Publications


Authors: Type:

2017

  • [PDF] [DOI] P. Bachiller Burgos, L. J. Manso Argüelles, and P. Bustos García, “A variant of the hough transform for the combined detection of corners, segments, and polylines,” Eurasip journal on image and video processing, vol. 2017, iss. 32, 2017.
    [Bibtex]
    @article{variant-hough-corners,
    author="Bachiller Burgos, Pilar and Manso Argüelles, Luis Jesús and Bustos García, Pablo",
    title="A variant of the Hough Transform for the combined detection of corners, segments, and polylines",
    journal="EURASIP Journal on Image and Video Processing",
    year="2017",
    volume="2017",
    number="32",
    doi="10.1186/s13640-017-0180-7",
    }
  • [PDF] [DOI] M. A. Gutiérrez Giraldo, L. J. Manso Argüelles, H. Pandya, and P. Núñez Trujillo, “A passive learning sensor architecture for multimodal image labeling: an application for social robots,” Sensors, vol. 17, iss. 2, 2017.
    [Bibtex]
    @article{passive-learning-sensor,
    author="Gutiérrez Giraldo, Marco Antonio and Manso Argüelles, Luis Jesús and Harit Pandya and Núñez Trujillo, Pedro",
    title="A Passive Learning Sensor Architecture for Multimodal Image Labeling: An Application for Social Robots",
    journal="Sensors",
    year="2017",
    volume="17",
    number="2",
    doi="10.3390/s17020353",
    }
  • [PDF] [DOI] J. C. Pulido, J. C. González, C. Suárez-Mejías, A. Bandera, P. Bustos García, and F. Fernández, “Evaluating the Child-Robot Interaction of the NAOTherapist Platform in Pediatric Rehabilitation.” 2017, p. 16.
    [Bibtex]
    @inproceedings{journal-ijsr-naot-therapist,
    author = {José Carlos Pulido and José Carlos González and Cristina Suárez-Mejías and Antonio Bandera and Bustos García, Pablo and Fernando Fernández},
    abstract = {NAOTherapist is a cognitive robotic archi- tecture whose main goal is to develop non-contact upper- limb rehabilitation sessions autonomously with a social robot for patients with physical impairments. In order to achieve a fluent interaction and an active engagement with the patients, the system should be able to adapt by itself in accordance with the perceived environment. In this paper, we describe the interaction mechanisms that are necessary to supervise and help the patient to carry out the prescribed exercises correctly. We also provide an evaluation focused on the child-robot interaction of the robotic platform with a large number of schoolchil- dren and the experience of a first contact with three pediatric rehabilitation patients. The results presented are obtained through questionnaires, video analysis and system logs, and have proven to be consistent with the hypotheses proposed in this work.},
    doi = {10.1007/s12369-017-0402-2},
    issn = {1875-4791},
    journal = {International Journal of Social Robotics},
    keywords = {Automated Planning,Control Architectures and Programming,Rehabilitation Robotics,Social Human-Robot Interaction,Socially Assistive Robotics},
    pages = {16},
    publisher = {Springer Netherlands},
    title = {{Evaluating the Child-Robot Interaction of the NAOTherapist Platform in Pediatric Rehabilitation}},
    year = {2017}
    }

2016

  • [PDF] E. Paoletti, M. E. Paoletti, J. M. Haut, N. Garcia, and P. Bustos García, “Learnbot: aprendiendo el pasado con nuevas tecnologías.” 2016.
    [Bibtex]
    @inproceedings{learnbot-historia,
    author = {E. Paoletti and M.E. Paoletti and J.M. Haut and N. Garcia and Bustos García, Pablo},
    title = {LearnBot: Aprendiendo el pasado con nuevas tecnologías},
    year = {2016}
    }
  • [PDF] R. Marfil, L. J. Manso Argüelles, J. P. Bandera, A. Romero-Garcés, A. Bandera, P. Bustos García, L. V. Calderita Estévez, J. C. González, A. García-Olaya, R. Fuentetaja, and F. Fernández, “Percepts symbols or Action symbols ? Generalizing how all modules interact within a software architecture for cognitive robotics,” in Workshop of physical agents 2016, Málaga, Spain, 2016.
    [Bibtex]
    @inproceedings{percepts-symbols-action,
    author = {R. Marfil and Manso Argüelles, Luis Jesús and J.P. Bandera and A. Romero-Garcés and A. Bandera and Bustos García, Pablo and Calderita Estévez, Luis Vicente and J.C. González and A. García-Olaya and R. Fuentetaja and F. Fernández},
    abstract = {Robots require a close coupling of perception and action. Cognitive robots go beyond this to require a further coupling with cognition. From the perspective of robotics, this coupling generally emphasizes a tightly integrated perceptuomo- tor system, which is then loosely connected to some limited form of cognitive system such as a planner. At the other end, from the perspective of automated planning, the emphasis is on a highly functional system that, taken to its extreme, calls perceptual and motor modules as independent functions. This paper proposes to join both perspectives through a unique representation where the responses of all modules on the software architecture (percepts or actions) are grounded using the same set of symbols. This allows to generalize the signal-to-symbol divide that separates classic perceptuomotor and automated planning systems, being the result a software architecture where all software modules interact using the same tokens.},
    address = {M{\'{a}}laga, Spain},
    booktitle = {Workshop of Physical Agents 2016},
    number = {June},
    title = {{Percepts symbols or Action symbols ? Generalizing how all modules interact within a software architecture for cognitive robotics}},
    year = {2016}
    }
  • [PDF] P. Núñez Trujillo, L. J. Manso Argüelles, P. Bustos García, P. Drews-Jr, and D. G. Macharet, “A Proposal for the Design of a Semantic Social Path Planner using CORTEX ˜,” in Workshop of physical agents 2016, Málaga, Spain, 2016.
    [Bibtex]
    @inproceedings{proposal-design-semantic,
    abstract = {Path planning is one of the basic and widely studied problems in robotics navigation, being its aim to determine the path from one coordinate location to another along a set of way- points. Traditionally, this problem has been addressed using the geometric world, that is, 2D or 3D coordinates from a geometric map. New generation of robots should be able to plan this path also taking into account social conventions, which is commonly called social navigation. This paper describes the ongoing work of a new proposal for the path planning problem where the semantic knowledge of the robot surrounding and different social rules are used to determine the best route from the robot to the target poses. In this work, a specific type of semantic map is described, which integrates both, geometrical information and semantic knowledge. The proposal uses CORTEX, an agent-based Robotics Cognitive Architecture which provides a set of different agents in the deliberative-reactive spectrum. The proposal is going to be tested in two different social robots within the NAVLOC project 1},
    address = {M{\'{a}}laga, Spain},
    author = {Núñez Trujillo, Pedro and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Paulo Drews-Jr and Douglas G. Macharet},
    booktitle = {Workshop of Physical Agents 2016},
    title = {{A Proposal for the Design of a Semantic Social Path Planner using CORTEX ˜}},
    volume = {1},
    year = {2016}
    }
  • [PDF] A. Bandera, J. P. Bandera, P. Bustos García, L. V. Calderita Estévez, Á. Dueñas, F. Fernández, R. Fuentetaja, Á. García-Olaya, F. J. García-Polo, J. C. González, A. Iglesias, L. J. Manso Argüelles, R. Marfil, J. C. Pulido, C. Reuther, A. Romero-Garcés, and C. Suárez, “CLARC : a Robotic Architecture for Comprehensive Geriatric Assessment,” in Workshop on physical agents, Málaga, 2016, pp. 1-8.
    [Bibtex]
    @inproceedings{clarc-robotic-architecture,
    author = {Antonio Bandera and Juan Pedro Bandera and Bustos García, Pablo and Calderita Estévez, Luis Vicente and Álvaro Dueñas and Fernando Fernández and Raquel Fuentetaja and Ángel García-Olaya and Francisco Javier García-Polo and José Carlos González and Ana Iglesias and Manso Argüelles, Luis Jesús and Rebeca Marfil and José Carlos Pulido and Christian Reuther and Adrián Romero-Garcés and Cristina Suárez},
    address = {M{\'{a}}laga},
    booktitle = {Workshop on Physical Agents},
    number = {June},
    pages = {1--8},
    title = {{CLARC : a Robotic Architecture for Comprehensive Geriatric Assessment}},
    volume = {1},
    year = {2016}
    }
  • [PDF] P. Bustos García, L. J. Manso Argüelles, L. V. Calderita Estévez, and A. Bandera, “Use and advances in the active grammar-based modeling architecture.” 2016.
    [Bibtex]
    @inproceedings{advances-active-grammar,
    author = {Bustos García, Pablo and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Antonio Bandera},
    title = {Use and advances in the Active Grammar-based Modeling architecture},
    year = {2016}
    }
  • [PDF] [DOI] P. Bustos García, L. J. Manso Argüelles, J. P. Bandera, A. Romero-Garcés, L. V. Calderita Estévez, R. Marfil, and A. Bandera, “Deep representations for collaborative robotics,” in Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), 2016.
    [Bibtex]
    @inproceedings{deep-representations-for-collaborative,
    author = {Bustos García, Pablo and Manso Argüelles, Luis Jesús and Juan P. Bandera and Adrián Romero-Garcés and Calderita Estévez, Luis Vicente and Rebeca Marfil and Antonio Bandera},
    abstract = {{\textcopyright} Springer International Publishing AG 2016.Collaboration is an essential feature of human social interaction. Briefly, when two or more people agree on a common goal and a joint intention to reach that goal, they have to coordinate their actions to engage in joint actions, planning their courses of actions according to the actions of the other partners. The same holds for teams where the partners are people and robots, resulting on a collection of technical questions difficult to answer. Human-robot collaboration requires the robot to coordinate its behavior to the behaviors of the humans at different levels, e.g., the semantic level, the level of the content and behavior selection in the interaction, and low-level aspects such as the temporal dynamics of the interaction. This forces the robot to internalize information about the motions, actions and intentions of the rest of partners, and about the state of the environment. Furthermore, collaborative robots should select their actions taking into account additional human-aware factors such as safety, reliability and comfort. Current cognitive systems are usually limited in this respect as they lack the rich dynamic representations and the flexible human-aware planning capabilities needed to succeed in tomorrow human-robot collaboration tasks. Within this paper, we provide a tool for addressing this problem by using the notion of deep hybrid representations and the facilities that this common state representation offers for the tight coupling of planners on different layers of abstraction. Deep hybrid representations encode the robot and environment state, but also a robot-centric perspective of the partners taking part in the joint activity.},
    booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    doi = {10.1007/978-3-319-50862-7_14},
    file = {:home/pbustos/Mendeley/Deep Representations for Collaborative Robotics {\_} springerprofessional.pdf:pdf},
    isbn = {9783319508610},
    issn = {16113349 03029743},
    keywords = {Cognitive robot,[Agent-based robotic architecture},
    title = {{Deep representations for collaborative robotics}},
    volume = {10087 LNCS},
    year = {2016}
    }
  • [PDF] P. Bustos García, M. Sánchez, M. Barrena, C. Campillo, and P. García, “Arquitectura Software Basada en Tecnologías Smart para Agricultura de Precisión,” in Jornadas de ingenieria del software y bases de datos, Santander, Spain, 2016.
    [Bibtex]
    @inproceedings{arquitectura-software-tecnologias-smart,
    author = {Bustos García, Pablo and Miguel Sánchez and Manuel Barrena and Carlos Campillo and Pablo García},
    abstract = {Este art{\'{i}}culo describe la arquitectura de un sistema de informaci{\'{o}}n en el contexto de la agricultura de precisi{\'{o}}n. Una red de sensores instalados sobre las zonas de cultivo se encarga de monitorizar las variables que finalmente alimentan el modelo de riego y fertilizaci{\'{o}}n implementado. Las mediciones obtenidas se almacenan de manera aut{\'{o}}noma y continua sobre una base de datos MongoDB, cuyo dise{\~{n}}o prev{\'{e}} la variabilidad espacio-temporal de los diversos componentes de la aplicaci{\'{o}}n (zonas, cultivos, sectores de irrigaci{\'{o}}n, etc.). Datos obtenidos de otras fuentes, tales como servicios meteorol{\'{o}}gicos o an{\'{a}}lisis de suelo completan el modelo, cuyo objetivo final es el de mejorar la eficiencia en la gesti{\'{o}}n de la explotaci{\'{o}}n agraria. Los procesos que combinan toda esta informaci{\'{o}}n y ponen en marcha el modelo se implantan mediante el uso del framework de edici{\'{o}}n de flujos Node-RED, con el desarrollo de flujos de datos para establecer la conexi{\'{o}}n con la red de sensores y servicios meteorol{\'{o}}gicos y proveer de datos al sistema, consiguiendo al integrar estas tecnolog{\'{i}}as una infraestructura digital para la explotaci{\'{o}}n rentable de recursos agrarios. Palabras},
    address = {Santander, Spain},
    booktitle = {Jornadas de Ingenieria del Software y Bases de Datos},
    keywords = {agricultura de precisi{\'{o}}n,sistemas de informaci{\'{o}}n agr{\'{i}}colas},
    title = {{Arquitectura Software Basada en Tecnolog{\'{i}}as Smart para Agricultura de Precisi{\'{o}}n}},
    year = {2016}
    }
  • [PDF] P. Bustos García, L. J. Manso Argüelles, A. Bandera, J. P. Bandera, I. García-Varea, and J. Martínez-Gómez, “CORTEX: a new Cognitive Architecture for Social Robots,” in Eucognition meeting – cognitive robot architectures, Viena, 2016.
    [Bibtex]
    @inproceedings{cortex-new-cognitive-architecture,
    author = {Bustos García, Pablo and Manso Argüelles, Luis Jesús and A. Bandera and J.P. Bandera and I. García-Varea and J. Martínez-Gómez},
    address = {Viena},
    booktitle = {EUCognition Meeting - Cognitive Robot Architectures},
    title = {{CORTEX: a new Cognitive Architecture for Social Robots}},
    year = {2016}
    }
  • [PDF] [DOI] P. Bustos García, L. J. Manso Argüelles, J. P. Bandera, A. Romero-Garcés, L. V. Calderita Estévez, R. Marfil, and A. Bandera, “A unified internal representation of the outer world for social robotics,” , vol. 418, pp. 733-744, 2016.
    [Bibtex]
    @article{bustos-unified-internal,
    author = {Bustos García, Pablo and Manso Argüelles, Luis Jesús and Bandera, Juan P. and Romero-Garc{\'{e}}s, Adri{\'{a}}n and Calderita Estévez, Luis Vicente and Marfil, Rebeca and Bandera, Antonio},
    abstract = {{\textcopyright} Springer International Publishing Switzerland 2016.Enabling autonomous mobile manipulators to collaborate with people is a challenging research field with a wide range of applications. Collaboration means working with a partner to reach a common goal and it involves performing both, individual and joint actions, with her. Human-robot collaboration requires, at least, two conditions to be efficient: a) a common plan, usually under-defined, for all involved partners; and b) for each partner, the capability to infer the intentions of the other in order to coordinate the common behavior. This is a hard problem for robotics since people can change their minds on their envisaged goal or interrupt a task without delivering legible reasons. Also, collaborative robots should select their actions taking into account human-aware factors such as safety, reliability and comfort. Current robotic cognitive systems are usually limited in this respect as they lack the rich dynamic representations and the flexible human-aware planning capabilities needed to succeed in these collaboration tasks. In this paper, we address this problem by proposing and discussing a deep hybrid representation, DSR, which will be geometrically ordered at several layers of abstraction (deep) and will merge symbolic and geometric information (hybrid). This representation is part of a new agents-based robotics cognitive architecture called CORTEX. The agents that form part of CORTEX are in charge of high-level functionalities, reactive and deliberative, and share this representation among them. They keep it synchronized with the real world through sensor readings, and coherent with the internal domain knowledge by validating each update.},
    booktitle = {Advances in Intelligent Systems and Computing},
    doi = {10.1007/978-3-319-27149-1_57},
    isbn = {9783319271484},
    issn = {21945357},
    keywords = {Deep representations,Social robotics,World internalization},
    pages = {733--744},
    title = {{A unified internal representation of the outer world for social robotics}},
    volume = {418},
    year = {2016}
    }
  • [PDF] [DOI] M. Haut, L. J. Manso Argüelles, D. Gallego, M. Paoletti, P. Bustos García, A. Bandera, and A. Romero-Garcés, “A Navigation Agent For Mobile Manipulators,” , vol. 418, pp. 745-756, 2016.
    [Bibtex]
    @article{mario-navigation-agent,
    abstract = {Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot?s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results.},
    author = {Haut, Mario and Manso Argüelles, Luis Jesús and Gallego, Daniel and Paoletti, Mercedes and Bustos García, Pablo and Bandera, Antonio and Romero-Garc{\'{e}}s, Adri{\'{a}}n},
    booktitle = {Advances in Intelligent Systems and Computing. ROBOT2015 Conference},
    doi = {10.1007/978-3-319-27149-1_58},
    isbn = {9783319271484},
    issn = {21945357},
    keywords = {Navigation,Robotics,Social robots},
    pages = {745--756},
    title = {{A Navigation Agent For Mobile Manipulators}},
    volume = {418},
    year = {2016}
    }

