Luis Martinez-Gomez

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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)
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)
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)
This paper evaluates and compare three stateof-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)
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)
Atmospheric corrosion occurs under alternate cycles in presence and absence of an electrolyte layer, the severity of corrosion processes that occur onto the metallic surface depends largely on the corrosive environment to which the material is exposed. Whereas the corrosive phenomena occur in the presence of the electrolyte, in this work the effect of the(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)
Corrosion behavior of Ni20Cr coatings deposited by HVOF (high velocity oxygen-fuel) process was evaluated in ZnCl2-KCl (1 : 1 mole ratio) molten salts. Electrochemical techniques employed were potentiodynamic polarization curves, open circuit potential, and linear polarization resistance (LPR) measurements. Experimental conditions included static air and(More)