Research Project

UbRob: Robotica ubicua para entornos urbanos

Type

National Project

Start Date

14/12/2007

End Date

31/12/2010

Project Code

DPI2007-61452

Project illustration

Project Description

In this project we want to analyze and test the idea of incorporating a network of robots (robots, intelligent sensors, devices and communications) in order to improve life quality in urban areas. The project is focused in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, our objective is to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications.

Project Publications

Journal Publications

  • G. Ferrer and A. Sanfeliu. Anticipative kinodynamic planning: Multi-objective robot navigation in urban and dynamic environments. Autonomous Robots, 43: 1473-1488, 2019.

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  • G. Ferrer, A. Garrell Zulueta, F. Herrero and A. Sanfeliu. Robot social-aware navigation framework to accompany people walking side-by-side. Autonomous Robots, 41(4): 775-793, 2017.

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  • F. Serratosa i Casanelles, R. Alquézar Mancho and N. Amézquita. A probabilistic integrated object recognition and tracking framework. Expert Systems with Applications, 39(8): 7302-7318, 2012.

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  • E. Trulls Fortuny, A. Corominas Murtra, J. Perez, G. Ferrer, D. Vasquez, J. M. Mirats Tur and A. Sanfeliu. Autonomous navigation for mobile service robots in urban pedestrian environments. Journal of Field Robotics, 28(3): 329-354, 2011.

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  • A. Sanfeliu, J. Andrade-Cetto, M. Barbosa, R. Bowden, J. Capitán, A. Corominas Murtra, A. Gilbert, J. Illingworth, L. Merino, J. M. Mirats Tur, P. Moreno, A. Ollero, J. Sequeira and M.T. Spaan. Decentralized sensor fusion for ubiquitous networking robotics in urban areas. Sensors, 10(3): 2274-2314, 2010.

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  • A. Sanfeliu, M.R. Llácer, M.D. Gramunt, A. Punsola and Y. Yoshimura. Influence of the privacy issue in the deployment and design of networking robots in European urban areas. Advanced Robotics, 24(13): 1873-1899, 2010.

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  • T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Action selection for single-camera SLAM. IEEE Transactions on Systems, Man and Cybernetics: Part B, 40(6): 1567-1581, 2010.

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  • A. Sanfeliu, N. Hagita and A. Saffiotti. Editorial. Robotics and Autonomous Systems, 56(10): 791-791, 2008.

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  • A. Sanfeliu, N. Hagita and A. Saffiotti. Network robot systems. Robotics and Autonomous Systems, 56(10): 793-797, 2008.

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  • A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Action evaluation for mobile robot global localization in cooperative environments. Robotics and Autonomous Systems, 56(10): 807-818, 2008.

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Conference Publications

  • G. Ferrer and A. Sanfeliu. Comparative analysis of human motion trajectory prediction using minimum variance curvature, 6th ACM/IEEE International Conference on Human-Robot Interaction, 2011, Lausanne, Switzerland, pp. 135-136, ACM.

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  • E. Serradell, M. Özuysal, V. Lepetit, P. Fua and F. Moreno-Noguer. Combining geometric and appearance priors for robust homography estimation, 11th European Conference on Computer Vision, 2010, Crete, Greece, in Computer Vision - ECCV 2010, Vol 6313 of Lecture Notes in Computer Science, pp. 58-72, 2010, Springer, Berlin.

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  • A. Corominas Murtra, E. Trulls Fortuny, O. Sandoval, J. Perez, D. Vasquez, J. M. Mirats Tur, M. Ferrer and A. Sanfeliu. Autonomous navigation for urban service mobile robots, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 4141-4146, IEEE.

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  • A. Corominas Murtra, E. Trulls Fortuny, J. M. Mirats Tur and A. Sanfeliu. Efficient use of 3d environment models for mobile robot simulation and localization, 2nd International Conference on Simulation, Modelling, and Programming for Autonomous Robots, 2010, Darmstadt, Germany, in Simulation, Modelling, and Programming for Autonomous Robots, Vol 6472 of Lecture Notes in Computer Science, pp. 461-472, 2010, Springer, Berlin.