2015

  • [PDF] F. Cid Burgos, L. J. Manso Argüelles, and P. Núñez Trujillo, “A Novel Multimodal Emotion Recognition Approach for Affective Human Robot Interaction.” 2015.
    [Bibtex]
    @inproceedings{novel-multimodal-human-robot,
    author = {Cid Burgos, Felipe and Manso Argüelles, Luis Jesús and Núñez Trujillo, Pedro},
    title = {{A Novel Multimodal Emotion Recognition Approach for Affective Human Robot Interaction}},
    year = {2015}
    }
  • [PDF] F. Cid Burgos, L. J. Manso Argüelles, and P. Núñez Trujillo, “Improvements and considerations related to human-robot interaction in the design of a new version of the robotic head Muecas.” 2015.
    [Bibtex]
    @inproceedings{cid-improvements-human-robot,
    author = {Cid Burgos, Felipe and Manso Argüelles, Luis Jesús and Núñez Trujillo, Pedro},
    title = {{Improvements and considerations related to human-robot interaction in the design of a new version of the robotic head Muecas}},
    year = {2015}
    }
  • [PDF] L. V. Calderita Estévez and P. Bustos García, “Deep State Representation: an Unified Internal Representation for the Robotics Cognitive Architecture CORTEX,” PhD Thesis, 2015.
    [Bibtex]
    @phdthesis{deep-state-representation,
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo},
    title = {{Deep State Representation: an Unified Internal Representation for the Robotics Cognitive Architecture CORTEX}},
    year = {2015}
    }
  • [PDF] P. Núñez Trujillo, “Análisis de imágenes de profundidad en terapias de rehabilitación supervisadas por robots autónomos,” Master Thesis, 2015.
    [Bibtex]
    @mastersthesis{profundidad-terapias,
    author = {Núñez Trujillo, Pedro},
    title = {{An{\'{a}}lisis de im{\'{a}}genes de profundidad en terapias de rehabilitaci{\'{o}}n supervisadas por robots aut{\'{o}}nomos}},
    year = {2015}
    }
  • [PDF] A. Romero-Garcés, L. V. Calderita Estévez, J. Martínez-Gómez, J. P. Bandera, R. Marfil, L. J. Manso Argüelles, P. Bustos García, and A. Bandera, “The cognitive architecture of a robotic salesman,” , 2015.
    [Bibtex]
    @article{romero-garces-cognitive,
    abstract = {This paper describes a robotics cognitive architecture for so-cial robots named CORTEX. This architecture integrates different lev-els of abstraction (from basic geometry to high-level predicates) into a unique Deep Space Representation (DSR) that different agents inter-face. These agents update the contents of the DSR with new data from the outer world, and execute, plan and design behaviours. The design of CORTEX as an unified deep representation allows to fit both the subsymbolic processing and flexibility requirements of robot control. In this paper a first implementation of CORTEX has been integrated into Gualzru, a robotic salesman, and tested in real scenarios. Results show that this cognitive architecture allows this robot to adequately execute its use case, and that it has a promising adaptability to achieve new tasks and be used in new scenarios.},
    author = {Romero-Garc{\'{e}}s, Adri{\'{a}}n and Calderita Estévez, Luis Vicente and Mart{\'{i}}nez-G{\'{o}}mez, Jes{\'{u}}s and Bandera, Juan Pedro and Marfil, Rebeca and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bandera, Antonio},
    keywords = {cognitive architectures,robotics,social robots},
    title = {{The cognitive architecture of a robotic salesman}},
    year = {2015}
    }
  • [PDF] J. M. Haut, M. E. Paoletti, P. Bustos García, and N. García, “Code2Bot, a social robot for the classroom,” Xvi conferencia de la asociación española para la inteligencia artificial, pp. 1055-1066, 2015.
    [Bibtex]
    @article{haut-codebot-social-robot,
    abstract = {LearnBot is a social low cost robot that has been designed into the area of educational robotics for promoting the development of computational thinking in different educational stages, specifically through the learning of the Python language. It has being entirely built using a robotics framework developed by our Robotic Laboratory. But Learnbot is part of a more ambitious ecosystem, Code2Bot, which is be-ing created as a facilitator environment to encourage current teachers without programming knowledge to learn the basics of Python, at least into a level where they can introduce their students into the digital world. Also Code2Bot is developed as a collaborative environment to facilitate the introduction of robotics programming in non technological areas of the curriculum. This paper describes the design and construction process of Learnbot, the conception of the web ecosystem, a concise theoretical and conceptual framework and an analysis of the results of an initial validation experiment.},
    author = {Haut, J M and Paoletti, M E and Bustos García, Pablo and Garc{\'{i}}a, N},
    journal = {XVI Conferencia de la Asociaci{\'{o}}n Espa{\~{n}}ola para la Inteligencia Artificial},
    keywords = {Com-putational thinking,Educational Robotics,Programming,Social Robots},
    pages = {1055--1066},
    title = {{Code2Bot, a social robot for the classroom}},
    year = {2015}
    }
  • [PDF] L. J. Manso Argüelles, P. Bustos García, R. Alami, G. Milliez, and P. Núñez Trujillo, “Planning Human-Robot Interaction Tasks Using Graph Models,” Nternational workshop on recognition and action for scene understanding (reacts 2015), 2015.
    [Bibtex]
    @article{manso-planning-human-robot,
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Alami, R and Milliez, G and Núñez Trujillo, Pedro},
    journal = {nternational Workshop on Recognition and Action for Scene Understanding (REACTS 2015)},
    keywords = {graph models,human-robot interaction,theory of mind},
    title = {{Planning Human-Robot Interaction Tasks Using Graph Models}},
    year = {2015}
    }
  • [PDF] [DOI] A. Romero-Garcés, L. V. Calderita Estévez, J. Martínez-Gómez, J. P. Bandera, R. Marfil, L. J. Manso Argüelles, A. Bandera, and P. Bustos García, “Testing a fully autonomous robotic salesman in real scenarios,” Ieee international conference on autonomous robots systems and competitions, pp. 1-7, 2015.
    [Bibtex]
    @article{romero-garces-testing,
    abstract = {Over the past decades, the number of robots deployed in museums, trade shows and exhibitions have grown steadily. This new application domain has become a key research topic in the robotics community. Therefore, new robots are designed to interact with people in these domains, using natural and intuitive channels. Visual perception and speech processing have to be considered for these robots, as they should be able to detect people in their environment, recognize their degree of accessibility and engage them in social conversations. They also need to safely navigate around dynamic, uncontrolled environments. They must be equipped with planning and learning components, that allow them to adapt to different scenarios. Finally, they must attract the attention of the people, be kind and safe to interact with. In this paper, we describe our experience with Gualzru, a salesman robot endowed with the cognitive architecture RoboCog. This architecture synchronizes all previous processes in a social robot, using a common inner representation as the core of the system. The robot has been tested in crowded, public daily life environments, where it interacted with people that had never seen it before nor had a clue about its functionality. Experimental results presented in this paper demonstrate the capabilities of the robot and its limitations in these real scenarios, and define future improvement actions.},
    author = {Romero-Garc{\'{e}}s, Adri{\'{a}}n and Calderita Estévez, Luis Vicente and Mart{\'{i}}nez-G{\'{o}}mez, Jes{\'{u}}s and Bandera, Juan Pedro and Marfil, Rebeca and Manso Argüelles, Luis Jesús and Bandera, Antonio and Bustos García, Pablo},
    doi = {10.1109/ICARSC.2015.19},
    isbn = {978-1-4673-6991-6},
    journal = {IEEE International Conference on Autonomous Robots Systems and Competitions},
    pages = {1--7},
    address = {Vilareal, Portugal},
    title = {{Testing a fully autonomous robotic salesman in real scenarios}},
    year = {2015}
    }
  • [PDF] F. Fern, M. Mart, J. Mart, P. Bustos García, L. J. Manso Argüelles, L. V. Calderita Estévez, and P. Núñez Trujillo, “Gualzru’s path to the advertisement world,” , vol. 1484, pp. 55-65, 2015.
    [Bibtex]
    @article{gualzrus-path-advertisement,
    author = {Fern, F and Mart, M and Mart, J and Bustos García, Pablo and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Núñez Trujillo, Pedro},
    abstract = {—This paper describes the genesis of Gualzru, a robot commissioned by a large Spanish technological company to provide advertisement services in open public spaces. Gualzru has to stand by at an interactive panel observing the people passing by and, at some point, select a promising candidate and approach her to initiate a conversation. After a small verbal interaction, the robot is supposed to convince the passerby to walk back to the panel, leaving the rest of the selling task to an interactive software embedded in it. The whole design and building process took less than three years of team composed of five groups at different geographical locations. We describe here the lessons learned during this period of time, from different points of view including the hardware, software, architectural decisions and team collaboration issues.},
    booktitle = {IROS-FineR Workshop and CEUR Proceedings},
    issn = {16130073},
    pages = {55--65},
    title = {{Gualzru's path to the advertisement world}},
    volume = {1484},
    year = {2015}
    }
  • [PDF] [DOI] L. V. Calderita Estévez, P. Bustos García, C. {Suárez Mejías}, F. Fernández, R. Viciana, and A. Bandera, “Asistente robótico socialmente interactivo para terapias de rehabilitación motriz con pacientes de pediatría,” Riai – revista iberoamericana de automatica e informatica industrial, vol. 12, iss. 1, pp. 99-110, 2015.
    [Bibtex]
    @article{calderita-asistente-terapias,
    abstract = {Motor rehabilitation therapy pursuits the recovery of damaged areas from the repetitive practice of certain motor activities. The patient's recovery directly depends on the adherence to rehabilitation therapy. Conventional methods consisting of repetitions usually make the patient feel unmotivated and neglect complying with the appropriate treatments. In addition, the treatment of these motor deficits requires intensive and extended rehabilitation sessions that demand sustained dedication and effort by professionals and incur in accretive costs for the institutions. Within this framework, this paper describes the development and evaluation of a new neurorehabilitation therapy, whose core is a socially interactive robot. This robot is able to consistently engaged patients in the therapeutic interaction, providing tireless motivation, encouragement and guidance. The experience has also been the origin of the design and implementation of a novel control architecture, RoboCog, which has provided the robot perceptual and cognitive capabilities that allow a behavior more socially developed, proactive. Verification tests carried out on the various components of the architecture show us the proper working of these and its integration with the rest of the architecture. Furthermore, this therapy has been successfully with congenital brachial palsy (PBO), a disease caused by damage acquired at birth and affects motor mobility of the upper limbs, but not their intellectual and communicative abilities.},
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and {Su{\'{a}}rez Mej{\'{i}}as}, C. and Fern{\'{a}}ndez, F. and Viciana, R. and Bandera, A.},
    doi = {10.1016/j.riai.2014.09.007},
    issn = {16977920},
    journal = {RIAI - Revista Iberoamericana de Automatica e Informatica Industrial},
    keywords = {Human-Robot Interaction,Rehabilitation therapies,Socially assistant robotics},
    number = {1},
    pages = {99--110},
    url = {http://linkinghub.elsevier.com/retrieve/pii/S1697791214000879},
    title = {{Asistente rob{\'{o}}tico socialmente interactivo para terapias de rehabilitaci{\'{o}}n motriz con pacientes de pediatr{\'{i}}a}},
    volume = {12},
    year = {2015}
    }
  • [PDF] F. Fern, M. Mart, J. Mart, P. Bustos García, L. J. Manso Argüelles, L. V. Calderita Estévez, and P. Núñez Trujillo, “Gualzru’s path to the advertisement world,” , vol. 1484, pp. 55-65, 2015.
    [Bibtex]
    @article{fern-gualzru-world,
    author = {Fern, F and Mart, M and Mart, J and Bustos García, Pablo and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Núñez Trujillo, Pedro},
    abstract = {—This paper describes the genesis of Gualzru, a robot commissioned by a large Spanish technological company to provide advertisement services in open public spaces. Gualzru has to stand by at an interactive panel observing the people passing by and, at some point, select a promising candidate and approach her to initiate a conversation. After a small verbal interaction, the robot is supposed to convince the passerby to walk back to the panel, leaving the rest of the selling task to an interactive software embedded in it. The whole design and building process took less than three years of team composed of five groups at different geographical locations. We describe here the lessons learned during this period of time, from different points of view including the hardware, software, architectural decisions and team collaboration issues.},
    booktitle = {IROS-FineR Workshop and CEUR Proceedings},
    issn = {16130073},
    pages = {55--65},
    title = {{Gualzru's path to the advertisement world}},
    volume = {1484},
    year = {2015}
    }

