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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="description" content="Gentlebots Website">
<meta name="author" content="David Vargas">
<title>Gentlebots Web</title>
<!-- Bootstrap core CSS -->
<link href="startbootstrap-agency-gh-pages/vendor/bootstrap/css/bootstrap.css" rel="stylesheet">
<!-- Custom fonts for this template -->
<link href="startbootstrap-agency-gh-pages/vendor/font-awesome/css/font-awesome.min.css" rel="stylesheet"
type="text/css">
<link href="fontawesome-free-5.15.2-web/css/all.css" rel="stylesheet">
<link href="https://fonts.googleapis.com/css?family=Montserrat:400,700" rel="stylesheet" type="text/css">
<link href='https://fonts.googleapis.com/css?family=Kaushan+Script' rel='stylesheet' type='text/css'>
<link href='https://fonts.googleapis.com/css?family=Droid+Serif:400,700,400italic,700italic' rel='stylesheet'
type='text/css'>
<link href='https://fonts.googleapis.com/css?family=Roboto+Slab:400,100,300,700' rel='stylesheet' type='text/css'>
<link href='https://fonts.googleapis.com/css?family=Comfortaa:700' rel='stylesheet' type='text/css'>
<!-- Custom styles for this template -->
<link href="css/inrob.css" rel="stylesheet">
<link href="css/icomoon.css" rel="stylesheet">
<link href="css/themify-icons.css" rel="stylesheet">
<link href="css/parallax.css" rel="stylesheet">
</head>
<body id="page-top">
<!-- Navigation -->
<nav class="navbar navbar-expand-lg navbar-dark fixed-top" id="mainNav">
<div class="container">
<div id=icon style="width: 50px"><img style="width: 100%" src="img/logo-gentlebots-full.png" /></div>
<a class="navbar-brand js-scroll-trigger" href="#page-top" style="padding-left:10px">Gentlebots</a>
<button class="navbar-toggler navbar-toggler-right" type="button" data-toggle="collapse"
data-target="#navbarResponsive" aria-controls="navbarResponsive" aria-expanded="false"
aria-label="Toggle navigation">
<i class="fa fa-bars"></i>
</button>
<div class="collapse navbar-collapse" id="navbarResponsive">
<ul class="navbar-nav text-uppercase ml-auto">
<li class="nav-item">
<a class="nav-link js-scroll-trigger" href="#home">Home</a>
</li>
<li class="nav-item">
<a class="nav-link js-scroll-trigger" href="#intro">Intro</a>
</li>
<li class="nav-item">
<a class="nav-link js-scroll-trigger" href="#members">Members</a>
</li>
<li class="nav-item">
<a class="nav-link js-scroll-trigger" href="#development">Development</a>
</li>
<li class="nav-item">
<a class="nav-link js-scroll-trigger" href="#publications">Publications</a>
</li>
<li class="nav-item">
<a class="nav-link js-scroll-trigger" href="#relatedlinks">Related Links</a>
</li>
</ul>
</div>
</div>
</nav>
<section id="home">
<div class="flex-container">
<div class="flex-item flex-subitem_1 gentlebots-bg-reverse">
<p class="home-text-p">
We are <span style="font-size: 200%">Gentlebots</span>, <br>
a team of researchers in Robotics <br>
from <span style="font-weight: bold;">Rey Juan Carlos University</span> <br>
and <span style="font-weight: bold;">University of León</span> <br>
experienced in participating in several <br>
<span style="font-weight: bold;">Robotics Competitions</span>.
</p>
</div>
<div class="flex-item flex-subitem_2">
<img class="project-img" src="img/team2023.jpg" alt="">
</div>
<div class="flex-item flex-subitem_3">
<div class="home-logo-img">
<a href="https://www.eu-robotics.net/robotics_league/">
<img class="project-img" src="img/erl.jpg" alt="">
</a>
</div>
<div class="home-logo-img">
<a href="https://www.robocup.org/">
<img class="project-img" src="img/robocup.jpeg" alt="">
</a>
</div>
<div class="home-logo-img">
<a href="https://sciroc.eu/">
<img class="project-img" src="img/sciroc.png" alt="">
</a>
</div>
</div>
</div>
</section>
<!--/section-->
<div class="home-panel">
<div id="home-panel-container">
<div class="row">
<div class="col-lg-3 col-md-6 text-center">
<div class="service-box mt-5 mx-auto">
<i class="fas fa-4x fa-users-cog text-primary mb-3 sr-icons"></i>
<h3 class="mb-3">Social <br>Robotics</h3>
<hr>
<p class="text-muted mb-0">
Proxemics<br>
People Mood Perception<br>
Social Navigation
</p>
</div>
</div>
<div class="col-lg-3 col-md-6 text-center">
<div class="service-box mt-5 mx-auto">
<i class="fa fa-4x fa-eye text-primary mb-3 sr-icons"></i>
<h3 class="mb-3">Perception<br><br></h3>
<hr>
<p class="text-muted mb-0">
3D Objects and People Detection<br>
Probabilistic Mapping<br>
Visual Attention
</p>
</div>
</div>
<div class="col-lg-3 col-md-6 text-center">
<div class="service-box mt-5 mx-auto">
<i class="fas fa-4x fa-robot text-primary mb-3 sr-icons"></i>
<h3 class="mb-3">Human-Robot<br>Interaction</h3>
<hr>
<p class="text-muted mb-0">
Multi-modal communication<br>
Dialogue<br>
Screen and QR communication
</p>
</div>
</div>
<div class="col-lg-3 col-md-6 text-center">
<div class="service-box mt-5 mx-auto">
<i class="fas fa-4x fa-bezier-curve text-primary mb-3 sr-icons"></i>
<h3 class="mb-3">Cognitive<br>Architecture</h3>
<hr>
<p class="text-muted mb-0">
Behaviour Generation<br>
BICA<br>
PDDL Planning
</p>
</div>
</div>
</div>
</div>
</div>
<section id="intro" class="gentlebots-bg">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading text-uppercase" style="color:black">Introduction</h2>
<h3 class="section-subheading text-muted">Our history</h3>
</div>
</div>
<p>
Gentlebots team is composed of two universities and is focused on software
development that allows robots to exhibit intelligent behaviors.
