations during search. Improvements include a recently described recoloring strategy in [12], which is now integrated in the bit string framework, as well as different optimization strategies(More)
This paper describes a simultaneous localization and mapping (SLAM) algorithm for use in unstructured environments that is effective regardless of the geometric complexity of the environment. Features are described using B-splines as modeling tool, and the set of control points defining their shape is used to form a complete and compact description of the(More)
Guido is a healthcare robot that serves as support and navigation aid for the frail and visually impaired. The previous assistive navigation software has been replaced by a full map based control, including real time feature based map building (SLAM) and pose tracking (both using an EKF), and path planning and collision avoidance. Real experiments have been(More)
The solution to the simultaneous localization and mapping (SLAM) problem using an extended Kalman filter (EKF) is the most extended despite the inconsistency of its estimation, a problem that has been largely avoided in the literature. We review current existing approaches and present novel solutions to this problem that let us to build large monolithic(More)
Guido is a healthcare robot that serves as support and navigation aid for the frail and visually impaired. Many robotic technologies are implemented in Guido to let it achieve its task: Simultaneous Localization and Map Building (SLAM), pose tracking, path planning, collision avoidance and human robot interaction. All these components of Guido’s navigation(More)
Guido, a smart walker developed by Haptica (Dublin, Ireland), is a robotic walking aid that addresses the needs of the frail visually impaired, providing them with a safe means of taking exercise independently as well as navigation assistance in new environments. It was based on a program of research in the Trinity College Dublin from 1995 to 2000. Many(More)