2014

  • [PDF] [DOI] L. V. Calderita Estévez, J. P. Bandera, and L. J. Manso Argüelles, “3D laser from RGBD projections in robot local navigation,” in Waf2014, 2014, pp. 1-11.
    [Bibtex]
    @inproceedings{laser-local-navigation-calderita,
    author = {Calderita Estévez, Luis Vicente and Bandera, Juan P and Manso Argüelles, Luis Jesús},
    booktitle = {Waf2014},
    doi = {10.13140/2.1.1720.9602},
    number = {June},
    pages = {1--11},
    title = {{3D laser from RGBD projections in robot local navigation}},
    year = {2014}
    }
  • [PDF] J. Almeida, L. J. Manso Argüelles, A. Bandera, and P. Núñez Trujillo, “A Multi-layer Description of the Environment using Curvature Information for Robot Navigation.” 2014, pp. 1-9.
    [Bibtex]
    @inproceedings{multi-curvature-information,
    author = {Almeida, J and Manso Argüelles, Luis Jesús and Bandera, A and Núñez Trujillo, Pedro},
    number = {June},
    pages = {1--9},
    title = {{A Multi-layer Description of the Environment using Curvature Information for Robot Navigation}},
    year = {2014}
    }
  • [PDF] F. Cid Burgos and P. Núñez Trujillo, “Learning Emotional Affordances based on Affective Elements in Human-Robot Interaction Scenarios.” 2014, pp. 1-10.
    [Bibtex]
    @inproceedings{learning-emotional-affordances,
    author = {Cid Burgos, Felipe and Núñez Trujillo, Pedro},
    number = {June},
    pages = {1--10},
    title = {{Learning Emotional Affordances based on Affective Elements in Human-Robot Interaction Scenarios}},
    year = {2014}
    }
  • [PDF] [DOI] P. Núñez Trujillo, L. J. Manso Argüelles, and P. Drews-jr, “A Novel Robust Scene Change Detection Algorithm for Autonomous Robots Using Mixtures of Gaussians Regular Paper.” 2014, pp. 1-11.
    [Bibtex]
    @inproceedings{novel-robust-scene-detection,
    author = {Núñez Trujillo, Pedro and Manso Argüelles, Luis Jesús and Drews-jr, Paulo},
    doi = {10.5772/57360},
    keywords = {change detection,gaussian mixture models},
    pages = {1--11},
    title = {{A Novel Robust Scene Change Detection Algorithm for Autonomous Robots Using Mixtures of Gaussians Regular Paper}},
    year = {2014}
    }
  • [PDF] [DOI] J. A. Sanchez-Margallo, F. M. Sanchez-Margallo, I. Oropesa, M. Lucas, J. Moreno del Pozo, and E. J. Gomez, “Comparative study of two laparoscopic instrument tracker designs for motion analysis and image-guided surgery: A technical evaluation BT – 13th Mediterranean Conference on Medical and Biological Engineering and Computing 2013, MEDICON 2013, September 25,,” in Ifmbe proceedings, 2014, pp. 41-44.
    [Bibtex]
    @inproceedings{sanchez-margallo-comparative,
    abstract = {Laparoscopic instrument tracking systems are a key element in image-guided interventions, which requires high accuracy to be used in a real surgical scenario. In addition, these systems are a suitable option for objective assessment of laparoscopic technical skills based on instrument motion analysis. This study presents a new approach that improves the accuracy of a previously presented system, which applies an optical pose tracking system to laparoscopic practice. A design enhancement of the artificial markers placed on the laparoscopic instrument as well as an improvement of the calibration process are presented as a means to achieve more accurate results. A technical evaluation has been performed in order to compare the accuracy between the previous design and the new approach. Results show a remarkable improvement in the fluctuation error throughout the measurement platform. Moreover, the accumulated distance error and the inclination error have been improved. The tilt range covered by the system is the same for both approaches, from 90 to 7.5. The relative position error is better for the new approach mainly at close distances to the camera system. Springer International Publishing Swit zerland 2014.},
    author = {Sanchez-Margallo, Juan Alberto and Sanchez-Margallo, F M and Oropesa, I and Lucas, M and Moreno del Pozo, Jose and Gomez, E J},
    booktitle = {IFMBE Proceedings},
    doi = {10.1007/978-3-319-00846-2_10},
    issn = {16800737},
    keywords = {Biochemical engineering,Design,Instruments,Laparoscopy,Medical computing,Tracking (position)},
    pages = {41--44},
    title = {{Comparative study of two laparoscopic instrument tracker designs for motion analysis and image-guided surgery: A technical evaluation BT - 13th Mediterranean Conference on Medical and Biological Engineering and Computing 2013, MEDICON 2013, September 25,}},
    url = {http://dx.doi.org/10.1007/978-3-319-00846-2_10},
    volume = {41},
    year = {2014}
    }
  • [PDF] [DOI] J. A. Sánchez-Margallo, F. M. Sánchez-Margallo, J. B. {Pagador Carrasco}, I. {Oropesa García}, E. J. {Gómez Aguilera}, and J. Moreno del Pozo, “Utilidad de un sistema de seguimiento óptico de instrumental en cirugía laparoscópica para evaluación de destrezas motoras,” in Cirugia espanola, 2014, pp. 421-428.
    [Bibtex]
    @inproceedings{sanchez-margallo-utilidad-seguimiento,
    abstract = {Introduction: The objective of this study is to assess the usefulness of an evaluation system of surgical skills based on motion analysis of laparoscopic instruments. Method: This system consists of a physical laparoscopic simulator and a tracking and assessment system of technical skills in laparoscopy. Six surgeons with intermediate experience (between 1 and 50 laparoscopic surgeries) and 5 experienced surgeons (more than 50 laparoscopic surgeries) took part in this study. All participants were right-handed. The subjects performed 3 repetitions of a cutting task on synthetic tissue with the right hand, dissection of a gastric serous layer, and a suturing task in the dissection previously done. Objective metrics such as time, path length, speed of movements, acceleration and motion smoothness were analyzed for the instruments of each hand. Results: In the cutting task, experienced surgeons show less acceleration (P= .014) and a smoother motion (P= .023) using the scissors. Regarding the dissection activity, experienced surgeons need less time (P= .006) and less length with both instruments (P= .006 for dissector and P= .01 for scissors). In the suturing task, experienced surgeons require less time (P= .037) and distance travelled (P= .041) by the dissector. Conclusions: This study shows the usefulness of the evaluation system for the cutting, dissecting, and suturing tasks. It represents a significant step in the development of advanced systems for training and assessment of surgical skills in laparoscopic surgery. {\textcopyright} 2012 AEC.},
    author = {S{\'{a}}nchez-Margallo, Juan A. and S{\'{a}}nchez-Margallo, Francisco M. and {Pagador Carrasco}, Jos{\'{e}} B. and {Oropesa Garc{\'{i}}a}, Ignacio and {G{\'{o}}mez Aguilera}, Enrique J. and Moreno del Pozo, Jose},
    booktitle = {Cirugia Espanola},
    doi = {10.1016/j.ciresp.2013.01.006},
    issn = {1578147X},
    keywords = {Assessment of surgical skills,Laparoscopy,Motor skills,Simulation},
    number = {6},
    pages = {421--428},
    title = {{Utilidad de un sistema de seguimiento {\'{o}}ptico de instrumental en cirug{\'{i}}a laparosc{\'{o}}pica para evaluaci{\'{o}}n de destrezas motoras}},
    volume = {92},
    year = {2014}
    }
  • [PDF] [DOI] A. Bandera and P. Bustos García, “Toward the development of cognitive robots,” in Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), 2014, pp. 88-99.
    [Bibtex]
    @inproceedings{bandera-cognitive-robotics,
    author = {Bandera, Antonio and Bustos García, Pablo},
    booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    doi = {10.1007/978-3-319-12084-3_8},
    isbn = {9783319120836},
    issn = {16113349},
    keywords = {Cognitive architectures,Robotics,Simulation theory of Cognition},
    pages = {88--99},
    title = {{Toward the development of cognitive robots}},
    volume = {8603},
    year = {2014}
    }
  • [PDF] [DOI] L. V. Calderita Estévez, P. Bustos García, C. Suarez Mejias, F. Fernandez, and A. Bandera, “THERAPIST:Towards an autonomous socially interactive robot for motor and neurorehabilitation therapies for children.” 2014.
    [Bibtex]
    @inproceedings{calderita-therapist-autonomous,
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and Suarez Mejias, C and Fernandez, F and Bandera, A},
    abstract = {{\textcopyright}Luis Vicente Calderita, Luis J Manso, Pablo Bustos, Cristina Su{\'{a}}rez-Mej{\'{i}}as, Fernando Fern{\'{a}}ndez, Antonio Bandera.Background: Neurorehabilitation therapies exploiting the use-dependent plasticity of our neuromuscular system are devised to help patients who suffer from injuries or diseases of this system. These therapies take advantage of the fact that the motor activity alters the properties of our neurons and muscles, including the pattern of their connectivity, and thus their functionality. Hence, a sensor-motor treatment where patients makes certain movements will help them (re)learn how to move the affected body parts. But these traditional rehabilitation processes are usually repetitive and lengthy, reducing motivation and adherence to the treatment, and thus limiting the benefits for the patients. Objective: Our goal was to create innovative neurorehabilitation therapies based on THERAPIST, a socially assistive robot. THERAPIST is an autonomous robot that is able to find and execute plans and adapt them to new situations in real-time. The software architecture of THERAPIST monitors and determines the course of action, learns from previous experiences, and interacts with people using verbal and non-verbal channels. THERAPIST can increase the adherence of the patient to the sessions using serious games. Data are recorded and can be used to tailor patient sessions. Methods: We hypothesized that pediatric patients would engage better in a therapeutic non-physical interaction with a robot, facilitating the design of new therapies to improve