For this reason, the majority of the participations in competitions have
been in leagues whose robot is standard for all the participants of the
league, where the focus is in the programming of the algorithms.
Our team has a great tradition of participating in robotics competitions:
<ul>
<li>
6 RoboCup (2 in 4-legged, 3 SPL, 2 OPL, 1 SSPL)
</li>
<li>
5 German Open (4 4-legged and 1 SPL)
</li>
<li>
1 Dutch Open (4-legged)
</li>
<li>
1 Rome Cup (SPL)
</li>
<li>
1 Latin American Open (4-legged)
</li>
<li>
4 RoCKIn (camp and competition @Home)
</li>
<li>
4 ERL (@Home)
</li>
<li>
1 SciRoc
</li>
</ul>
</p>
<p>
The scientific production related to these participations is summarized
in 5 doctoral theses, 20 articles in high impact journals, and more than
40 articles in national and international congresses.
It is an excellent performance for a team that has never exceeded 10
members at a time.
</p>
<p>
We are involved in organizing @Home competitions. Francisco J. Rodrı́guez
is a member of the Organization Committee (OC) of RoboCup@Home. Vicente
Matellán is one of the organizers of the ERL, making available to this
competition an officially approved domestic environment of the league
within his laboratory in Leon. He has already organized two editions of
this competition.
</p>
<p>
Focusing on the @Home period, since 2012, our team has always developed
open source software using ROS. Our developments have always been released
as ROS packages and made available to the RoboCup community.
</p>
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/HZIZSTDtmA0" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
</section>
<section id="members" class="members-bg">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading text-uppercase" style="color:black">Members</h2>
<h3 class="section-subheading text-muted">Many people. One team.</h3>
</div>
</div>
<!-- permanents -->
<div class="flex-container">
<div class="col-lg-12 text-center">
<h3>Permanents</h3>
<hr>
</div>
<div class="flex-item flex-subitem-member-permanent">
<h4>Francisco J. Rodríguez Lera</h4><br>
<h5 class="text-muted">Doctor Engineer in Robotics</h5>
<h6 class="text-muted">University of León</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-permanent">
<h4>Francisco Martín Rico</h4><br>
<h5 class="text-muted">Doctor Engineer in Robotics</h5>
<h6 class="text-muted">Rey Juan Carlos University</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-permanent">
<h4>Vicente Matellán Olivera</h4><br>
<h5 class=" text-muted">Doctor Engineer in Robotics</h5>
<h6 class=" text-muted">University of León</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
</div>
<br><br><br>
<!-- current non-permanent -->
<div class="flex-container">
<div class="col-lg-12 text-center">
<h3>Current non-permanent</h3>
<hr>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>Claudia Álvarez Aparicio</h4><br>
<h5 class=" text-muted">Doctor Engineer in Robotics</h5>
<h6 class=" text-muted">University of León</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>José Miguel Guerrero</h4><br>
<h5 class="text-muted">Doctor Engineer in Robotics</h5>
<h6 class="text-muted">Rey Juan Carlos University</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>Rodrigo Pérez Rodríguez</h4><br>
<h5 class="text-muted">Doctor Engineer in Telematics</h5>
<h6 class="text-muted">Rey Juan Carlos University</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-container">
<div class="flex-item flex-subitem-member-non-permanent">
<h4>Miguel Ángel Gonzalez Santamarta</h4><br>
<h5 class=" text-muted">MSc in Computer Science & <br>PhD Candidate</h5>
<h6 class=" text-muted">University of León</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>Juan Diego Peña Narváez</h4><br>
<h5 class=" text-muted">MSc in Robotics & <br>PhD Candidate</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>Juan Carlos Manzanares Serrano</h4><br>
<h5 class=" text-muted">Degree in Robotics Software <br>(Student)</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>Irene González Fernández</h4><br>
<h5 class=" text-muted">MSc in Robotics</h5>
<h6 class=" text-muted">University of León</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h4>David Sobrín Hidalgo</h4><br>
<h5 class=" text-muted">MSc in Cybersecurity & <br>PhD Candidate</h5>
<h6 class=" text-muted">University of León</h6><br>
<i class='fas fa-envelope text-muted'></i><span class="text-muted"> [email protected]</span>
</div>
<br><br><br>
<!-- former members -->
<div class="flex-container">
<div class="col-lg-12 text-center">
<h3>Gone but not forgotten</h3>
<hr>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Jonatan Ginés Clavero</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Ángel Manuel Guerrero Higueras</h5>
