Rafael Sanz

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In many application areas mobile robots need the ability to interact with people. In order to be able to communicate with even untrained users, the interaction should be as natural as possible. One of the preconditions of a natural interaction is that the robot focuses the person it is interacting with. In this paper we present a technique that combines(More)
— In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost. Particularly, repeated occurrences of similar features due to repeating structure in the world (e.g., doorways, chairs,(More)
— Most of the mobile robot control frameworks are based on a middleware layer with several independent modules that implement primitive actions and report events about their state. These modules are usually connected with different inter-process communication mechanisms. Here, we propose to use hierarchical interpreted binary Petri nets to coordinate the(More)
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