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The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical(More)
The lack of publicly accessible datasets with a reliable ground truth has prevented in the past a fair and coherent comparison of different methods proposed in the mobile robot Simultaneous Localization and Mapping (SLAM) literature. Providing such a ground truth becomes specially challenging in the case of visual SLAM, where the world model is(More)
This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the complexity of dynamics computations in the loop. This traction scheme is found both in many off-the-shelf mobile robots due to its mechanical simplicity and in outdoor applications due to(More)
Recently, hybrid maps that combine metric and topological world information have been proposed as a powerful representation of mobile robot environments. Among others, these maps are of special interest for efficiently managing large-scale environments, and for accurate localization. For achieving that, local geometric maps are stored in the nodes of a(More)
The popularity of Bayesian optimization methods for efficient exploration of parameter spaces has lead to a series of papers applying Gaussian processes as surrogates in the optimization of functions. However, most proposed approaches only allow the exploration of the parameter space to occur sequentially. Often, it is desirable to simultaneously propose(More)
In this work glycosyl hydrolase (GH) family 30 (GH30) is analyzed and shown to consist of its currently classified member sequences as well as several homologous sequence groups currently assigned within family GH5. A large scale amino acid sequence alignment and a phylogenetic tree were generated and GH30 groups and subgroups were designated. A partial(More)
PURPOSE Metastatic renal cell carcinoma can be clinically diverse in terms of the pattern of metastatic disease and response to treatment. We studied the impact of metastasis and location on cancer specific survival. MATERIALS AND METHODS The records of 2,017 patients with renal cell cancer and tumor thrombus who underwent radical nephrectomy and tumor(More)
Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, like labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees of autonomy(More)
There is a pressing need to develop alternative, natural anthelmintics to control widespread drug-resistant gastrointestinal nematodes in ruminants, such as Haemonchus contortus. Artemisinin and its semi-synthetic derivatives are widely used against drug-resistant Plasmodium falciparum, but their role in veterinary medicine is only emerging. Artemisinin may(More)
This paper introduces a new approach to simultaneous localization and mapping (SLAM) that pursues robustness and accuracy in large-scale environments. Like most successful works on SLAM, we use Bayesian filtering to provide a probabilistic estimation that can cope with uncertainty in the measurements, the robot pose, and the map. Our approach is based on(More)