<h6 class=" text-muted">University of León</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Pablo Castellanos López</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Fernando González Ramos</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Ivan Lopez Broceño</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Manuel Fernandez Carmona</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>David Vargas Frutos</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Lorena Bajo Rebollo</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Daniel Arévalo Rodrigo</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>María Belén Tualombo Chimbo</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Pablo Moreno</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Miguel Alamillo Reguero</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Victor Martín</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Carlos E. Agüero</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Fernando Casado</h5>
<h6 class=" text-muted">University of León</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Jesús Balsa</h5>
<h6 class=" text-muted">University of León</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Miguel Cazorla Quevedo</h5>
<h6 class=" text-muted">University of Alicante</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Boyán Bonev</h5>
<h6 class=" text-muted">University of Alicante</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>David Herrero</h5>
<h6 class=" text-muted">University of Murcia</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Humberto Barbera</h5>
<h6 class=" text-muted">University of Murcia</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Domeneç Puig</h5>
<h6 class=" text-muted">Rovira i Virgili University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Tomás González</h5>
<h6 class=" text-muted">Rovira i Virgili University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Álvaro Moreno</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
<div class="flex-item flex-subitem-member-non-permanent">
<h5>Javier Gutierrez-Maturana</h5>
<h6 class=" text-muted">Rey Juan Carlos University</h6>
</div>
</div>
</section>
<section id="development" class="gentlebots-bg">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading text-uppercase" style="color:black">Development</h2>
</div>
</div>
<div class="flex-container">
<div class="col-lg-12 text-center">
<h4 class="dev-title">Cognitive Architecture</h4>
<hr>
</div>
<div class="flex-item">
<p style="text-align: justify;">
In the implementation of our cognitive architecture, we use two main
elements: ROSPlan and BICA.
<a href="http://kcl-planning.github.io/ROSPlan/">ROSPlan</a> is an IA
planning framework, use popf among other planners.
<a href="https://github.com/IntelligentRoboticsLabs/BICA">BICA</a> is
a toolbox to create control solutions
for robots. Virtually all the elements of our design are BICA components
that perform different functions and is mapped to a ROS node. These
components are executed concurrently in a hierarchical way in order to
generate complex behaviors.
</p>
</div>
<!--<div class="flex-item" style="width: 600px;">
<img class="project-img" src="img/knowgraph.png" alt="">
</div>
<div class="flex-item flex-subitem-development-img" style="width: 600px;">
<img class="project-img" src="img/cognitive_arch.png" alt="">
</div>-->
</div>
<div class="flex-container">
<div class="col-lg-12 text-center">
<h4 class="dev-title">Perception</h4>
<hr>
</div>
<div class="flex-item">
<p style="text-align: justify;">
<span style="font-weight: bold; font-size: 110%">3D Detection</span><br>
We have developed a perception system based on Deep Learning. We use
YOLO2 to detect objects and people in images. This software is a C/C++
implementation of darknet, which is a convolutional neural network.
This software is fully integrated in ROS through the
<a href="https://github.com/leggedrobotics/darknet_ros">darknet_ros</a>
package. The output is a list of bounding boxes labeled with the class
and probability of the object detected.<br><br>
We have developed
<a href="https://github.com/IntelligentRoboticsLabs/gb_visual_detection_3d">Darknet3D</a>.
This component receives the 2D bounding boxes and a point cloud, and
then generates 3D bounding boxes.
For this purpose, we use dedicated hardware (Jetson TX2) in order to
avoid the overload of the robot computer.
</p>
</div>
<div class="flex-item" style="width: 800px;">
<img class="project-img" src="img/deep.png" alt="">
</div>
<div class="flex-item">
<p style="text-align: justify;">
<span style="font-weight: bold; font-size: 110%">Visual Attention</span><br>
When our robot wants to detect objects, or track an element, it uses
our visual attention system. This system is controlled using and
updating the knowledge graph. For each type of target, there is a
specialized care component. Each specialized care component provides
3D points that the robot must attend. The attention system visits in
round robin every 3D point that is provided.
</p>
</div>
<div class="flex-item" style="width: 800px;">
<img class="project-img" src="img/yolo_capture.png" alt="">
</div>
</div>
<div class="flex-container">
<div class="col-lg-12 text-center">
<h4 class="dev-title">Social Navigation</h4>
<hr>
</div>
<div class="flex-item">
<p style="text-align: justify;">
Starting from the standard ROS navigation package, we have modified the
map and location system to have a system that, based on a map of walls
and doors, adds the permanent objects that the robot perceives during
its operation.