patient motivation. We propose RoboCog, a novel cognitive architecture. This architecture will enhance the effectiveness and time-of-response of complex multi-degree-of-freedom robots designed to collaborate with humans, combining two core elements: a deep and hybrid representation of the current state, own, and observed; and a set of task-dependent planners, working at different levels of abstraction but connected to this central representation through a common interface. Using RoboCog, THERAPIST engages the human partner in an active interactive process. But RoboCog also endows the robot with abilities for high-level planning, monitoring, and learning. Thus, THERAPIST engages the patient through different games or activities, and adapts the session to each individual. Results: RoboCog successfully integrates a deliberative planner with a set of modules working at situational or sensorimotor levels. This architecture also allows THERAPIST to deliver responses at a human rate. The synchronization of the multiple interaction modalities results from a unique scene representation or model. THERAPIST is now a socially interactive robot that, instead of reproducing the phrases or gestures that the developers decide, maintains a dialogue and autonomously generate gestures or expressions. THERAPIST is able to play simple games with human partners, which requires humans to perform certain movements, and also to capture the human motion, for later analysis by clinic specialists. Conclusions: The initial hypothesis was validated by our experimental studies showing that interaction with the robot results in highly attentive and collaborative attitudes in pediatric patients. We also verified that RoboCog allows the robot to interact with patients at human rates. However, there remain many issues to overcome. The development of novel hands-off rehabilitation therapies will require the intersection of multiple challenging directions of research that we are currently exploring.},
    doi = {10.2196/rehab.3151},
    issn = {14388871},
    journal = {Journal of Medical Internet Research},
    keywords = {[Cognitive robotics, Interactive games, Rehabilita},
    number = {10},
    title = {{THERAPIST:Towards an autonomous socially interactive robot for motor and neurorehabilitation therapies for children}},
    volume = {16},
    year = {2014}
    }
  • [PDF] J. C. Pulido, J. C. González, A. González, J. García, F. Fernández, A. Bandera, P. Bustos García, and C. Suárez, “Goal-directed Generation of Exercise Sets for Upper-Limb Rehabilitation,” in Proceedings of the 5th workshop on knowledge engineering for planning and scheduling (keps), icaps conference, 2014, pp. 38-45.
    [Bibtex]
    @inproceedings{pulido-upper-limb,
    abstract = {A rehabilitation therapy usually derives from general goals set by the medical expert, who requests the patient to attend sessions during a certain time period in order to help him regaining mobility, strength and/or flexibility. The therapist must transform these general goals manually into a set of exercises distributed over different rehabilitation sessions that compose the complete therapy plan, taking into account the patient clinical conditions and a predetermined session and therapy time. This becomes a hard task and might lead to rigid schedules which not always accomplish the desired achievement level of therapeutic objectives established by the physician and could have a negative impact on the patients' engagement in the therapy. Classical and Hierarchical Task Network planning approaches have been used in this paper to compare the modelling and results of both domain formulations for the automatic generation of therapy plans for patients suffering obstetric brachial plexus palsy, in response to a given set of therapeutic objectives.},
    author = {Pulido, Jos{\'{e}} Carlos and Gonz{\'{a}}lez, Jos{\'{e}} Carlos and Gonz{\'{a}}lez, Arturo and Garc{\'{i}}a, Javier and Fern{\'{a}}ndez, Fernando and Bandera, Antonio and Bustos García, Pablo and Su{\'{a}}rez, Cristina},
    booktitle = {Proceedings of the 5th Workshop on Knowledge Engineering for Planning and Scheduling (KEPS), ICAPS conference},
    keywords = {Automated Planning,Classical Planning,HTN,comparison,modeling,numerical values,planning domain,rehabilitation,therapy design},
    pages = {38--45},
    title = {{Goal-directed Generation of Exercise Sets for Upper-Limb Rehabilitation}},
    url = {http://www.plg.inf.uc3m.es/{~}josgonza/files/14-KEPS-ICAPS-goal-directed-generation-of-exercise-sets-for-upper-limb-rehabilitation.pdf},
    year = {2014}
    }
  • [PDF] J. Martinez-Gomez, R. Marfil, L. V. Calderita Estévez, J. P. Bandera, L. J. Manso Argüelles, A. Bandera, A. Romero-Garces, and P. Bustos García, “Toward Social Cognition in Robotics : Extracting and Internalizing Meaning from Perception,” in Workshop of physical agents, 2014, pp. 1-12.
    [Bibtex]
    @inproceedings{martinez-gomez-cognition,
    author = {Martinez-Gomez, Jesus and Marfil, Rebeca and Calderita Estévez, Luis Vicente and Bandera, Juan Pedro and Manso Argüelles, Luis Jesús and Bandera, Antonio and Romero-Garces, Adrian and Bustos García, Pablo},
    booktitle = {Workshop of Physical Agents},
    number = {June},
    pages = {1--12},
    title = {{Toward Social Cognition in Robotics : Extracting and Internalizing Meaning from Perception}},
    year = {2014}
    }
  • [PDF] F. Cid Burgos and P. Núñez Trujillo, “Sistema de aprendizaje emocional para la interacción Hombre-Robot basado en capacidades emocionales,” PhD Thesis, 2014.
    [Bibtex]
    @phdthesis{burgos-aprendizaje-emocional,
    author = {Cid Burgos, Felipe and Núñez Trujillo, Pedro},
    title = {{Sistema de aprendizaje emocional para la interacci{\'{o}}n Hombre-Robot basado en capacidades emocionales}},
    year = {2014}
    }
  • [PDF] J. Moreno del Pozo, “Desarrollo y validación de sistemas de seguimiento de instrumental laparoscópico para la evaluación objetiva de destrezas quirúrgicas,” PhD Thesis, 2014.
    [Bibtex]
    @phdthesis{sanchez-margallo-laparoscopico,
    author = {Moreno del Pozo, Jose},
    title = {{Desarrollo y validaci{\'{o}}n de sistemas de seguimiento de instrumental laparosc{\'{o}}pico para la evaluaci{\'{o}}n objetiva de destrezas quir{\'{u}}rgicas}},
    year = {2014}
    }
  • [PDF] L. J. Manso Argüelles, L. V. Calderita Estévez, P. Bustos García, J. Garc, and F. Fern, “A General-Purpose Architecture to Control Mobile Robots,” Waf2014, iss. June, pp. 1-12, 2014.
    [Bibtex]
    @article{manso-general-purposes,
    author = {Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Bustos García, Pablo and Garc, Javier and Fern, Fernando},
    journal = {Waf2014},
    number = {June},
    pages = {1--12},
    title = {{A General-Purpose Architecture to Control Mobile Robots}},
    year = {2014}
    }
  • [PDF] F. Martín, J. Mateos Sánchez, F. J. Lera, P. Bustos García, and V. Matellán, “A robotic platform for domestic applications,” Waf 2014, iss. June, pp. 1-8, 2014.
    [Bibtex]
    @article{martin-robotic-platform,
    author = {Mart{\'{i}}n, F and Mateos Sánchez, José and Lera, F. J. and Bustos García, Pablo and Matell{\'{a}}n, V},
    journal = {Waf 2014},
    number = {June},
    pages = {1--8},
    title = {{A robotic platform for domestic applications}},
    year = {2014}
    }
  • [PDF] [DOI] F. Cid Burgos, J. Moreno del Pozo, P. Bustos García, and P. Núñez Trujillo, “Muecas: a multi-sensor robotic head for affective human robot interaction and imitation.,” Sensors (basel, switzerland), vol. 14, iss. 5, pp. 7711-37, 2014.
    [Bibtex]
    @article{cid-muecas-multi-sensor,
    abstract = {This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language modalities: speech, body language and facial expressions. The robotic head has 12 degrees of freedom, in a human-like configuration, including eyes, eyebrows, mouth and neck, and has been designed and built entirely by IADeX (Engineering, Automation and Design of Extremadura) and RoboLab. A detailed description of its kinematics is provided along with the design of the most complex controllers. Muecas can be directly controlled by FACS (Facial Action Coding System), the de facto standard for facial expression recognition and synthesis. This feature facilitates its use by third party platforms and encourages the development of imitation and of goal-based systems. Imitation systems learn from the user, while goal-based ones use planning techniques to drive the user towards a final desired state. To show the flexibility and reliability of the robotic head, the paper presents a software architecture that is able to detect, recognize, classify and generate facial expressions in real time using FACS. This system has been implemented using the robotics framework, RoboComp, which provides hardware-independent access to the sensors in the head. Finally, the paper presents experimental results showing the real-time functioning of the whole system, including recognition and imitation of human facial expressions.},
    author = {Cid Burgos, Felipe and Moreno del Pozo, Jose and Bustos García, Pablo and Núñez Trujillo, Pedro},
    doi = {10.3390/s140507711},
    issn = {1424-8220},
    journal = {Sensors (Basel, Switzerland)},
    keywords = {Biomimetics,Biomimetics: instrumentation,Computer Communication Networks,Computer Communication Networks: instrumentation,Equipment Design,Equipment Failure Analysis,Head,Head: anatomy {\&} histology,Head: physiology,Humans,Man-Machine Systems,Robotics,Robotics: instrumentation,Transducers},
    month = {jan},
    number = {5},
    pages = {7711--37},
    pmid = {24787636},
    title = {{Muecas: a multi-sensor robotic head for affective human robot interaction and imitation.}},
    url = {http://www.pubmedcentral.nih.gov/articlerender.fcgi?artid=4063071{\&}tool=pmcentrez{\&}rendertype=abstract},
    volume = {14},
    year = {2014}
    }

