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Chapter and Conference Paper
Quality Study of Robot Trajectories Based on the Anisotropic Fast Marching Method
Fast Marching Method has been applied to many fields such as image processing or path planning. For path planning, the Anisotropic Fast Marching Method can be used, which allows computing paths with small grad...
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Article
Fast Marching-based globally stable motion learning
In this paper, a novel motion learning method is introduced: Fast Marching Learning (FML). While other learning methods are focused on optimising probabilistic functions or fitting dynamical systems, the propo...
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Article
Differential Evolution Markov Chain Filter for Global Localization
A key challenge for an autonomous mobile robot is to estimate its location according to the available information. A particular aspect of this task is the global localization problem. In our previous work, we ...
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Chapter and Conference Paper
Path Planning for Mars Rovers Using the Fast Marching Method
This paper presents the application of the Fast Marching Method, with or without an external vectorial field, to the path planning problem of robots in difficult outdoors environments. The resulting trajectory...
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Article
3D Robot Formations Path Planning with Fast Marching Square
This work presents a path planning algorithm for 3D robot formations based on the standard Fast Marching Square (FM2) path planning method. This method is enlarged in order to apply it to robot formations motion ...
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Article
Adaptive evolving strategy for dextrous robotic manipulation
A robot task can be represented as a set of trajectories conformed by a sequence of poses. In this way it is possible to teach a mobile robot to accomplish a manipulation task, and also to reproduce it. Nevert...
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Chapter and Conference Paper
Improving Sampling-Based Path Planning Methods with Fast Marching
Sampling-based path planning algorithms are well-known because they are able to find a path in a very short period of time, even in high-dimensional spaces. However, they are non-smooth, random paths far away ...
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Article
Robotic Motion Using Harmonic Functions and Finite Elements
The harmonic functions have proved to be a powerful technique for motion planning in a known environment. They have two important properties: given an initial point and an objective in a connected domain, a un...
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Article
A Genetic Algorithm for Mobile Robot Localization Using Ultrasonic Sensors
A mobile robot requires the perception of its local environment for position estimation. Ultrasonic range data provide a robust description of the local environment for navigation. This article presents an ult...
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Chapter
Predictive Control with Restricted Genetic Optimisation
This paper presents an improved on-line predictive control method of nonlinear time-varying dynamic systems. This method identifies the predictive controller coefficients with a new technique called Restricted...
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Chapter and Conference Paper
Learning Adaptive Parameters with Restricted Genetic Optimization Method
Mechanisms for adapting models, filters, regulators and so on to changing properties of a system are of fundamental importance in many modern identification, estimation and control algorithms. This paper prese...
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Chapter and Conference Paper
State estimation for nonlinear systems using restricted genetic optimization
In this paper we describe a new nonlinear estimator for filtering systems with nonlinear process and observation models, based on the optimization with RGO (Restricted Genetic Optimization). Simulation results...