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  • A. Garrell Zulueta and A. Sanfeliu. Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 3294-3299, IEEE.

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  • M. Villamizar, F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Efficient rotation invariant object detection using boosted random Ferns, 2010 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2010, San Francisco, CA, USA, pp. 1038-1045.

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  • A. Garrell Zulueta and A. Sanfeliu. Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 5836-5841, IEEE.

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  • G. Sanroma, R. Alquézar Mancho and F. Serratosa i Casanelles. Attributed graph matching for image-features association using SIFT descriptors, 13th Joint IAPR International Workshop on Structural, Syntactic and Statistical Pattern Recognition, 2010, Izmir, Turkey, in Structural, Syntactic, and Statistical Pattern Recognition, Vol 6218 of Lecture Notes in Computer Science, pp. 254-263, 2010, Springer, Berlin.

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  • J. Scandaliaris, M. Villamizar and A. Sanfeliu. Comparative analysis for detecting objects under cast shadows in video images, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 4577-4580.

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  • G. Sanroma, R. Alquézar Mancho and F. Serratosa i Casanelles. A discrete labelling approach to attributed graph matching using SIFT features, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 954-957.

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  • A. Garrell Zulueta and A. Sanfeliu. Cooperative robots in people guidance mission: DTM model validation and local optimization motion, 2010 IROS Workshop on Network Robot Systems, 2010, Taipei, Taiwan, in An Approach for Human Robot Interaction, pp. 1-34, IEEE.

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  • G. Sanroma, R. Alquézar Mancho and F. Serratosa i Casanelles. Graph matching using SIFT descriptors - An application to pose recovery of a mobile robot, 5th International Conference on Computer Vision Theory and Applications, 2010, Angers, France, pp. 249-254.

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  • A. Garrell Zulueta and A. Sanfeliu. Cooperative robot movements for guiding and regrouping people using cost function evaluation, 2010 RSS Workshop on Learning for Human-Robot Interaction Modeling, 2010, Zaragoza, pp. 14-15.

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  • I. Bardaji, M. Ferrer and A. Sanfeliu. Computing the barycenter graph by means of the graph edit distance, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 962-965.

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  • I. Bardaji, M. Ferrer and A. Sanfeliu. A comparison between two representatives of a set of graphs: median vs barycenter graph, 13th Joint IAPR International Workshop on Structural, Syntactic and Statistical Pattern Recognition, 2010, Izmir, Turkey, in Structural, Syntactic, and Statistical Pattern Recognition, Vol 6218 of Lecture Notes in Computer Science, pp. 149-158, 2010, Springer, Berlin.

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  • M. Igelmo, A. Sanfeliu and M. Ferrer. A conductance electrical model for representing and matching weighted undirected graphs, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 958-961.

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  • M. Villamizar, F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Shared random Ferns for efficient detection of multiple categories, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 388-391.

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  • J. Scandaliaris and A. Sanfeliu. Discriminant and invariant color model for tracking under abrupt illumination changes, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 1840-1843.

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  • R. Alquézar Mancho, N. Amézquita and F. Serratosa i Casanelles. Tracking deformable objects and dealing with same class object occlusion, 4th International Conference on Computer Vision Theory and Applications, 2009, Lisboa, pp. 590-594, 2009, INSTICC Press.

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  • M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Local boosted features for pedestrian detection, 4th Iberian Conference on Pattern Recognition and Image Analysis, 2009, Povoa de Varzim, in Pattern Recognition and Image Analysis, Vol 5524 of Lecture Notes in Computer Science, pp. 128-135, 2009, Springer Verlag.

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  • F. Serratosa i Casanelles, N. Amézquita and R. Alquézar Mancho. Experimental assessment of probabilistic integrated object recognition and tracking methods, 14th Iberoamerican Congress on Pattern Recognition, 2009, Guadalajara (Mexico), in Progress in Pattern Recognition, Image Analysis and Applications, Vol 5856 of Lecture Notes in Computer Science, pp. 817-824, 2009, Springer Verlag.