2013

  • [PDF] C. Doblado, E. Mogena, F. Cid Burgos, L. V. Calderita Estévez, and P. Núñez Trujillo, “RGB-D Database for Affective Multimodal Human-Robot Interaction.” 2013, pp. 35-40.
    [Bibtex]
    @inproceedings{dobloado-rgb-multimodal,
    author = {Doblado, C and Mogena, E and Cid Burgos, Felipe and Calderita Estévez, Luis Vicente and Núñez Trujillo, Pedro},
    mendeley-groups = {Proceedings},
    pages = {35--40},
    title = {{RGB-D Database for Affective Multimodal Human-Robot Interaction}},
    year = {2013}
    }
  • [PDF] P. Romero, F. Cid Burgos, and P. Núñez Trujillo, “A Novel Real Time Facial Expression Recognition system based on Candide-3 Reconstruction Model.” 2013.
    [Bibtex]
    @inproceedings{romero-recognition-system,
    author = {Romero, P and Cid Burgos, Felipe and Núñez Trujillo, Pedro},
    title = {{A Novel Real Time Facial Expression Recognition system based on Candide-3 Reconstruction Model}},
    year = {2013}
    }
  • [PDF] F. Cid Burgos, A. J. Palomino, and P. Núñez Trujillo, “A New Paradigm for Learning Affective Behaviors : Emotional Affordances in Human Robot Interaction.” 2013, pp. 47-52.
    [Bibtex]
    @inproceedings{cid-new-paradigm,
    author = {Cid Burgos, Felipe and Palomino, A J and Núñez Trujillo, Pedro},
    pages = {47--52},
    title = {{A New Paradigm for Learning Affective Behaviors : Emotional Affordances in Human Robot Interaction}},
    year = {2013}
    }
  • [PDF] P. Bustos García, J. Martınez-Gómez, I. Garcıa-Varea, L. Rodrıguez-Ruiz, P. Bachiller Burgos, L. V. Calderita Estévez, L. J. Manso Argüelles, A. Sánchez Domínguez, A. Bandera, and J. Bandera, “Multimodal Interaction with Loki,” in Workshop of physical agents, 2013, pp. 1-8.
    [Bibtex]
    @inproceedings{multimodal-interaction-loki,
    abstract = {Developing a simple multimodal interaction game with a 31 dof's mobile manipulator can become a challenging enterprise. A conceptually simple task quickly unfolds into a rather complex ensemble of driver-oriented, framework-based, software-enabled, state-machine controlled mechatronics. In this paper we propose a multimodal interaction game designed to test the initial steps of a cognitive robotics architecture called RoboCog. In the game, a human shows an object to the robot and asks him to touch it with one of his hands. Loki, the robot, searches, gazes, represents and touches the object, then talks and waits for new events. The game goes on until the human player decides to quit. In this paper we describe the steps taken to achieve this goal, analyzing the decisions made in terms of architectural choices and describing how the sequential control of multimodal resources was built. To conclude, several snapshots of the game are presented and commented along with video material of Loki playing with a volunteer.},
    author = {Bustos García, Pablo and J Martınez-G{\'{o}}mez and I Garcıa-Varea and L Rodrıguez-Ruiz and Bachiller Burgos, Pilar and Calderita Estévez, Luis Vicente and Manso Argüelles, Luis Jesús and Sánchez Domínguez, Agustín and A Bandera and Jp Bandera},
    booktitle = {Workshop of Physical Agents},
    pages = {1--8},
    title = {{Multimodal Interaction with Loki}},
    url = {http://ljmanso.com/files/Multimodal_interaction_with_Loki.pdf},
    year = {2013}
    }
  • [PDF] [DOI] J. A. Sánchez-Margallo, F. M. Sánchez-Margallo, J. B. Pagador, I. Oropesa, M. Lucas, E. J. Gómez, and J. Moreno del Pozo, “Technical evaluation of a third generation optical pose tracker for motion analysis and image-guided surgery,” in Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), 2013, pp. 75-82.
    [Bibtex]
    @inproceedings{sanchez-margallo-technical-evaluation,
    abstract = {Laparoscopic instrument tracking systems are an essential component in image-guided interventions and offer new possibilities to improve and automate objective assessment methods of surgical skills. In this study we present our system design to apply a third generation optical pose tracker (Micron-Tracker{\textregistered}) to laparoscopic practice. A technical evaluation of this design is performed in order to analyze its accuracy in computing the laparoscopic instrument tip position. Results show a stable fluctuation error over the entire analyzed workspace. The relative position errors are 1.776±1.675 mm, 1.817±1.762 mm, 1.854±1.740 mm, 2.455±2.164 mm, 2.545±2.496 mm, 2.764±2.342 mm, 2.512±2.493 mm for distances of 50, 100, 150, 200, 250, 300, and 350 mm, respectively. The accumulated distance error increases with the measured distance. The instrument inclination covered by the system is high, from 90 to 7.5 degrees. The system reports a low positional accuracy for the instrument tip. {\textcopyright} Springer-Verlag 2013.},
    author = {S{\'{a}}nchez-Margallo, Juan A. and S{\'{a}}nchez-Margallo, Francisco M. and Pagador, Jos{\'{e}} B. and Oropesa, Ignacio and Lucas, Marcos and G{\'{o}}mez, Enrique J. and Moreno del Pozo, Jose},
    booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    doi = {10.1007/978-3-642-38079-2_10},
    isbn = {9783642380785},
    issn = {16113349},
    keywords = {Image-guided surgery,Laparoscopic tool tracking,Motion analysis,Optical pose tracker},
    pages = {75--82},
    title = {{Technical evaluation of a third generation optical pose tracker for motion analysis and image-guided surgery}},
    volume = {7761 LNCS},
    year = {2013}
    }
  • [PDF] [DOI] J. A. Sánchez-Margallo, F. M. Sánchez-Margallo, J. B. Pagador, I. Oropesa, M. Lucas, E. J. Gómez, and J. Moreno del Pozo, “Technical evaluation of a third generation optical pose tracker for motion analysis and image-guided surgery,” in Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), 2013, pp. 75-82.
    [Bibtex]
    @inproceedings{sanchez-margallo-optical-tracker,
    abstract = {Laparoscopic instrument tracking systems are an essential component in image-guided interventions and offer new possibilities to improve and automate objective assessment methods of surgical skills. In this study we present our system design to apply a third generation optical pose tracker (Micron-Tracker{\textregistered}) to laparoscopic practice. A technical evaluation of this design is performed in order to analyze its accuracy in computing the laparoscopic instrument tip position. Results show a stable fluctuation error over the entire analyzed workspace. The relative position errors are 1.776±1.675 mm, 1.817±1.762 mm, 1.854±1.740 mm, 2.455±2.164 mm, 2.545±2.496 mm, 2.764±2.342 mm, 2.512±2.493 mm for distances of 50, 100, 150, 200, 250, 300, and 350 mm, respectively. The accumulated distance error increases with the measured distance. The instrument inclination covered by the system is high, from 90 to 7.5 degrees. The system reports a low positional accuracy for the instrument tip. {\textcopyright} Springer-Verlag 2013.},
    author = {S{\'{a}}nchez-Margallo, Juan A. and S{\'{a}}nchez-Margallo, Francisco M. and Pagador, Jos{\'{e}} B. and Oropesa, Ignacio and Lucas, Marcos and G{\'{o}}mez, Enrique J. and Moreno del Pozo, Jose},
    booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    doi = {10.1007/978-3-642-38079-2_10},
    isbn = {9783642380785},
    issn = {16113349},
    keywords = {Image-guided surgery,Laparoscopic tool tracking,Motion analysis,Optical pose tracker},
    pages = {75--82},
    title = {{Technical evaluation of a third generation optical pose tracker for motion analysis and image-guided surgery}},
    volume = {7761 LNCS},
    year = {2013}
    }
  • [PDF] a. Romero-Garcés, L. J. Manso Argüelles, M. A. Gutiérrez Giraldo, R. Cintas Peña, and P. Bustos García, “Improving the Lifecycle of Robotics Components using Domain-Specific Languages,” in Workshop on domain-specific languages and models for robotic systems, 2013.
    [Bibtex]
    @inproceedings{romero-garces-improving,
    abstract = {There is currently a large amount of robotics software using the component-oriented programming paradigm. However, the rapid growth in number and complexity of components may compromise the scalability and the whole lifecycle of robotics software systems. Model-Driven Engineering can be used to mitigate these problems. This paper describes how using Domain-Specific Languages to generate and describe critical parts of robotic systems helps developers to perform component managerial tasks such as component creation, modification, monitoring and deployment. Four different DSLs are proposed in this paper: i) CDSL for specifying the structure of the components, ii) IDSL for the description of their interfaces, iii) DDSL for describing the deployment process of component networks and iv) PDSL to define and configure component parameters. Their benefits have been demonstrated after their implementation in RoboComp, a general-purpose and component-based robotics framework. Examples of the usage of these DSLs are shown along with experiments that demonstrate the benefits they bring to the lifecycle of the components.},
    archivePrefix = {arXiv},
    arxivId = {arXiv:1301.6022v1},
    author = {Romero-Garc{\'{e}}s, a. and Manso Argüelles, Luis Jesús and Gutiérrez Giraldo, Marco Antonio and Cintas Peña, Ramón and Bustos García, Pablo},
    booktitle = {Workshop on Domain-Specific Languages and models for Robotic systems},
    eprint = {arXiv:1301.6022v1},
    title = {{Improving the Lifecycle of Robotics Components using Domain-Specific Languages}},
    url = {http://arxiv.org/abs/1301.6022},
    year = {2013}
    }
  • [PDF] [DOI] D. Um, M. A. Gutierrez, P. Bustos García, and S. Kang, “Simultaneous planning and mapping (SPAM) for a manipulator by best next move in unknown environments.” 2013, pp. 5273-5278.
    [Bibtex]
    @inproceedings{um-simultaneous-planning,
    abstract = {In this paper, we propose a SPAM (Simultaneous Planning and Mapping) technique for a manipulator type robot working in an uncertain environment via a Best Next Move algorithm. Demands for a smart decision to move a manipulator such as humanoid arms in uncertain or crowded environments call for a simultaneous planning and mapping technique. We assume no a priori knowledge of either the obstacles or the rest of the environment exits. For rapid map building and path planning, we use a skin type setup based on 3D depth camera sensors that completely encompass the entire body of a manipulator. The 3D sensors capture the point clouds used to create an instantaneous c-space map whereby a Best Next Move algorithm directs the motion of the manipulator. The Best Next Move algorithm utilizes the gradient of the density distribution of the k-nearest-neighborhood sets in c-space. It has tendency to travel along the direction by which the point clouds spread in space, thus rendering faster mapping of c-space obstacles. The proposed algorithm is compared with several sensor based algorithms for performance measurement such as map completion rate, distribution of samples, total nodes, etc. Some improved performances are reported for the proposed algorithm. Several possible applications include semi-autonomous tele-robotics planning, humanoid arm path planning, among others.},
