Topological and Semantic Navigation

TopoNav

Description

AURON (Autonomous Robot Navigation) is considered a complete navigation system formed by the interaction of four main components: the explorer, the planner, the navigator and the relocalizator.
Each component has its own mission and interacts with the others giving autonomy to the robot. The explorer is in charge of generating without human intervention the representation of the environment navigating through unknown places and obtaining information. The planner gives the sequence of actions and detected events to go from one place to another once the robot has its own representation. The navigator converts the sequence obtained by the planner in real movements and supervises all the process and finally, the relocalizator allows placing the robot again in the representation of the environment once it is lost.
The environment representation is an essential part of the system as it is used by all the other components. This representation includes semantic information.







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People working

  • Ram贸n Barber
  • Jonathan Crespo
  • Carlos Jos茅 Astua
  • Higor Alves

People who started the research line

  • Miguel 脕ngel Salichs
  • Ver贸nica Egido
  • Ana Corrales

Entries:
A model-free approach for accurate joint motion control in humanoid locomotion
International Journal of Humanoid Robotics. num. 1 , vol. 8 , 2011
J. Villagra
Humanoid Robot RH-1 for Collaborative Tasks. A Control Architecture for Human-Robot Cooperation
Applied Bionics and Biomechanics. num. 4 , vol. 5 , pages: 225 – 234 , 2009
C.A. Monje P. Pierro

Entries:
O. Stasse; A. Kheddar; K. Yokoi. Humanoid feet trajectory generation for the reduction of the dynamical effects
The 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids '09), Paris, France
P. Pierro
A Human-Humanoid Interface for Collaborative Tasks
Second workshop for young researchers on Human-friendly robotics, Sestri Levante, Italy
P. Pierro M. Gonz谩lez-Fierro D. Hernandez
A Practical Decoupled Stabilizer for Joint-Position Controlled Humanoid Robots
The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS '09), St. Louis, USA
D. Kaynov P. Pierro
The Virtual COM Joints Approach for Whole-Body RH-1 Motion
18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN '09), Toyama , Japan
P. Pierro C.A. Monje
Performing collaborative tasks with the humanoid robot RH-1 – A novel control architecture
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Istanbul, Turkey
P. Pierro C.A. Monje
Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation
14th International Conference on Advanced Robotics (ICAR '09), Munich, Germany
P. Pierro C.A. Monje
Cap铆tulo: “Realizaci贸n de tareas colaborativas entre robots humanoides. Experimentaci贸n con dos robots Robonova”
At Proceedings of the V Workshop ROBOCITY2030. Cooperaci贸n en Rob贸tica, 2009, Madrid, Spain
D. Herrero P. Pierro A. Jardon
Modelling and Control of the Humanoid Robot RH-1 for Collaborative Tasks
IEEE RAS/RSJ Conference on Humanoids Robots, Daejeon, Korea
P. Pierro C.A. Monje
Robots in future collaborative working environments
First workshop for young researchers on Human-friendly robotics, Napoli, Italy
P. Pierro
HUMAN-HUMANOID ROBOT COOPERATION IN COLLABORATIVE TRANSPORTATION TASKS
11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), 2008, Coimbra, Portugal
M. Arbulu
Trends of new robotics platform, designing Humanoid Robot Rh-1
CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, 2007, Bogota, Colombia
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Nuevas tendencias en plataformas de rob贸tica, caso robot humanoide Rh-1
Intercon 2007XIV Congreso Internacional de Ingenier铆a El茅ctrica, Electr贸nica y Sistemas, 2007, Piura, Peru
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
ZMP Human Measure System
8th International Conference on Climbing and Walking Robots (Clawar'2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov
Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms
International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton, Canada
J. M. Pardos-Gotor
Humanoid Robot Kinematics Modeling Using Lie Groups
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
J. M. Pardos-Gotor
Lie Groups and Lie Algebras in Robotics.
University Carlos III of Madrid – ROBOTICSLAB SEMINAR., Madrid, Spain
J. M. Pardos-Gotor

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