This is called long-term navigation, and is based on the fusion of
several maps that reflect the presence of obstacles over time. We use
perception of both the laser and the 3D camera of the robot to perceive
the obstacles.
</p>
</div>
<div class="flex-item" style="width: 800px;">
<img class="project-img" src="img/darknet_ros_3d.png" alt="">
</div>
<div class="flex-item">
<p style="text-align: justify;">
Our approach builds a static map starting from the construction plans of a
building. A long-term map is started from the static map, and updated when
adding and removing furniture, or when doors are opened or closed. A short-term
map represents dynamic obstacles such as people. This approach is appropriate
for fast deployment and long-term operations in office or domestic environments,
able to adapt to changes in the environment.
We combine our long-term mapping approach with a social navigation
algorithm for robots that is acceptable to people. Robots will detect both the
personal areas of humans and their areas of activity, to carry out their tasks,
generating navigation routes that have less impact on human activities.
The main novelty of this approach is that the robot will perceive moods of people,
to adjust the size of proxemic areas.
</p>
</div>
<div class="flex-item" style="width: 400px;">
<img class="project-img" src="img/exp1_paths.png" alt="">
</div>
</div>
<br>
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/yZm0xNN3K3U" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
<br>
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/8icVWz0zSMw" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
<br>
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/arUlQy7IT14" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
<br>
<div class="flex-container">
<div class="col-lg-12 text-center">
<h4 class="dev-title">Human-Robot Interaction</h4>
<hr>
</div>
<div class="flex-item">
<p style="text-align: justify;">
Our robot performs a multi-modal communication with humans. Use three
simultaneous forms of communication to avoid communication errors that may
block the robot at some point.<br><br>
<span style="font-weight: bold; font-size: 110%">Dialogue generation</span><br>
The main form of communication is through a natural voice dialogue. Our
system uses DialogFlow and Google Speech. DialogFlow has a web interface
where, as in a chatbot, instances, contexts, and the elements necessary for a
sophisticated dialogue are encoded.
It is the only component of our software that requires access to a service
outside the robot. This is why we have added the other communication systems,
to avoid relying on wireless connectivity.
</p>
</div>
</div>
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/pU4avjbgFMQ" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
<br>
<div class="flex-container">
<div class="flex-item">
<p style="text-align: justify;">
<span style="font-weight: bold; font-size: 110%">Alternative Ways for Communication</span><br>
The second form of communication is the touch screen. In addition to
the state of the robot, the text that the robot is saying is shown. The
third form of communication is through phrases and words coded in a
deck of QR symbols.
</p>
</div>
<div class="flex-item">
<p style="text-align: justify;">
<span style="font-weight: bold; font-size: 110%">Context Awareness</span><br>
Context-awareness is a fundamental component in human robot interaction.
Understanding the user activity context the robot improves the overall
decision-making process. This is because, given a context, the robot can
reduce the set of feasible actions. We consider that using an on-board
microphone and gathering environmental sounds we can improve the context
recognition. For this purpose, we have designed, developed and tested
a computational lightweight Environment Recognition Component (ERC).
In this iteration our ERC is able to recognize a set of four home bells.
This component provides information to a Context-Awareness Component
(CAC) that implements a hierarchical Bayesian network to tag user’s
activities based on the American Occupational Therapy Association (AOTA)
classification.
</p>
</div>
<!--<div class="flex-item" style="width: 500px;">
<img class="project-img" src="img/SimulatorContext.png" alt="">
</div>-->
</div>
<div class="flex-container">
<div class="col-lg-12 text-center">
<h4 class="dev-title">ROS2, Nav2 and ROS Security</h4>
<hr>
</div>
<div class="flex-item">
<p style="text-align: justify;">
We are Nav2 active contributors, the ROS navigation stack evolution for ROS2,
and we were part of one of the IROS Best RoboCup Paper Award finalists, The Marathon2.
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/QB7lOKp3ZDQ" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
<div class="flex-container">
<div class="flex-item flex-subitem-video">
<iframe class="intro-video" src="https://www.youtube.com/embed/tXp8wFZr68M" frameborder="0"
allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</div>
</div>
</br>
We are planning to develop some of the modules in ROS2 in order to an
efficient and convenient distribution of the components. Since our goal
is to use our systems in real environments, we will implemented our
software with security mechanisms that prevent intrusions, attacks and
not allowed manipulations.
</p>
</div>
</div>
</section>
<section id="publications" class="members-bg">
<div class="row">
<div class="col-lg-12 text-center">
<h2 class="section-heading text-uppercase" style="color:black">Publications</h2>
</div>
</div>
<br><br>
<div class="row">
<div class="col-lg-12 text-center">
<h3>In @Home competitions</h3>
</div>
</div>
<hr>
<br>
<h6>Defining Adaptive Proxemic Zones for Activity-Aware Navigation</h6>
<p class="text-muted" style="font-size: 80%;">
Clavero, J. G., Rico, Francisco M., Rodríguez-Lera, Francisco J., Hernández, J. M. G., & Olivera, V. M. (2020,
November). In Workshop of Physical Agents (pp. 3-17). Springer, Cham.
