Javier V. Gomez

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— This paper presents a novel robotic learning technique based on Fast Marching Square (F M 2). This method, which we have called FM Learning, is based on incorporating previous experience to the path planning system of the robot by taking into account paths taught to the robot via kinesthetic teaching, this is, guiding manually the robot through the(More)
— Experimental evaluation of navigation algorithms requires physical robots as well as position sensing devices. The common alternative is to use simulations to run the experiments. However, simulation often does not provide an accurate prediction of real-world behavior. Therefore, in this paper, we present an innovative approach towards evaluation of(More)
— Rhombic like vehicles are characterized for high maneuverability in cluttered environments. This type of vehicles will be used on remote handling operations of maintenance in the International Thermonuclear Experimental Reactor (ITER). Previous work was done in motion planning using Constrained Delaunay Triangulation for rhombic like vehicles operating in(More)
Sampling-based path planning algorithms are well-known because they are able to find a path in a very short period of time, even in high-dimensional spaces. However, they are non-smooth, random paths far away from the optimum. In this paper we introduce a novel improving technique based on the Fast Marching Method which improves in a deterministic,(More)
Bi-directional search is a widely used strategy to increase the success and convergence rates of sampling-based motion planning algorithms. Yet, few results are available that merge both bi-directional search and asymptotic optimality into existing optimal planners, such as PRM*, RRT*, and FMT*. The objective of this paper is to fill this gap. Specifically,(More)
The Fast Marching Method is a very popular algorithm to compute times-of-arrival maps (distances map measured in time units). Since their proposal in 1995, it has been applied to many different applications such as robotics, medical computer vision, fluid simulation, etc. Many alternatives have been proposed with two main objectives: to reduce its(More)