Publications
Towards efficient probabilistic scheduling guarantees for real-time systems subject to random errors and random bursts of errors
Probabilistic Appearance-Based Mapping and Localization Using Visual Features
An appearance-based approach for visual mapping and localization is proposed in this paper. On the one hand, a new image similarity measure between images based on number of matchings and their associated distances is introduced. On the other hand, to optimize running...
Vessel Inspection Assistance by means of a Micro-Aerial Vehicle: Control Architecture and Self-Localization Issues
Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as coating breakdown, corrosion, cracks, etc. The main goal of project MINOAS is...
Recommendations for reviewing papers in engineering-related research areas
All professional researchers are from time to time asked to carry out some reviewing. Although it is impossible from a practical point of view to achieve perfect reviewing, it is certainly mandatory for a responsible professional to try to do it in a good way. Good...
A Solution for Bayesian Visual Loop Closure Detection Based on Local Invariant Features
Visual loop closure detection in robotics is defi ned as the ability of recognizing previously seen places given the current image captured by the robot. The Bag-of-Words image representation has been widely used for these kinds of tasks. However, in this paper, an...
Impact of Environmental Dynamics on Economic Evolution: A Stylized Agent-based Policy Analysis
The general problem of how environmental dynamics affect the behavioral interaction in an evolutionary economy is considered. To this end, a basic model of a dynamic multi-sector economy is developed where the evolution of investment strategies depends on the...
Grid-Based Spatial Keypoint Selection for Real Time Visual Odometry
Robotic systems can achieve real-time visual odometry by extracting a fixed number of invariant keypoints from the current camera frame, matching them against keypoints from a previous frame, and calculating camera motion from matching pairs. If keypoints are selected...
Using Timed Automata for Modeling Distributed Systems with Clocks: Challenges and Solutions
The application of model checking for the formal verification of distributed embedded systems requires the adoption of techniques for realistically modeling the temporal behavior of such systems. This paper discusses how to model with timed automata the different...
New Solutions in Underwater Imaging and Vision Systems
Trident Newsletter 2012
Construction of sfiCAN: a star-based fault-injection infrastructure for the Controller Area Network
The need for an adequate fault injector for CAN has leaded to the proposal or use of different testing tools. However, all these aids present important limitations. The most important one is that none of them can generate local errors independently in the signals...
An Inverse-Perspective-based Approach to Monocular Mobile Robot Navigation
Semi-Autonomous Visual Inspection of Vessels Assisted by an Unmanned Micro Aerial Vehicle
Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as cracks, coating breakdown, corrosion, etc. The main goal of the EU-FP7 project...
A Control Architecture for a Micro Aerial Vehicle Intended for Vessel Visual Inspection
Large-tonnage vessels need to be revised periodically in order to detect defective situations, such as cracks, coating breakdown or corrosion that could lead to a catastrophe. The EU-FP7 project MINOAS is designed to develop a fleet of robotic platforms to automate...
Interval LPV identification and fault diagnosis of a real wind turbine
Fault detection and isolation of a real wind turbine using LPV observers
TRIDENT: Recent Improvements about Autonomous Underwater Intervention Missions
The need for intervention in underwater environments is significantly increasing in the last years. Possible applications include maintenance intervention in permanent observatories and offshore scenarios, and search & recovery for collecting objects of interest...