Marina Vallés

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This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar(More)
“Mechatronic” is a term that is used for describe an integrating science of the mechanical, electronic and computers areas with the objective of generating intelligent mechanical products. This characteristic needs to be taken into account for choosing a working platform when practical works with students are developed. For this, in this paper(More)
Nowadays, a lot of educational and research objectives can be achieved through the use of configurable, small, low-cost mobile robot kits. Using these systems, students must deal with topics like teamwork, real-world issues, integrated systems building, multidiscipline information, etc. This paper will present a mobile robot laboratory. The laboratory is(More)
This paper presents a remote process control application trough the Internet, considering the negative effects of TCP/IP-based networks over computer control due to time-varying sampling period. A controller design approach that uses time-varying observers and state feedback controllers designed by means of linear matrix inequalities (LMI) and quadratic(More)
In this paper, the implementation in the e-puck robot of an algorithm to keep going in a trajectory while evading fixed obstacles is presented. A review of some existing algorithms for trajectory tracking with obstacles avoidance is done. Also the basic characteristics of the mobile robot e-puck and the programming environment used to implement the control(More)
Model-based control improves robot performance provided that the dynamics parameters are estimated accurately. However, some of the model parameters change with time, e.g. friction parameters and unknown payload. Particularly, off-line identification approaches omit the payload estimation (due to practical reasons). Adaptive control copes with some of these(More)