    author = {Um, Dugan and Gutierrez, Marco A. and Bustos García, Pablo and Kang, Sungchul},
    doi = {10.1109/IROS.2013.6697119},
    isbn = {978-1-4673-6358-7},
    journal = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    month = {nov},
    pages = {5273--5278},
    publisher = {Ieee},
    title = {{Simultaneous planning and mapping (SPAM) for a manipulator by best next move in unknown environments}},
    url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6697119},
    year = {2013}
    }
  • [PDF] [DOI] F. Cid Burgos, J. A. Prado, P. Bustos García, and P. Núñez Trujillo, “A real time and robust facial expression recognition and imitation approach for affective human-robot interaction using Gabor filtering,” in Ieee international conference on intelligent robots and systems, 2013, pp. 2188-2193.
    [Bibtex]
    @inproceedings{cid-real-time-robust,
    abstract = {Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.},
    author = {Cid Burgos, Felipe and Prado, Jose Augusto and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {IEEE International Conference on Intelligent Robots and Systems},
    doi = {10.1109/IROS.2013.6696662},
    isbn = {9781467363587},
    issn = {21530858},
    pages = {2188--2193},
    url = {http://ieeexplore.ieee.org/xpls/abs{\_}all.jsp?arnumber=6696662},
    title = {{A real time and robust facial expression recognition and imitation approach for affective human-robot interaction using Gabor filtering}},
    year = {2013}
    }
  • [PDF] L. V. Calderita Estévez, P. Bustos García, C. Suarez Mejías, B. Ferrer Gonzalez, and A. Bandera, “Rehabilitation for children while playing with a robotic assistant in a serious game,” in Neurotechnix, Vilamoura, Portugal, 2013.
    [Bibtex]
    @inproceedings{calderita-augmented-reality,
    abstract = {Traditional neuro-rehabilitation therapies are usually repet- itive and lengthy, reducing motivation and adherence to the treatment and thus limiting the benefits for the patients. Moreover, exercises are usually not customizable for the patients, further increasing their disen- gagement with the treatment. The outcome is then a boring session day after day. This is more pronounced when the patient is a child. However, the execution of these repetitive movements is really needed, as it alters the properties of our neurons, including their pattern of connectivity. Correctly driven, this process finally allows to improve the neural func- tionality. The question is then: how can we improve the motivation and immersion of the patients into the therapy? We could try to convert the boring therapy into a funny one. This will help to the patients, but also to the practitioner. For this end, computer-assisted technologies have been extensively employed in the last years. Within this research field, this paper proposes to engage the child to the therapy by immersing her into an augmented reality scenario, where it will play several serious games. The adherence to the session will be further increased by incorporating a social robot as a playmate. This robot will be a personal trainer, that will perform the session in the real world with the patient. Additionally, the robot will be able to record the data for each session. This data could be subsequently used by the rehabilitation specialists for monitoring and/or adapting the therapy to the patient's needs.},
    address = {Vilamoura, Portugal},
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and Suarez Mej{\'{i}}as, C. and Ferrer Gonzalez, B. and Bandera, A.},
    booktitle = {Neurotechnix},
    title = {{Rehabilitation for children while playing with a robotic assistant in a serious game}},
    url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84888399819&partnerID=40&md5=fcb4a22f66cbb7176adc38cd868d4b7e},
    year = {2013}
    }
  • A. Bandera and P. Bustos García, “Towards the development of cognitive robots,” in International workshop on brain inspired computing, Cretaro, Italy, 2013.
    [Bibtex]
    @inproceedings{Bandera2013,
    address = {Cretaro, Italy},
    author = {Bandera, Antonio and Bustos García, Pablo},
    booktitle = {International Workshop on Brain Inspired Computing},
    title = {{Towards the development of cognitive robots}},
    year = {2013}
    }
  • [PDF] [DOI] L. V. Calderita Estévez, J. P. Bandera, P. Bustos García, and A. Skiadopoulos, “Model-based reinforcement of Kinect depth data for human motion capture applications..” 2013, pp. 8835-55.
    [Bibtex]
    @inproceedings{calderita-model-based,
    abstract = {Motion capture systems have recently experienced a strong evolution. New cheap depth sensors and open source frameworks, such as OpenNI, allow for perceiving human motion on-line without using invasive systems. However, these proposals do not evaluate the validity of the obtained poses. This paper addresses this issue using a model-based pose generator to complement the OpenNI human tracker. The proposed system enforces kinematics constraints, eliminates odd poses and filters sensor noise, while learning the real dimensions of the performer's body. The system is composed by a PrimeSense sensor, an OpenNI tracker and a kinematics-based filter and has been extensively tested. Experiments show that the proposed system improves pure OpenNI results at a very low computational cost.},
    author = {Calderita Estévez, Luis Vicente and Bandera, Juan Pedro and Bustos García, Pablo and Skiadopoulos, Andreas},
    doi = {10.3390/s130708835},
    issn = {1424-8220},
    journal = {Sensors (Basel, Switzerland)},
    keywords = {Acceleration,Actigraphy,Actigraphy: instrumentation,Biometry,Biometry: instrumentation,Computer Simulation,Equipment Design,Equipment Failure Analysis,Gestures,Humans,Imaging, Three-Dimensional,Imaging, Three-Dimensional: instrumentation,Models, Biological,Transducers,Video Games},
    month = {jan},
    number = {7},
    pages = {8835--55},
    pmid = {23845933},
    title = {{Model-based reinforcement of Kinect depth data for human motion capture applications.}},
    url = {http://www.pubmedcentral.nih.gov/articlerender.fcgi?artid=3758625{\&}tool=pmcentrez{\&}rendertype=abstract},
    volume = {13},
    year = {2013}
    }
  • [PDF] F. Cid Burgos, J. A. Prado, P. Manzano, P. Bustos García, and P. Núñez Trujillo, “Imitation system for humanoid robotics heads,” in Journal of physical agents, 2013, pp. 22-29.
    [Bibtex]
    @inproceedings{cid-robotics-heads,
    author = {Cid Burgos, Felipe and Prado, J. A. and Manzano, P. and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {Journal of Physical Agents},
    issn = {18880258},
    keywords = {Facial expression recognition,Human robot interaction,Imitation},
    number = {1},
    pages = {22--29},
    title = {{Imitation system for humanoid robotics heads}},
    volume = {7},
    year = {2013}
    }
  • [PDF] J. Moreno del Pozo, “Técnicas de fotogrametría y visión por computador para el modelado 3d de estructuras geomorfológicas dinámicas,” PhD Thesis, 2013.
    [Bibtex]
    @phdthesis{de-tecnicas-vision,
    title={T{\'{e}}cnicas de fotogrametr{\'{i}}a y visi{\'{o}}n por computador para el modelado 3D de estructuras geomorfol{\'{o}}gicas din{\'{a}}micas},
    author={Moreno del Pozo, Jose},
    year={2013},
    school={Universidad de Extremadura}
    }
  • [PDF] J. Moreno del Pozo, “Técnicas de robótica y visión artificial para el entrenamiento quirúrgico de mínima invasión,” PhD Thesis, 2013.
    [Bibtex]
    @phdthesis{carrasco-tecnicas-robotica,
    title={T{\'{e}}cnicas de rob{\'{o}}tica y visi{\'{o}}n artificial para el entrenamiento quir{\'{u}}rgico de m{\'{i}}nima invasi{\'{o}}n},
    author={Moreno del Pozo, Jose},
    year={2013},
    school={Universidad de Extremadura}
    }
  • [PDF] [DOI] S. C. Mejías, C. Echevarría, P. Núñez Trujillo, L. J. Manso Argüelles, P. Bustos García, L. V. Calderita Estévez, S. Leal, and C. Parra, Ursus: A Robotic Assistant for Training of Children with Motor Impairments, T. D. {J.L Pons} and M. Pajaro, Eds., Springer, 2013, vol. 1.
    [Bibtex]
    @book{mejias-ursus-robotic-assistant,
    abstract = {Restoring human motor and cognitive function has been a fascinating research area during the last century. Interfacing the human nervous system with electro-mechanical rehabilitation machines is facing its crucial passage from research to clinical practice, enhancing the potentiality of therapists, clinicians and researchers to rehabilitate, diagnose and generate knowledge. The 2012 International Conference on Neurorehabilitation (ICNR2012, www.icnr2012.org) brings together researchers and students from the fields of Clinical Rehabilitation, Applied Neurophysiology and Biomedical Engineering, covering a wide range of research topics: {\textperiodcentered} Clinical Impact of Technology{\textperiodcentered} Brain-Computer Interface in Rehabilitation{\textperiodcentered} Neuromotor & Neurosensory modeling and processing{\textperiodcentered} Biomechanics in Rehabilitation{\textperiodcentered} Neural Prostheses in Rehabilitation{\textperiodcentered} Neuro-Robotics in Rehabilitation{\textperiodcentered} Neuromodulation This Proceedings book includes general contributions from oral and poster sessions, as well as from special sessions. A section is also dedicated to pre-post conference workshops, including invited contributions from internationally recognized researchers. A selection of most relevant papers have been considered for publication in international journals (e. g. AJPM&R, JNER, JACCES), therefore they will appear soon in their extended versions in Special Issues.},
    author = {Mej{\'{i}}as, C. Su{\'{a}}rez and Echevarr{\'{i}}a, C. and Núñez Trujillo, Pedro and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Calderita Estévez, Luis Vicente and Leal, S. and Parra, C.},
    booktitle = {Converging clinical & engineering research on NR},
    chapter = {Ursus: A R},
    editor = {{J.L Pons}, D. Torricelli and Marta Pajaro},
    doi = {10.1007/978-3-642-34546-3},
    publisher = {Springer},
    isbn = {978-3-642-34545-6},
    issn = {2195-3562},
    keywords = {cerebral palsy,design,exoskeleton,pediatrics,rehabilitation},
    pages = {255--258},
    title = {{Ursus: A Robotic Assistant for Training of Children with Motor Impairments}},
    url = {http://link.springer.com/10.1007/978-3-642-34546-3},
    volume = {1},
    year = {2013}
    }

