Juan Andrade Cetto's Books

Visual Guidance of Unmanned Aerial Manipulators

By: Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto

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Visual Guidance of Unmanned Aerial Manipulators

By: Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

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Page Count

155

Publisher

Springer

Published Date

ISBN 10

3319965808

ISBN 13

9783319965802

Mapping, Planning and Exploration with Pose SLAM

By: Rafael Valencia,Juan Andrade-Cetto

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Mapping, Planning and Exploration with Pose SLAM

By: Rafael Valencia,Juan Andrade-Cetto

This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.

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Page Count

124

Publisher

Springer

Published Date

ISBN 10

3319606034

ISBN 13

9783319606033

Environment Learning for Indoor Mobile Robots

A Stochastic State Estimation Approach to Simultaneous Localization and Map Building

By: Juan Andrade Cetto,Alberto Sanfeliu

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Environment Learning for Indoor Mobile Robots

A Stochastic State Estimation Approach to Simultaneous Localization and Map Building

By: Juan Andrade Cetto,Alberto Sanfeliu

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. These include estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.

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Page Count

136

Publisher

Springer

Published Date

ISBN 10

3540821376

ISBN 13

9783540821373

Visual Guidance of Unmanned Aerial Manipulators

By: Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto

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Visual Guidance of Unmanned Aerial Manipulators

By: Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto

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Solve jigsaw puzzle

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Page Count

155

Publisher

Springer

Published Date

ISBN 10

3319965808

ISBN 13

9783319965802

Mapping, Planning and Exploration with Pose SLAM

By: Rafael Valencia,Juan Andrade-Cetto

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Mapping, Planning and Exploration with Pose SLAM

By: Rafael Valencia,Juan Andrade-Cetto

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Page Count

124

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Springer

Published Date

ISBN 10

3319606034

ISBN 13

9783319606033

Informatics in Control Automation and Robotics

Revised and Selected Papers from the International Conference on Informatics in Control Automation and Robotics 2009

By: Juan Andrade Cetto,Joaquim Filipe,Jean-Louis Ferrier

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Informatics in Control Automation and Robotics

Revised and Selected Papers from the International Conference on Informatics in Control Automation and Robotics 2009

By: Juan Andrade Cetto,Joaquim Filipe,Jean-Louis Ferrier

The present book includes a set of selected papers from the fourth “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2009), held in Milan, Italy, from 2 to 5 July 2009. The conference was organized in three simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation” and “Systems Modeling, Signal Processing and Control”. The book is based on the same structure. ICINCO received 365 paper submissions, not including those of workshops, from 55 countries, in all continents. After a double blind paper review performed by the Program Committee only 34 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 9%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2009. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.

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Page Count

346

Publisher

Springer Science & Business Media

Published Date

ISBN 10

3642197302

ISBN 13

9783642197307

Book's by Juan Andrade Cetto

Visual Guidance of Unmanned Aerial Manipulators

Visual Guidance of Unmanned Aerial Manipulators

Mapping, Planning and Exploration with Pose SLAM

Mapping, Planning and Exploration with Pose SLAM

Environment Learning for Indoor Mobile Robots

Environment Learning for Indoor Mobile Robots

Visual Guidance of Unmanned Aerial Manipulators

Visual Guidance of Unmanned Aerial Manipulators

Mapping, Planning and Exploration with Pose SLAM

Mapping, Planning and Exploration with Pose SLAM

Informatics in Control Automation and Robotics

Informatics in Control Automation and Robotics

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