Publications
Probabilistic Scheduling Guarantees in Distributed Real-Time Systems under Error Bursts
The design of the CANbids architecture
Multi-robot coalition formation in real-time scenarios
Task allocation is one of the main issues to be addressed in multi-robot systems, especially when the robots form coalitions and the tasks have to be fulfilled before a deadline. In general, it is difficult to foresee the time required by a coalition to finish a task...
Optimal Number of Image Keypoints for Visual Odometry – An Empirical Study
The UspIC: Performing Scan Matching Localization Using an Imaging Sonar
This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a Mechanically Scanned Imaging Sonar (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the...
Diseño de sfiCAN: un inyector físico de fallos para redes CAN basado en una topología en estrella
A Control Technique for Integration of DG Units to the Electrical Networks
This paper deals with a multiobjective control technique for integration of distributed generation (DG) resources to the electrical power network. The proposed strategy provides compensation for active, reactive, and harmonic load current components during connection...
Design and Control of a Modular Multilevel DC/DC Converter for Regenerative Applications
This paper compares different cascaded and multilevel topologies to interface supercapacitors to a dc bus in regenerative braking applications. It is shown that the modular multilevel dc/dc converter (MMC) can benefit from both reduced voltage and increased frequency...
Multilevel modular DC/DC converter for regenerative braking using supercapacitors
Regenerative braking is presented in many electric traction applications such as electric and hybrid vehicles, lifts and railway. The regenerated energy can be stored for future use, increasing the efficiency of the system. This paper outlines the benefits of the MMC...
A Monocular Mobile Robot Reactive Navigation Approach Based on the Inverse Perspective Transformation
This paper presents an approach to visual obstacle avoidance and reactive robot navigation for outdoor and indoor environments. The obstacle detection algorithm includes an image feature tracking procedure followed by a feature classification process based on the IPT...
Swarm-like Methodologies for Executing Tasks with Deadlines
Very few studies have been carried out to test multi-robot task allocation swarm algorithms in real time systems, where each task must be executed before a deadline. This paper presents a comparative study of several swarm-like algorithms and auction based methods for...
A Micro Aerial Vehicle for Vessel Visual Inspection Assistance
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...
Convertidor DC/DC multinivell de dos quadrants aplicat al frenat regeneratiu mitjançant supercondensadors per vehicles elèctrics o híbrids
Aquest projecte tracta de la comparació de diferents topologies de convertidorsDC/DC sèrie i multinivell per aplicar-los al frenat regeneratiu de vehicles elèctricso híbrids (VEH). L’emmagatzematge d’aquesta energia recuperada es realitza a diferentsbancs de...
Frenado regenerativo en vehículos eléctricos mediante supercondensadores
Multilevel two quadrant DC/DC converter for regenerative braking in mobile applications
In this paper different cascaded and multilevel topologies are compared for regenerative braking systems using supercapacitors (SC). It shows that the multilevel buck derived topology can beneficiate from both reduced voltage across the inductor and increased...
Optimal Number of Image Keypoints for Real Time Visual Odometry
A visual odometer can estimate robot motion by tracking a set of invariant keypoints over a sequence of camera frames, at a computational cost that is roughly linear in the number of extracted keypoints. The leading literature suggests to extract all keypoints with a...
Underwater SLAM with Robocentric Trajectory Using a Mechanically Scanned Imaging Sonar
This paper proposes a novel approach to perform underwater Simultaneous Localization and Mapping (SLAM) using a Mechanically Scanned Imaging Sonar (MSIS). This approach starts by processing the MSIS data in order to obtain range scans while taking into account the...
Concurrent Visual Navigation and Localization using the Inverse Perspective Transformation
Recent advances in underwater robotics for intervention missions
On the Use of UAVs for Vessel Inspection Assistance
Vessel maintenance entails periodic visual inspections of internal and external parts of the vessel 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...