Luis Martinez-Gomez

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This paper presents ICS-AVOID, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), ie a state for which, no matter what the future trajectory of the robotic system is, a collision eventually occurs. By design, ICS-AVOID can handle dynamic environments since ICS do take into account the future behaviour of moving objects.(More)
For its own safety, a robot system should never find itself in a state where there is no feasible trajectory to avoid collision with an obstacle. Such a state is an Inevitable Collision State (ICS). The ICS concept is particularly useful for navigation in dynamic environments because it takes into account the future behaviour of the moving objects.(More)
An inevitable collision state (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion planning (to reduce the search space) and reactive navigation (for obvious safety reasons, a robotic system should never ever move to an ICS). ICS are(More)
In this paper we present the design and implementation of our Small Size League RoboCup Soccer Team – Eagle Knights. We explain the three main components of our architecture: Vision System, AI System and Robots. Each element is an independent entity and therefore the explanation focus on the improvements made to our 3rd generation of robots and the way(More)
In this paper we describe preliminary results from a collaborative effort between ITAM's Robotics Lab and UCSC's Internetworking Research Group (i-NRG) focusing on extending the Small-Size League RoboCup system architecture. More specifically, our goal is to enable multi-robot collaboration beyond the limits of a soccer field environment. To this end, we(More)
In this paper we present the design and implementation of our Small Size League RoboCup Soccer Team – Eagle Knights. We explain the three main components of our architecture: Vision System, AI System and Robots. Each element is an independent entity and therefore the explanation focus on the improvements made to our 3rd generation of robots and the way(More)
Several austenitic stainless steels suitable for high temperature applications because of their high corrosion resistance and excellent mechanical properties were investigated as biomaterials for dental use. The steels were evaluated by electrochemical techniques such as potentiodynamic polarization curves, cyclic polarization curves, measurements of open(More)
— This paper evaluates and compare three state-of-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach; it is henceforth called TVDW which stands for Time-Varying Dynamic Window. The second one called NLVO builds upon the concept of Non Linear Velocity Obstacle(More)
In this paper we present the design and implementation of our Small Sized League RoboCup Team – Eagle Knights. We explain the three main components of our architecture: Vision System, AI System and Robots. Each element is an independent entity and therefore the explanation focuses on the improvements made to our third generation of robots and how these(More)