</p>
<h6>The Marathon 2: A Navigation System</h6>
<p class="text-muted" style="font-size: 80%;">
Steve Macenski, Francisco Martín, Ruffin White, Jonatan Ginés. 2020 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2020), October 2020.
</p>
<div id="inhomecomp" style="display: none">
<h6>Using HPC as a Competitive Advantage in an International Robotics Challenge</h6>
<p class="text-muted" style="font-size: 80%;">
Aparicio, C. Á., Ginés, J., Santamarta, M. A., Rico, F. M., Higueras, Á. M. G., Lera, F. J. R., & Olivera, V. M.
(2020, September). In Latin American High Performance Computing Conference (pp. 103-114). Springer, Cham.
</p>
<h6>Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge</h6>
<p class="text-muted" style="font-size: 80%;">
Martín, F., Rodríguez Lera, F. J., Ginés, J., & Matellán, V. (2020). Applied Sciences, 10(17), 6067.
</p>
<h6>Tracking people in a mobile robot from 2d lidar scans using full convolutional neural networks for security in
cluttered environments</h6>
<p class="text-muted" style="font-size: 80%;">
Guerrero-Higueras, Á. M., Álvarez-Aparicio, C., Calvo Olivera, M. C., Rodríguez-Lera, F. J., Fernández-Llamas,
C., Rico, F. M., & Matellán, V. (2019). Frontiers in neurorobotics, 12, 85.
</p>
<h6>A Context-Awareness Model for Activity Recognition in robot-assisted scenarios</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco J. Rodriguez Lera, Francisco Martín Rico, Vicente Matellán Olivera and Miguel A. Guerrero. Expert
Systems. (In press). 2019
</p>
<h6>Octree-based localization using RGB-D data for indoor robots</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco Martín Rico, Vicente Matellán Olivera, Francisco J. Rodriguez Lera and Jonathan Ginés. Engineering
Applications of Artificial Intelligence. Volume 77, January 2019, Pages 177-185. 2019
</p>
<h6>People detection and tracking using LIDAR sensors</h6>
<p class="text-muted" style="font-size: 80%;">
Claudia Álvarez Aparicio, Ángel Manuel Guerrero Higueras, Francisco Javier Rodríguez Lera, Jonatan Ginés
Clavero, Francisco Martín Rico, Vicente Matellán. Journal Robotics. Special Issue "Robotics in Spain 2019". 2019
</p>
<h6>Adapting ROS Logs to Facilitate Transparency and Accountability in Service Robotics</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco J Rodríguez Lera, Angel Manuel Guerrero Higueras, Vicente Matellan Olivera, Francisco Martín Rico,
Jonathan Gines and Juan Felipe García Sierra. ROBOT2019, published in Springer - Advances in Intelligent Systems
and Computing series. November 2019.
</p>
<h6>Using Probabilistic Context Awareness in a Deliberative Planner System</h6>
<p class="text-muted" style="font-size: 80%;">
JG Clavero, Francisco J. Rodriguez Lera, Francisco Martín Rico, Angel Manuel Guerrero, Vicente Matellán.
International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2019
</p>
<h6>Artificial Semantic Memory with Autonomous Learning applied to Social Robots</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco Martin-Rico, Francisco Gomez-Donoso, Felix Escalona, Miguel Cazorla, Jose Garcia-Rodriguez.
International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2019
</p>
<h6>LIDAR-based people detection and tracking for @Home Competitions</h6>
<p class="text-muted" style="font-size: 80%;">
Claudia Álvarez-Aparicio, Ángel M Guerrero-Higueras, Francisco J Rodríguez-Lera, M Carmen Calvo Olivera, Vicente
Matellán Olivera, Jonatan Ginés Clavero, Francisco Martín Rico. 2019 IEEE International Conference on Autonomous
Robot Systems and Competitions (ICARSC). 2019
</p>
<h6>Neural Networks for Recognizing Human Activities in Home-like Environments</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco J. Rodriguez Lera, Francisco Martín Rico, and Vicente Matellán Olivera. Integrated Computer-Aided
Engineering. 2018
</p>
<h6>HiMoP: A three-components architecture to create more human-acceptable social-assistive robots</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco Javier Rodríguez Lera, Vicente Matellán Olivera, Miguel Ángel Conde, Francisco Martín. Cognitive
Processing. 2018
</p>
<h6>Planning-centered Architecture for RoboCup SSPL @Home</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco Martín, Jonathan Ginés, David Vargas, Francisco J. Rodríguez-Lera, Vicente Matellán. WAF2018,
publisehd in Advances in Intelligent Systems and Computing series. November 2018.
</p>
<h6>Planning Topological Navigation for complex Indoor Environments</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco Martín, Jonathan Ginés, David Vargas, Francisco J. Rodríguez-Lera, Vicente Matellán. 2018 IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS 2018), October 2018.