2012

  • [PDF] F. Cid Burgos, L. J. Manso Argüelles, L. V. Calderita Estévez, A. Sánchez Domínguez, and P. Núñez Trujillo, “Engaging human-to-robot attention using conversational gestures and lip-synchronization.” 2012, pp. 3-10.
    [Bibtex]
    @inproceedings{cid-engaging-human-robot,
    author = {Cid Burgos, Felipe and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Sánchez Domínguez, Agustín and Núñez Trujillo, Pedro},
    number = {1},
    pages = {3--10},
    title = {{Engaging human-to-robot attention using conversational gestures and lip-synchronization}},
    volume = {6},
    year = {2012}
    }
  • [PDF] [DOI] J. B. Pagador, F. M. Sánchez-Margallo, L. F. Sánchez-Peralta, J. A. Sánchez-Margallo, J. L. Moyano-Cuevas, S. Enciso-Sanz, J. Usón-Gargallo, and J. Moreno del Pozo, “Decomposition and analysis of laparoscopic suturing task using tool-motion analysis (TMA): Improving the objective assessment,” in International journal of computer assisted radiology and surgery, 2012, pp. 305-313.
    [Bibtex]
    @inproceedings{pagador-decomposition-laparoscopic,
    abstract = {PURPOSE: The laparoscopic suturing task is a complex procedure that requires objective assessment of surgical skills. Analysis of laparoscopic suturing task components was performed to improve current objective assessment tools.\n\nMETHODS: Twelve subjects participated in this study as three groups of four surgeons (novices, intermediates and experts). A box-trainer and organic tissue were used to perform the experiment while tool movements were recorded with the augmented reality haptic system. All subjects were right-handed and developed a surgeon's knot. The laparoscopic suturing procedure was decomposed into four subtasks. Different objective metrics were applied during tool-motion analysis (TMA). Statistical analysis was performed, and results from three groups were compared using the Jonckheere-Terpstra test, considering significant differences when P ≤ 0.05.\n\nRESULTS: Several first, second and fourth subtask metrics had significant differences between the three groups. Subtasks 1 and 2 had more significant differences in metrics than subtask 4. Almost all metrics showed superior task executions accomplished by experts (lower time, total path length and number of movements) compared with intermediates and novices.\n\nCONCLUSION: The most important subtasks during suture learning process are needle puncture and first knot. The TMA could be a useful objective assessment tool to discriminate surgical experience and could be used in the future to measure and certify surgical proficiency.},
    author = {Pagador, J. B. and S{\'{a}}nchez-Margallo, F. M. and S{\'{a}}nchez-Peralta, L. F. and S{\'{a}}nchez-Margallo, J. A. and Moyano-Cuevas, J. L. and Enciso-Sanz, S. and Us{\'{o}}n-Gargallo, J. and Moreno del Pozo, Jose},
    booktitle = {International Journal of Computer Assisted Radiology and Surgery},
    doi = {10.1007/s11548-011-0650-9},
    issn = {18616410},
    keywords = {ARH,Augmented reality haptic,Laparoscopic suturing,Minimally invasive surgery,Objective assessment,TMA,Tool-motion analysis},
    number = {2},
    pages = {305--313},
    pmid = {21842396},
    title = {{Decomposition and analysis of laparoscopic suturing task using tool-motion analysis (TMA): Improving the objective assessment}},
    volume = {7},
    year = {2012}
    }
  • [PDF] A. Sánchez, P. Núñez Trujillo, L. J. Manso Argüelles, and P. Bustos García, “Experiments in self-calibration of an autonomous mobile manipulator,” in Workshop of physical agents, Santiago de Compostela, Spain, 2012, pp. 1-7.
    [Bibtex]
    @inproceedings{sanchez-experiments-self-calibration,
    abstract = {Current autonomous mobile manipulators are very complex machines built with dozens of motors and sensors connected through feedback loops. On top of this first layer of real-time controllers, subsequent levels of software modules interact in many ways to create increasingly sophisticated be- haviors. One of the initial requirements for all these elements to work properly, is that the robot be properly calibrated. The size of each link and the relative positions among them have to be estimated. Also, many sensors have intrinsic parameters that have also to be estimated in order to relate the incoming data to a common reference system. In this paper, this crucial problem has been studied for a new humanoid robot named Loki. Loki has been built in the Robotics and Artificial Vision (RoboLab) laboratory for research in social and service robotics. Two different optimization approaches have been explored, the Levenverg-Maquardt gradient-descent procedure and a Markov Chain Monte Carlo Simulated Annealing algorithm. Both meth- ods are compared under this high dimension self-calibration problem and the results are analyzed and compared. Finally, several strategies to continue research in this area and to achieve fully autonomous calibration and re-calibration procedures are described.},
    author = {S{\'{a}}nchez, A. and Núñez Trujillo, Pedro and Manso Argüelles, Luis Jesús and Bustos García, Pablo},
    booktitle = {Workshop of Physical Agents},
    address = {Santiago de Compostela, Spain},
    pages = {1--7},
    title = {{Experiments in self-calibration of an autonomous mobile manipulator}},
    year = {2012}
    }
  • [PDF] P. Bustos García, J. Mateos Sánchez, and A. Sánchez Domínguez, “Loki, a mobile manipulator for social robotics,” in Workshop of physical agents, Santiago de Compostela, Spain, 2012, pp. 1-8.
    [Bibtex]
    @inproceedings{bustos-loki-mobile-manipulator,
    abstract = {Autonomous mobile manipulators are robots de- signed to perform a variety of tasks in which the combination of navigation and manipulation plays a key role in achieving more advanced functionalities. These robots have multiple sensors and actuators, and usually an important processing potential aboard combined with a limited energy autonomy. Moreover, when these machines are designed to perform socially, they need to interact with humans in many ways, looking for empathy by showing emotional expressions. In this paper we present the social mobile manipulator Loki in its current state of development.We give an overview of its overall architecture at three levels of organization: mechatronics, software and cognitive architecture. The paper is concluded with a short discussion on the future uses of Loki and on how this costly inversion can pay-off faster by starting collaborative projects},
    address = {Santiago de Compostela, Spain},
    author = {Bustos García, Pablo and Mateos Sánchez, José and Sánchez Domínguez, Agustín},
    booktitle = {Workshop of Physical Agents},
    number = {September},
    pages = {1--8},
    title = {{Loki, a mobile manipulator for social robotics}},
    year = {2012}
    }
  • [PDF] F. Cid Burgos, J. Prado, P. Bustos García, and P. Núñez Trujillo, “Development of a Facial Expression Recognition and Imitation Method for Affective HRI,” in Workshop of physical agents, 2012, pp. 1-6.
    [Bibtex]
    @inproceedings{cid-development-facial-expression,
    abstract = {This paper presents a system for recognizing and imitating facial expressions using visual information acquired by a robot. The proposed approach is capable of estimating the emotion state of a human interlocutor through the recognition of facial expressions (i.e. happiness, sadness, anger, fear, neutral) using a Bayesian approach, which is achieved in real time. This information updates the knowledge of the robot about the people in its field of view, and thus, allows the robot to use it for future actions and interactions. In this paper, the human facial expression is imitated by Muecas, a 12 degree of freedom (DOF) robotics face. This paper also introduces the concept of the human and robot facial expressions models, which are included inside of a new cognitive module that builds and updates selective representations of the robot and the agents in its environment for enhancing future HRI. Experimental results demonstrate the quality of the detection and imitation using different scenarios with Muecas avatar},
    author = {Cid Burgos, Felipe and Prado, JA and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {Workshop of Physical Agents},
    pages = {1--6},
    title = {{Development of a Facial Expression Recognition and Imitation Method for Affective HRI}},
    url = {http://www.researchgate.net/profile/Pablo_Bustos/publication/235887168_Development_of_a_Facial_Expression_Recognition_and_Imitation_Method_for_Affective_HRI/links/0deec51f7d2f9c1fc9000000.pdf},
    year = {2012}
    }
  • [PDF] L. J. Manso Argüelles, P. Bustos García, P. Bachiller Burgos, and J. Franco Campos, “Indoor scene perception for object detection and manipulation,” in 5th international conference on spatial cognition. symposium on spatial cognition in robotics., 2012, pp. 1-6.
    [Bibtex]
    @inproceedings{manso-indoor-manipulation,
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller Burgos, Pilar and Franco Campos, José},
    booktitle = {5th International Conference on Spatial Cognition. Symposium on Spatial Cognition in Robotics.},
    pages = {1--6},
    title = {{Indoor scene perception for object detection and manipulation}},
    year = {2012}
    }
  • [PDF] L. J. Manso Argüelles, P. Bustos García, P. Bachiller, and M. A. Gutierrez, “Graph Grammars for Active Perception,” in 12th international conference on autonomous robot systems and competitions, Guimaraes, Portugal, 2012, pp. 4-8.
    [Bibtex]
    @inproceedings{manso-graph-grammars,
    abstract = {The complexity of the applications in which robots are being used does not stop growing. Different solutions such as sophisticated control architectures have been proposed in order to deal with complexity in robot control. These solutions make robotic systems more robust, scalable and easier to distribute, understand and monitor. However, it is still not clear how to cope with the complexity of the interaction dynamics that underlie the perception of the environment. With this issue in mind this paper presents the concept of cognitive graph grammar and two algorithms that make use of it. Cognitive graph grammars are a grammar-based theoretical framework designed to support cognitive perception and, especially, the active nature of perception. They provide a means to describe how graph- based models can be generated and the behaviors to execute depending on the perceptual context. This is done in such a way that the information provided using this formalism can be used for different perceptive purposes at the same time, such as to link action and perception or to diminish perceptive errors. The paper also describes an experiment in which a cognitive graph grammar is used in an autonomous robot in order to efficiently model an environment made of rectangular rooms with obstacles},
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller, Pilar and Gutierrez, Marco A},
    booktitle = {12th International Conference on Autonomous Robot Systems and Competitions},
    pages = {4--8},
    address = {Guimaraes, Portugal},
    title = {{Graph Grammars for Active Perception}},
    year = {2012}
    }
  • [PDF] M. A. Gutiérrez Giraldo, A. Romero Garcés, P. Bustos García, and J. Mart{‘i}nez Cruz, “Progress in RoboComp,” in Workshop of physical agents, Santiago de Compostela, Spain, 2012.
    [Bibtex]
    @inproceedings{gutierrez-progress,
    author={Gutiérrez Giraldo, Marco Antonio and Romero Garc{\'e}s, Adri{\'a}n and Bustos García, Pablo and Mart{\'\i}nez Cruz, Jes{\'u}s},
    abstract = {During the last six years the RoboComp robotics framework has been steadily growing in the number of software components, the variety of robots supported and in new solutions to the maintenance of large robotics software repositories. In this paper we present recent advances in the formal definition of the RoboComp component model and a new set of tools based on Domain Specific Languages that have been created to simplify the whole development cycle of the components. Moreover, a new robot simulation tool has been created providing perfect integration with RoboComp and better control over experiments than current existing simulators. Finally, the paper describes a working solution to the important problem of communications middleware independence, which allows users to decide which middleware the components will be compiled with. Our solution has been validated by the integration of Nerve, a novel middle- ware for critical robotics tasks, in RoboComp.},
    address = {Santiago de Compostela, Spain},
    booktitle = {Workshop of Physical Agents},
    file = {:home/pbustos/Mendeley/2013-progress-robocomp.pdf:pdf},
    title = {{Progress in RoboComp}},
    year = {2012}
    }
  • [PDF] J. Moreno del Pozo, “Desarrollo de una nueva metodolog\’\ia para la evaluación de software ergonómico en educación primaria,” PhD Thesis, 2012.
    [Bibtex]
    @phdthesis{soares-desarrollo,
    title={Desarrollo de una nueva metodolog{\'\i}a para la evaluaci{\'o}n de software ergon{\'o}mico en educaci{\'o}n primaria},
    author={Moreno del Pozo, Jose},
    year={2012},
    school={Universidad de Extremadura}
    }
  • [PDF] R. Gallego, N. Saura, and P. Núñez Trujillo, AR-Learning: libro interactivo basado en realidad aumentada con aplicación a la enseñanza, , 2012.
    [Bibtex]
    @book{ar-learning-book-realidad-aumentada,
    abstract = {Resumen: El uso de las Tecnolog{\'{i}}as de la Informaci{\'{o}}n y las Comunicaciones (TIC) en la sociedad actual ha avanzado de forma progresiva y con resultados satisfactorios en la {\'{u}}ltima d{\'{e}}cada. Una de las {\'{a}}reas donde estas tecnolog{\'{i}}as est{\'{a}}n revolucionando el concepto cl{\'{a}}sico se sit{\'{u}}a en el {\'{a}}rea educativa. Hace a{\~{n}}os era impensable tener en un aula un ordenador cada dos alumnos, exponer la lecci{\'{o}}n sobre una pantalla de proyecci{\'{o}}n o el uso de una pizarra digital en lugar de una pizarra tradicional. Estudios recientes demuestran que el uso de las TICs como apoyo a la docencia presenta una serie de ventajas de cara a los resultados del alumnado: mayor motivaci{\'{o}}n, inter{\'{e}}s, creatividad, etc. Una de las tecnolog{\'{i}}as que pueden suponer una innovaci{\'{o}}n en las aulas es la Realidad Aumentada. Esta t{\'{e}}cnica permite integrar modelos virtuales 3D (avatares) a la realidad f{\'{i}}sica mediante un dispositivo de adquisici{\'{o}}n de v{\'{i}}deo y un ordenador. El presente proyecto, denominado AR-Learning, hace uso de la Realidad Aumentada para el apoyo a las clases de M{\'{u}}sica (Educaci{\'{o}}n primaria). Nuestra aplicaci{\'{o}}n tiene como objetivo el apoyo al aprendizaje de los principios b{\'{a}}sicos de la m{\'{u}}sica al alumnado, visualizando en tres dimensiones instrumentos, as{\'{i}} como escuchando su sonido caracter{\'{i}}stico cuando interact{\'{u}}en con ellos. Tambi{\'{e}}n se ense{\~{n}}an las notas b{\'{a}}sicas del pentagrama musical y las cualidades del sonido como son altura, timbre o intensidad. La aplicaci{\'{o}}n ha sido probada con alumnos del Colegio Gabriel y Gal{\'{a}}n},
    author = {Gallego, R. and Saura, N. and Núñez Trujillo, Pedro},
    booktitle = {Tejuelo: Did{\'{a}}ctica de la Lengua y la Literatura. Educaci{\'{o}}n},
    isbn = {1988-8430},
    pages = {74--89},
    title = {{AR-Learning: libro interactivo basado en realidad aumentada con aplicaci{\'{o}}n a la ense{\~{n}}anza}},
    year = {2012}
    }
  • [PDF] L. J. Manso Argüelles, P. Bustos García, P. Bachiller Burgos, and J. Franco Campos, Indoor scene perception for object detection and manipulation, , 2012.
    [Bibtex]
    @book{manso-indoor-scene-perception,
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller Burgos, Pilar and Franco Campos, José},
    booktitle = {5th International Conference on Spatial Cognition. Symposium on Spatial Cognition in Robotics.},
    pages = {1--6},
    title = {{Indoor scene perception for object detection and manipulation}},
    year = {2012}
    }
  • [PDF] [DOI] A. Yuste-marco, P. Bustos García, L. J. Manso Argüelles, P. Bachiller Burgos, S. Plana, J. M. Diaz, and R. Boniche, Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation, , 2012.
    [Bibtex]
    @book{yuste-marco-interactive-games,
    abstract = {Over the years, robotic has become a technological service tool in different application domains. This chapter presents a direct application of games and robotics as therapeutic tools in the health care of patients These strategies are used in ACROSS project, involving more than 100 researchers from 13 Spanish entities. The main objective of this project will be to modify the current perspective of the therapies, taking advantage of the game properties that will be implemented in social robots which are blocked in providing predefined services. These new systems are able to self-reconfigure and adapt autonomously. In 1 order to provide an open framework for collaboration between universities, research centres and the Administration, ACROSS will develop Open Source Services available to everybody. This chapter aims to contribute a new overview of treatment therapies with elderly and paediatric patients that present cognitive and motor impairments as well as present the methodology of evaluation to determine the effect of games and social robots as a means to carry out a therapy},
    author = {Yuste-marco, Antoni and Bustos García, Pablo and Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Plana, Sergi and Diaz, Jose M and Boniche, Ricardo},
    booktitle = {Handbook of Research on Serious Games as Educational, Business and Research Tools: Development and Design},
    doi = {10.4018/978-1-4666-0149-9.ch063},
    isbn = {978-1-4666-0149-9 (Hardcover), 978-1-4666-0150-5 (Digital (undefined format))},
    keywords = {augmented reality,cerebral palsy,cognitive training,dementia,games,motor training,obstetrical brachial paralysis,robot assistant,social robotic},
    pages = {1212--1233},
    title = {{Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation}},
    year = {2012}
    }