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  • M. Villamizar, J. Scandaliaris, A. Sanfeliu and J. Andrade-Cetto. Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows, 2009 IEEE International Conference on Robotics and Automation, 2009, Kobe, Japan, pp. 1997-2002, IEEE.

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  • G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu and C. Torras. Humanoid robotics and human-centered initiatives at IRI, XXX Jornadas de Automática, 2009, Valladolid, Spain, pp. 1-8, 2009, Universidad de Valladolid, Valladolid, Espanya.

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  • A.A. Ortega, B. Dias, E.H. Teniente, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Calibrating an outdoor distributed camera network using laser range finder data, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 303-308.

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  • R. Valencia, E.H. Teniente, E. Trulls Fortuny and J. Andrade-Cetto. 3D mapping for urban service robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3076-3081.

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  • A. Sanfeliu. Cooperative environment perception in the URUS project, 2009 ICRA Workshop on Network Robot Systems, 2009, Kobe, Japan, pp. 1-37, IEEE.

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  • A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Discrete time motion model for guiding people in urban areas using multiple robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 486-491.

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  • A. Sanfeliu. URUS project: communication systems, 2009 IROS Workshop on Network Robot Systems, 2009, Saint Louis, in Network Robot Services for the Elderly, pp. 1-44, IEEE.

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  • A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Integrating asynchronous observations for mobile robot position tracking in cooperative environments, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 3850-3855.

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  • A. Sanfeliu. Ubiquitous networking robotics in urban sites (URUS), 2008 IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, 2008, Benicasim, pp. 1-24, IARP; EURON.

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  • A. Sanfeliu. URUS: Ubiquitous networking robotics for urban settings, 2008 Cognitive Systems Industry Day, 2008, Sankt Augustin, Alemanya, pp. 1-26, IAIS.

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  • A. Sanfeliu. URUS: Ubiquitous networking robotics for urban settings, 2008 ICRA Workshop on Network Robot Systems, 2008, Pasadena, Estats Units, pp. 1-44, IEEE.

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  • A. Sanfeliu. A view of network robot systems in urban areas in Europe, 2008 IROS Workshop on Network Robot Systems, 2008, Nice, França, pp. 1-60, IEEE.

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  • A. Sanfeliu. An European vision of network robot systems in urban areas, 2008 Network Robot Forum Meeting, 2008, Tokio, Japó, pp. 1-30, NRF.

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  • A. Sanfeliu. Cooperative issues in network robot systems in urban areas, 2008 Lisbon Workshop on New Challenges for Cooperative Robotics, 2008, Lisboa, Portugal, pp. 1-47, ISR.

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  • A. Sanfeliu. Cooperative robotics in urban areas, 2008 International Symposium in Network Robot Systems, 2008, Osaka, pp. 1-32, s.n..

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  • V. Ila, J. Andrade-Cetto and A. Sanfeliu. Efficient vision-based loop closing techniques for delayed state robot mapping, 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics, 2008, Kanagawa, Japó, pp. 1-6, ESF-JSPS.

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  • A. Corominas Murtra, J. M. Mirats Tur, O. Sandoval and A. Sanfeliu. Real-time software for mobile robot simulation and experimentation in cooperative environments, 1st International Conference on Simulation, Modelling, and Programming for Autonomous Robots, 2008, Venècia, Italia, in Simulation, Modeling, and Programming for Autonomous Robots, Vol 5321 of Lecture Notes in Computer Science, pp. 135-146, 2008, Springer, Berlin, Alemanya.

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  • A. Sanfeliu. Progress on ubiquitous networking robotics in urban settings, 2007 IROS Workshop on Network Robot Systems, 2007, San Diego, pp. 8-31, IEEE.

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Other Publications

  • E. Trulls Fortuny. Graphical user interface for the URUS project. Technical Report IRI-TR-08-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

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