</p>
<h6>Generating Symbolic Representation from Sensor Data: Inferring knowledge in Robotics Competitions</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco J. Rodriguez Lera, Francisco Martín Rico y Vicente Matellán Olivera. 18th International Conference on
Autonomous Robot Systems and Competitions (ICARSC 2018).Torres Vedras, Portugal, April 2018
</p>
<h6>Context Awareness in shared human-robot Environments: Benefits of Environment Acoustic Recognition for User
Activity Classification</h6>
<p class="text-muted" style="font-size: 80%;">
Francisco J. Rodríguez-Lera, Francisco Martín Rico, Vicente Matellán. 8th International Conference on Pattern
Recognition Systems (ICPRS 2017). 11-13 July 2017, Madrid, (Spain)
</p>
<h6>Empirical analysis of cyber-attacks to an indoor real time localization system for autonomous robots</h6>
<p class="text-muted" style="font-size: 80%;">
Ángel Manuel Guerrero-Higuerasa, Noemí DeCastro-García, Francisco Javier Rodríguez-Lera, Vicente Matellán.
Computers & Security. ISI Impact Factor 2016: 2.849 Computer Science, Information Systems (Q2) DOI:
10.1016/j.cose.2017.06.013.
</p>
<h6>Dynamics maps for long-term autonomy</h6>
<p class="text-muted" style="font-size: 80%;">Jonathan Ginés Clavero, Francisco Martin Rico, Vicente Matellan
Olivera, Francisco J. Lera and Jesus Balsa. 17th International Conference on Autonomous Robot Systems and
Competitions (ICARSC 2017). Coimbra (Portugal). May 2017.
</p>
<h6>Deep Learning and Bayesian Networks for Labelling User Activity Context Through Acoustic Signals</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Rodriguez Lera, Francisco Martin Rico and Vicente Matellan
Olivera. IWINAC. International Work-conference on the Interplay between Natural and Artificial Computation. A
Coruña (Spain). June 2017 (Accepted)
</p>
<h6>A motivational architecture to create more human-acceptable assistive robots for robotics competitions</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Rodríguez Lera, Vicente Matellán, Miguel Ángel Conde, and
Francisco Martín Rico. IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC'2016),
4-6 May 2016. Bragança (Portugal).DOI: 10.1109/ICARSC.2016.19)
</p>
<h6>Cybersecurity in Autonomous Systems: Evaluating the performance of hardening ROS</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Javier Rodríguez Lera, Jesús Balsa, Fernando Casado,
Camino Fernández, Francisco Martín Rico, and Vicente Matellán. XVII Workshop en Agentes Físicos, pp. 47-54.
16-17 June 2016. Málaga (Spain).
</p>
<h6>Multi-thread impact on the performance of Monte Carlo based algorithms for self-localization of robots using
RGB-D sensors</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Vicente Matellan and Francisco J. Rodríguez Lera.
XVII Workshop en Agentes Físicos, pp. 123-130. 16-17 June 2016. Málaga (Spain).
</p>
<h6>Design and Evaluation of a Low-Cost Robotic Arm for @Home Competitions</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Rodríguez Lera, Fernando Casado, Vicente Matellán, and
Francisco Martín Rico. Second Iberian Robotics Conference (ROBOT 2015), Lisboa, Portugal. November 19-21 2015.
</p>
<h6>Mobile robot performance in robotics challenges: Analyzing a simulated indoor scenario and its translation to
real-world</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Rodríguez Lera, Fernando Casado García, Gonzalo Esteban y
Vicente Matellán. Second International Conference on Artificial Intelligence, Modelling and Simulation. Madrid
18-20 November 2014.
</p>
<h6>Visual Localization based on Quadtrees</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín Rico, ROBOT'2015 Second Iberian Robotics
Conference.
</p>
<h6>Analysis and Evaluation of a Low-Cost Robotic Arm for @Home Competitions</h6>
<p class="text-muted" style="font-size: 80%;">Francisco J. Lera, Fernando Casado, Vicente Matellán y Francisco
Martín Rico. ROBOT'2015 Second Iberian Robotics Conference.
</p>
<h6>A Simple, Efficient, and Scalable Behavior-based Architecture for Robotic Applications</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín Rico, Carlos E. Agüero Durán. ROBOT'2015 Second
Iberian Robotics Conference.
</p>
<h6>A robotic platform for domestic applications</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín Rico, José Mateos, Francisco J. Lera, Pablo Bustos
y Vicente Matellán. XV Workshop en Agentes Físicos (WAF 2014).
</p>
<h6>MYRABot+: A Feasible robotic system for interaction challenges</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín Rico, Francisco J. Rodríguez Lera y Vicente
Matellán. IEEE International Conference on Autonomous Robot Systems and Competitions (IEEE ICARSC) 2014.
</p>
<h6>Multi-modal Active Visual Perception System for SPL Player Robot</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Carlos Agüero, José María Cañas y Eduardo
Perdices, Robot 2013. First Iberian Robotics Conference. Madrid (Sapin) Nov 2013.
</p>
<h6>Low-Cost Mobile Manipulation Platform for RoCKIn@home Competition</h6>
<p class="text-muted" style="font-size: 80%;">Francisco J. Rodríguez Lera, Fernando Casado, Carlos Rodríguez
Hernández, Vicente Matellán. XV Workshop en Agentes Físicos (WAF 2014). León (Spain), June 12-13 2014.
