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)
Trends in complex, software-intensive control systems show a continuous process of incorporating mechanisms of self-representation and reflection. One of the main reasons is to improve system performance and resilience in changing uncertain environments. These approaches employ runtime models of the system itself that, to some extent, are identifiable with(More)
This paper describes a new local avoidance method for indoor mobile robots. The method uses a directional method named the Beam Method to improve the performance of a local obstacle avoidance approach called Curvature Velocity Method (CVM). The proposed Beam Method employs radial distances provided by the robot sensors to calculate the best one-step(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 interprocess communication mechanisms. Here, we propose to use hierarchical interpreted binary Petri nets to coordinate the(More)
Mobile robots operating in the real world need very reliable navigation capabilities to operate autonomously for long periods of time. However, it is almost impossible to specify in advance all the possible anomalous situations the navigation system can encounter, especially given noisy and imprecise sensor information and a dynamic and partially known(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)