http://hdl.handle.net/10045/12595 Fri, 24 May 2013 07:00:11 GMT 2013-05-24T07:00:11Z http://rua.ua.es:80/dspace/retrieve/50051/cover_9.jpg http://hdl.handle.net/10045/12595 http://hdl.handle.net/10045/12601 Título: Indoor fuzzy self-localization using fuzzy segments Autor/es: Herrero Pérez, David; Martínez Barberá, Humberto Resumen: The research presented in this paper approaches the issue of indoor localization using the fuzzy logic framework for modeling and dealing with the uncertainty of the position measurements. Fuzzy logic presents properties that make it suitable tool to represent and manage the different factors that affect the measures. This framework allows representing the perceptions, including their associated uncertainty, using fuzzy sets and making use of the tools provided by the framework to manage and operate them. This work uses the fuzzy segment theory to maintain a coherent local representation around the robot using multi-sensor fusion based on fuzzy logic, and uses these fuzzy segments to feed a fuzzy self-localization method, which is able to deal with the ambiguity in the global localization problem. Sat, 01 Sep 2007 00:00:00 GMT http://hdl.handle.net/10045/12601 2007-09-01T00:00:00Z http://hdl.handle.net/10045/12600 Título: Voronoi-based space partitioning for coordinated multi-robot exploration Autor/es: Wu, Ling; García García, Miguel Ángel; Puig Valls, Domenec; Solé Ribalta, Albert Resumen: Recent multi-robot exploration algorithms usually rely on occupancy grids as their core world representation. However, those grids are not appropriate for environments that are very large or whose boundaries are not well delimited from the beginning of the exploration. In contrast, polygonal representations do not have such limitations. Previously, the authors have proposed a new exploration algorithm based on partitioning unknown space into as many regions as available robots by applying K-Means clustering to an occupancy grid representation, and have shown that this approach leads to higher robot dispersion than other approaches, which is potentially beneficial for quick coverage of wide areas. In this paper, the original K-Means clustering applied over grid cells, which is the most expensive stage of the aforementioned exploration algorithm, is substituted for a Voronoi-based partitioning algorithm applied to polygons. The computational cost of the exploration algorithm is thus significantly reduced for large maps. An empirical evaluation and comparison of both partitioning approaches is presented. Sat, 01 Sep 2007 00:00:00 GMT http://hdl.handle.net/10045/12600 2007-09-01T00:00:00Z http://hdl.handle.net/10045/12599 Título: Robot navigation behaviors based on omnidirectional vision and information theory Autor/es: Bonev, Boyan; Cazorla Quevedo, Miguel Ángel; Escolano Ruiz, Francisco Resumen: In this work we present a reactive autonomous robot navigation system based only on omnidirectional vision. It does not rely on any prior knowledge about the environment apart from assuming a structured one, like indoor corridors or outdoor avenues. The direction of the corridor is estimated from the entropy analysis of a 1-D omnidirectional image. The 2-D omnidirectional image is analyzed for obstacle avoidance and for keeping a safety distance from the borders of the corridor. Both methods are non-metric and no 3-D information is needed. The system performs well with different resolutions and the catadioptric sensor needs no calibration. We present results from indoor and outdoor experiments. Sat, 01 Sep 2007 00:00:00 GMT http://hdl.handle.net/10045/12599 2007-09-01T00:00:00Z http://hdl.handle.net/10045/12598 Título: A fuzzy system for detection of interaction demanding and nodding assent based on stereo vision Autor/es: Aguirre Molina, Eugenio; García Silvente, Miguel; González Muñoz, Antonio; Paúl Oliveira, Rui; Muñoz Salinas, Rafael Resumen: Despite of the advances achieved in the past years in order to design more natural interfaces between intelligent systems and humans, there is still a great effort to be done. Considering a robot as an intelligent system, the determination of some typical interaction situations is an interesting ability to achieve. This paper shows a fuzzy system that allows the visual detection of possible interaction demands and the shaking or nodding of the head. To achieve this objective, the robot has first to carry out the detection and tracking of the people using the stereo vision system. Then, the level of interest of a person to interact with the robot is calculated by analyzing his/her position and the pose of his/her head. The head pose is estimated in realtime by a view based approach using Support Vector Machines (SVM). Whenever the level of interest achieves an high value, the person is analyzed in more detail to detect the position and the motions of his/her arms as well as whether the person is shaking or nodding his/her head. This information is managed by a fuzzy system to detect a possible interest demand or the intention of the person to say yes or no using his/her head. At the end of the paper, some experiments are shown to validate the proposal. Finally, future work is addressed. Sat, 01 Sep 2007 00:00:00 GMT http://hdl.handle.net/10045/12598 2007-09-01T00:00:00Z