</p>
</div>
<h6 class="showhidetext">
<span class="static-span" onclick="showhide_publications('inhomecomp')">Show 26 <span
id="inhomecomp-dynamic-span">more <i class="fa fa-angle-down sr-icons"></i></span></span>
</h6>
<hr>
<br><br><br>
<div class="row">
<div class="col-lg-12 text-center">
<h3>In SPL competitions</h3>
</div>
</div>
<hr>
<br>
<h6>Effective visual attention for behavior-based robotic applications</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Luis Rubio, Carlos E. Agüero y José M. Cañas
Workshop of Physical Agents 2012. Madrid (Spain), Sept 2013.
</p>
<h6>Effective real-time visual object detection</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín and Manuela Veloso. Progress in Artificial
Intelligence. Springer. Volume 1, Issue 4. pp 259-265. 2012.
</p>
<div id="insplcomp" style="display: none">
<h6>Multi-modal Active Visual Perception System for SPL Player Robot</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Carlos Agüero, José María Cañas y Eduardo
Perdices. Advances in Intelligent Systems and Computing. Springer. Volume 252, pp 541-556. 2014.
</p>
<h6>Humanoid Soccer Player Design</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Carlos Agüero, José María Cañas y Eduardo
Perdices. Robot Soccer. Ed: Vladan Papic, pp 67-100. IN-TECH, ISBN, 978-953-307-036-0. 2010.
</p>
<h6>Localization and Design of a Humanoid GoalKeeper for the RoboCup SPL</h6>
<p class="text-muted" style="font-size: 80%;">Víctor Rodríguez, Francisco Javier Rodríguez Lera Vicente Matellán.
11th International Conference on Intelligent Systems Design and Applications.
</p>
<h6>Using visual attention in a Nao humanoid to face the RoboCup any-ball challenge</h6>
<p class="text-muted" style="font-size: 80%;">Juan F. García, Francisco J. Rodríguez, Francisco Martín, Vicente
Matellán. Humanoids 2010. 5th Workshop on Humanoid Soccer Robots, in the 10th IEEE-RAS Internatioinal Conference
on Humanoid Robotics. December 6-8, 2010 Sheraton Nashville Downtown, Nashville, TN (USA).
</p>
<h6>Extended Kalman Filter Populations for a reliable Real Time Robot Self-localization</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Carlos Agüero y José María Cañas 2012 IEEE
Intelligent Vehicles Symposium Workshop. Alcalá de Henares (Spain), Jul 2012.
</p>
<h6>Saliency map based attention control for the RoboCup SPL</h6>
<p class="text-muted" style="font-size: 80%;">Juan F. García, Francisco J. Rodríguez, Camino Fernández, Vicente
Matellán XI Workshop en Agentes Físicos (WAF'2010), co-located with CEDI'2010, Valencia (España), Septiembre
2010.
</p>
<h6>Behavior-based Iterative Component Architecture for soccer applications with the Nao humanoid</h6>
<p class="text-muted" style="font-size: 80%;">Carlos E. Agüero, Jose M. Canas, Francisco Martin and Eduardo
Perdices 5Th Workshop on Humanoids Soccer Robots. Nashville, TN, USA. Dic.
</p>
<h6>Behavior-Based Iterative Component Architecture for Robotics Aplications With the Nao Humanoid</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, José María Cañas, Carlos Agüero, Eduardo Perdices.
XI Workshop de Agentes Físicos. Valencia (Spain).
</p>
<h6>Estimación de objetos con fusión bayesiana en equipos de robots móviles</h6>
<p class="text-muted" style="font-size: 80%;">Carlos E. Agüero, José M. Cañas, Vicente Matellán and Francisco
Martín Aceptado en V Workshop Robocity 2030: Cooperación en Robótica. Madrid (Spain), Feb.
</p>
<h6>Localización probabilística del humanoide Nao en el campo de la Robocup</h6>
<p class="text-muted" style="font-size: 80%;">Francisco J. Rdez. Lera, Juan F. García,Camino Fdez. Llamas, Vicente
Matellán. SoftComputing, co-located with CEDI2010, Valencia (España), Septiembre 2010.
</p>
<h6>Follow Ball Behavior for an humanoid soccer player</h6>
<p class="text-muted" style="font-size: 80%;">Martín, F., Agüero, C.E., Cañas J.M. X Workshop de Agentes Físicos.
Cáceres (Spain).
</p>
<h6>Design an evaluation of RoboCup humanoid goalie</h6>
<p class="text-muted" style="font-size: 80%;">Juan F. García, Francisco J. Rodríguez, Camino Fernández, and
Vicente Matellán. Journal of Physical Agents, Vol. 4, No. 2, May 2010. ISSN: 1888-0258.
</p>
<h6>Using genetic algorithms for real-time object detection</h6>
<p class="text-muted" style="font-size: 80%;">Jesús Martínez Gómez, José Antonio Gámez, Ismael García-Varea,
Vicente Matellán. Robocup 2009, Graz (Austria), Julio 2009.
</p>
<h6>Designing a minimal reactive goalie for the RoboCup SPL</h6>
<p class="text-muted" style="font-size: 80%;">Juan F. García, Francisco J. Rodríguez, Vicente Matellán, Camino
Fernández. X Workshop en Agentes Físicos (WAF'2009). Cáceres (España), Septiembre 2009.
</p>
<h6>Desarrollo e Integración de Comportamientos en el Humanoide Nao: Un portero para la RoboCup</h6>
<p class="text-muted" style="font-size: 80%;">Juan F. García, Francisco J. Rodríguez, Vicente Matellán, XXV
Jornadas Automática, Valladolid, Septiembre 2009.
</div>
<h6 class="showhidetext">
<span class="static-span" onclick="showhide_publications('insplcomp')">Show 15 <span
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<h3>In 4-legged competitions</h3>
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<h6>Portable autonomous walk calibration for 4-legged robots</h6>
<p class="text-muted" style="font-size: 80%;">Boyan Bonev, Miguel Cazorla, Francisco Martín,Vicente Matellán.
Applied Intelligence, Volume 36, Number 1, pp. 136-147. DOI 10.1007/s10489-010-0249-9 ISI Impact Factor: 1.936
(2012) Q2
</p>
<h6>Visual Based Localization of a Legged Robot with a topological representation</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín Rico, José María Cañas Plaza, Vicente Matellán. In
''Robot Localization and Map Building'',Hanafiah Yussof (Ed.), INTECH,. March 2010. DOI:10.5772/9261
</p>
<div id="in4legcomp" style="display: none">
<h6>A hybrid approach to fast and accurate localisation for legged robots</h6>
<p class="text-muted" style="font-size: 80%;">Renato Samperio, Housheng Hu, Francisco Martín, Vicente Matellán.
Robotica International, Cambridge Journals. Vol. 26, Num. 06, pp. 817-830. Published on line 11 april 2008
doi:10.1017/S0263574708004414.
</p>
<h6>Aplicaciones de la lógica borrosa en el equipo de fútbol robótico TeamChaos</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín , Carlos E. Agüero, José María Cañas, Pablo Barrera
Vicente Matellán. ESTYLF08, pp.543-549 Cuencas Mineras (Mieres - Langreo), 17 - 19 de Septiembre de 2008. ISBN
978-691-5807-4.
</p>
<h6>Localization of legged robots combining a fuzzy-Markov method and a population of extended kalman filters</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Vicente Matellán, José María Cañas y Pablo
Barrera. Robotics and Autonomous Systems. Vol.55, Num. 12, pp. 870-880. ISSN: 0921-8890.
doi:10.1016/j.robot.2007.09.006
</p>
<h6>Distributed Perception for a group of legged robots</h6>
<p class="text-muted" style="font-size: 80%;">Calos E. Agüero, Antonio L. González, Francisco Martín, Vicente
Matellan. IEEE Internationa Symposium on on Intelligent Signal Processing. Alcalá de Henares, 4 October 2007.
DOI: doi:10.1109/WISP.2007.4447492
</p>
<h6>MBA: A Modular Hierarchical Behavior-Based Architecture</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Vicente Matellan. 11-12 Septiembre 2007. Zaragoza.
WAF 2007, pp. 33-39. Zaragoza. 10-14 de septiembre 2007. ISBN: 978-84-9732-598-1.
</p>
<h6>MOSAIC: MOdular System AIbo Control". Carlos Agüero, Francisco Martín Rico, Vicente Matellán, José María
Cañas. I Workshop RoboCity 2030. 12 de Febrero de 2007.
</p>
<h6>Indoor fuzzy self-localization using fuzzy segments</h6>
<p class="text-muted" style="font-size: 80%;">D. Herrero-Pérez, H. Martínez-Barberá, A. Saffiotti, Journal of
Physical Agents, 1(1), 2007, 3276, 45-54.
</p>
<h6>Fuzzy uncertainty modeling for grid based localization of mobile robots</h6>
<p class="text-muted" style="font-size: 80%;">D. Herrero-Pérez, H. Martínez-Barberá, K. LeBlanc, A. Saffiotti,
International Journal of Approximate Reasoning, 51(8), 2010, 912-932.
</p>
<h6>Robust and Efficient Embedded Vision for Aibo in Robocup</h6>
<p class="text-muted" style="font-size: 80%;">D. Herrero-Pérez, H. Martínez-Barberá. IEEE Latin American
Robotics Symposium (LARS 2008). 20/08/2008. Salvador, Brazil.
</p>
<h6>Fuzzy Self-Localization using Fuzzy Segments</h6>
<p class="text-muted" style="font-size: 80%;">D. Herrero-Pérez, H. Martínez-Barberá. VIII Workshop en Agentes
Físicos. 17/07/2007. Zaragoza, Spain.
</p>
<h6>Visual Based Localization for a Legged Robot</h6>
<p class="text-muted" style="font-size: 80%;">Francisco Martín, Vicente Matellán, José María Cañas, Pablo