2011

  • [PDF] M. A. Gutiérrez Giraldo, E. Martinena Guerrero, A. Sánchez Domínguez, R. G. Rodríguez, and P. Núñez Trujillo, “A Cost-Efficient 3D Sensing System for Autonomous Mobile Robots.” 2011, pp. 1-8.
    [Bibtex]
    @inproceedings{gutierrez-cost-efficient,
    author = {Gutiérrez Giraldo, Marco Antonio and Martinena Guerrero, Esteban and Sánchez Domínguez, Agustín and Rodr{\'{i}}guez, Rosario G. and Núñez Trujillo, Pedro},
    pages = {1--8},
    title = {{A Cost-Efficient 3D Sensing System for Autonomous Mobile Robots}},
    year = {2011}
    }
  • [PDF] F. Cid Burgos, R. Cintas Peña, L. J. Manso Argüelles, L. V. Calderita Estévez, A. Sánchez Domínguez, and P. Núñez Trujillo, “A real-time synchronization algorithm between Text-To-Speech ( TTS ) system and Robot Mouth for Social Robotic Applications.” 2011.
    [Bibtex]
    @inproceedings{cid-real-time-synchronization,
    author = {Cid Burgos, Felipe and Cintas Peña, Ramón and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Sánchez Domínguez, Agustín and Núñez Trujillo, Pedro},
    isbn = {4300002010},
    mendeley-groups = {Proceedings},
    title = {{A real-time synchronization algorithm between Text-To-Speech ( TTS ) system and Robot Mouth for Social Robotic Applications}},
    year = {2011}
    }
  • [PDF] [DOI] J. a Sánchez-Margallo, F. M. Sánchez-Margallo, J. B. Pagador, E. J. Gómez, P. Sánchez-González, J. Usón, and J. Moreno del Pozo, “Video-based assistance system for training in minimally invasive surgery.,” in Minimally invasive therapy & allied technologies : mitat : official journal of the society for minimally invasive therapy, 2011, pp. 197-205.
    [Bibtex]
    @inproceedings{sanchez-margallo-video-based-assistance,
    abstract = {In this paper, the development of an assisting system for laparoscopic surgical training is presented. With this system, we expect to facilitate the training process at the first stages of training in laparoscopic surgery and to contribute to an objective evaluation of surgical skills. To achieve this, we propose the insertion of multimedia contents and outlines of work adapted to the level of experience of trainees and the detection of the movements of the laparoscopic instrument into the monitored image. A module to track the instrument is implemented focusing on the tip of the laparoscopic tool. This tracking method does not need the presence of artificial marks or special colours to distinguish the instruments. Similarly, the system has another method based on visual tracking to localize support multimedia content in a stable position of the field of vision. Therefore, this position of the support content is adapted to the movements of the camera or the working area. Experimental results are presented to show the feasibility of the proposed system for assisting in laparoscopic surgical training.},
    author = {S{\'{a}}nchez-Margallo, Juan a and S{\'{a}}nchez-Margallo, Francisco M and Pagador, Jos{\'{e}} B and G{\'{o}}mez, Enrique J and S{\'{a}}nchez-Gonz{\'{a}}lez, Patricia and Us{\'{o}}n, Jes{\'{u}}s and Moreno del Pozo, Jose},
    booktitle = {Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy},
    doi = {10.3109/13645706.2010.534243},
    isbn = {1365-2931 (Electronic) 1364-5706 (Linking)},
    issn = {1364-5706},
    keywords = {laparoscopic instrument tracking,laparoscopy,training,video-based system,visual tracking},
    number = {4},
    pages = {197--205},
    pmid = {21091379},
    title = {{Video-based assistance system for training in minimally invasive surgery.}},
    volume = {20},
    year = {2011}
    }
  • [PDF] J. A. Sánchez Margallo, F. M. Sánchez Margallo, J. Pagador Carrasco, J. Uson Gargallo, P. Sánchez González, I. Oropesa Garc{‘i}a, E. J. Gómez Aguilera, and J. Moreno del Pozo, “Sistema de seguimiento del instrumental laparoscópico basado en marcas artificiales: pruebas iniciales.” 2011.
    [Bibtex]
    @inproceedings{sanchez-sistema-seguimiento,
    title={Sistema de seguimiento del instrumental laparosc{\'o}pico basado en marcas artificiales: pruebas iniciales},
    author={S{\'a}nchez Margallo, Juan Antonio and S{\'a}nchez Margallo, Francisco Miguel and Pagador Carrasco, JB and Uson Gargallo, Jes{\'u}s and S{\'a}nchez Gonz{\'a}lez, Patricia and Oropesa Garc{\'\i}a, Ignacio and G{\'o}mez Aguilera, Enrique J and Moreno del Pozo, Jose},
    year={2011},
    publisher={Telecomunicacion}
    }
  • [PDF] [DOI] J. B. Pagador, L. F. Sánchez, J. A. Sánchez, P. Bustos García, J. Moreno del Pozo, and F. M. Sánchez-Margallo, “Augmented reality haptic (ARH): An approach of electromagnetic tracking in minimally invasive surgery,” in International journal of computer assisted radiology and surgery, 2011, pp. 257-263.
    [Bibtex]
    @inproceedings{pagador-augmented-reality-hepatic,
    abstract = {PURPOSE: Minimally Invasive Surgery (MIS) is a widely used surgical technique that requires a long training process due to its difficulty and complexity. We developed an Augmented Reality Haptic (ARH) System based on electromagnetic tracking devices for use in creation training models (computer-enhanced trainers), in computer-assisted surgery or telemanipulation applications. METHOD: The ARH system consists currently in a Linux driver and a calibration protocol to acquire the tooltip position of conventional laparoscopic tools in real time. A Polhemus Isotrack({\textregistered}) II was used to track surgical endoscopic tooltip movements. The receiver was mounted on the tool handle in order to measure laparoscopic tools positions without complex modifications. Two validation tests were done to guarantee the proper functioning of the ARH system in a MIS environment. The first one checks the driver operation and the second measures the accuracy and reliability of the tooltip pose estimation process. RESULTS: Jitter and orientation errors for the first test were 2.00±0.10 and 2.00±0.09 mm, respectively. Relative position error of 0.25±0.06 cm for a distance of 5 cm was found. Jitter error for the second test was 127 ± 60, 117 ± 40 and 122 ± 39 mm in Z, Y and X rotations, respectively. CONCLUSIONS: Results obtained with the ARH system are sufficiently accurate for use in MIS training. A supplementary correction procedure would be necessary to use this ARH system in computer-assisted surgery or telemanipulation.},
    author = {Pagador, J. B. and S{\'{a}}nchez, L. F. and S{\'{a}}nchez, J. A. and Bustos García, Pablo and Moreno del Pozo, Jose and S{\'{a}}nchez-Margallo, F. M.},
    booktitle = {International Journal of Computer Assisted Radiology and Surgery},
    doi = {10.1007/s11548-010-0501-0},
    isbn = {1861-6429 (Electronic)\r1861-6410 (Linking)},
    issn = {18616410},
    keywords = {Computer-assisted surgery,Electromagnetic device tracking,Minimally invasive surgery,Surgical assessment,Surgical training},
    number = {2},
    pages = {257--263},
    pmid = {20596898},
    title = {{Augmented reality haptic (ARH): An approach of electromagnetic tracking in minimally invasive surgery}},
    volume = {6},
    year = {2011}
    }
  • [PDF] [DOI] J. A. Sanchez-Margallo, F. M. Sanchez-Margallo, J. B. Pagador, P. Bustos García, and J. Moreno del Pozo, “A laparoscopic hybrid simulator for skills assessment and augmented reality surgical applications,” in International journal of computer assisted radiology and surgery.conference: computer assisted radiology and surgery – 25th international congress and exhibition, cars 2011 berlin germany.conference start: 20110622 conference end: 20110625.conference p, 2011, p. June–.
    [Bibtex]
    @inproceedings{sanchez-margallo-simulator-skills,
    abstract = {Purpose: In minimally invasive surgery, surgeons traditionally begin their surgical education by observing experienced surgeons in the operating rooms. However, objective assessment of the surgeons' skills is still a challenge, because nowadays there is no an automatic objective assessment method of basic laparoscopic surgical skills that are widely used [1]. During this evaluation process and execution of the training tasks by the surgeon, images displayed on monitors provide the main source of information for the surgeon. A real-time system for training assistance in laparoscopic surgery is presented. This system provides support visual content during the execution of the laparoscopic training procedures, tools to carry out an automatic three-dimensional video-based tracking of the laparoscopic instruments, and a more reliable image of the surgical scenario. Methods: To assist the laparoscopic training process, we insert support content into a stable position of the workspace using a visual tracking method of a point marked by the surgeon in the field of vision. A stereoscopic system inside the physical laparoscopic simulator SIMULAP-ICO5 (CCMIJU, Caceres, Spain) has been installed to track the position of the laparoscopic instrument during the training tasks (Fig. 1). To evaluate the system's precision in calculating the depth position of laparoscopic instruments, we computed the accumulated distance error [2]. (Figure presented) Results: We implemented a dynamic artificial environment which represents the working area of the training procedure to show the three-dimensional location of the laparoscopic instrument and the visual support content. The maximum depth error obtained by the tracking system is 5.750 mm at 415 mm from the stereo system (Fig. 2). Conclusion: The proposed system provides surgical assistance during the laparoscopic training process and performs a three-dimensional video-based tracking of the laparoscopic instrument's tip which is a useful tool to carry out an objective assessment of surgical skills. Similarly, this device is an important step in the development of surgical support scenarios based on Augmented Reality},
    author = {Sanchez-Margallo, J A and Sanchez-Margallo, F M and Pagador, J B and Bustos García, Pablo and Moreno del Pozo, Jose},
    booktitle = {International Journal of Computer Assisted Radiology and Surgery.Conference: Computer Assisted Radiology and Surgery - 25th International Congress and Exhibition, CARS 2011 Berlin Germany.Conference Start: 20110622 Conference End: 20110625.Conference P},
    doi = {10.1007/s11548-011-0614-0},
    isbn = {1861-6410},
    issn = {1861-6410},
    keywords = {*computer,*laparoscopy,*radiology,*simulator,*skill,*surgery,*videorecording,Application,Environment,Operating Rooms,Reality,Spain,accuracy,augmented realities,augmented reality,augmented-reality,device,education,error,evaluation,eye tracking,laparoscopic surgery,methods,minimally invasive surgery,operating room,procedures,simulator,skill,surgeon,surgery,surgical training,training,vision},
    number = {pp S263-S264},
    pages = {June--},
    title = {{A laparoscopic hybrid simulator for skills assessment and augmented reality surgical applications}},
    volume = {6},
    year = {2011}
    }
  • J. Franco Campos, J. B. Pagador, J. L. Moyano, L. F. Sánchez-Peralta, J. Moreno del Pozo, P. Bustos García, E. Pérez-Chávez, H. R., and F. M. Sánchez-Margallo, “Evaluation of the Usefulness of a Low Cost Haptic Device for Computer Assisted Minimally Invasive Surgery,” in 3rd conference of the society for medical innovation and technology (smit 11), Tel Aviv, Israel, 2011.
    [Bibtex]
    @inproceedings{franco-evaluation-usefulness,
    address = {Tel Aviv, Israel},
    author = {Franco Campos, José and Pagador, J.B. and Moyano, J.L. and S{\'{a}}nchez-Peralta, L.F. and Moreno del Pozo, Jose and Bustos García, Pablo and P{\'{e}}rez-Ch{\'{a}}vez, E. and R., Hern{\'{a}}ndez and S{\'{a}}nchez-Margallo, F.M.},
    booktitle = {3rd Conference of the Society for Medical Innovation and Technology (SMIT 11)},
    title = {{Evaluation of the Usefulness of a Low Cost Haptic Device for Computer Assisted Minimally Invasive Surgery}},
    year = {2011}
    }
  • J. Franco Campos, J. B. Pagador, J. L. Moyano, J. Moreno del Pozo, P. Bustos García, R. Leal, J. A. Fatás, and F. M. Sánchez-Margallo, “Creation of a 3D catalog of the femur for 2D/3D shape registration,” in 25nd international conference of the computer assisted radiology and surgery (cars), Berlin, Germany, 2011.
    [Bibtex]
    @inproceedings{franco-creation-femur,
    address = {Berlin, Germany},
    author = {Franco Campos, José and Pagador, J.B. and Moyano, J.L. and Moreno del Pozo, Jose and Bustos García, Pablo and Leal, R. and Fat{\'{a}}s, J.A. and S{\'{a}}nchez-Margallo, F.M.},
    booktitle = {25nd International Conference of the Computer Assisted Radiology and Surgery (CARS)},
    title = {{Creation of a 3D catalog of the femur for 2D/3D shape registration}},
    year = {2011}
    }
  • [PDF] A. C. Bahon and P. Bustos García, “Robots for Social Service: ACROSS Project,” in Robot2011, 2011.
    [Bibtex]
    @inproceedings{bahon-across,
    abstract = {Postprint (author's final draft)},
    author = {Bahon, C Angulo and Bustos García, Pablo},
    booktitle = {Robot2011},
    number = {1},
    title = {{Robots for Social Service: ACROSS Project}},
    volume = {3},
    year = {2011}
    }
  • [PDF] J. A. Sánchez-Margallo, F. M. Sánchez-Margallo, J. B. Pagador, J. Usón, P. Bustos García, and J. Moreno del Pozo, “Diseño de herramientas de seguimiento de instrumental laparoscópico basadas en vídeo para la evaluación de las habilidades quirúrgicas,” in Xxix congreso anual de la sociedad española de ingeniería biomédica (caseib 2011), 2011, pp. 551-554.
    [Bibtex]
    @inproceedings{sanchez-margallo-herramientas,
    author = {S{\'{a}}nchez-Margallo, J.A. and S{\'{a}}nchez-Margallo, F.M. and Pagador, J.B. and Us{\'{o}}n, J. and Bustos García, Pablo and Moreno del Pozo, Jose},
    booktitle = {XXIX Congreso Anual de la Sociedad Espa{\~{n}}ola de Ingenier{\'{i}}a Biom{\'{e}}dica (CASEIB 2011)},
    pages = {551--554},
    title = {{Dise{\~{n}}o de herramientas de seguimiento de instrumental laparosc{\'{o}}pico basadas en v{\'{i}}deo para la evaluaci{\'{o}}n de las habilidades quir{\'{u}}rgicas}},
    year = {2011}
    }
  • [PDF] P. Bustos García, L. V. Calderita Estévez, R. Cintas Peña, and P. Bachiller Burgos, “Design of a Social Robot as assistant to training children with motor impairments,” in Robot 2011, 2011, pp. 54-59.
    [Bibtex]
    @inproceedings{bustos-design-social-robot,
    abstract = {This work is being developed under the ACROSS Project whose goal is to provide intelligent systems capable of adapting to the user demands, modifying autonomously their behavior. The project includes three application domains in which the technical developments carried out by project partners will be validated with end-users. In this paper one of them will be presented: Social Assistance and Psycho-affective Disorder, in which a robotic teddy bear has been built to train paediatric patients with motor impairments. Moreover, this treatment will include a virtual trainer, augmented reality techniques and the execution of interactive games.},
    author = {Bustos García, Pablo and Calderita Estévez, Luis Vicente and Cintas Peña, Ramón and Bachiller Burgos, Pilar},
    booktitle = {Robot 2011},
    isbn = {9788461567874},
    pages = {54--59},
    title = {{Design of a Social Robot as assistant to training children with motor impairments}},
    year = {2011}
    }
  • [PDF] L. V. Calderita Estévez, P. Bachiller Burgos, J. P. Bandera, P. Bustos García, and P. Núñez Trujillo, “MIMIC: A Human motion imitation component for RoboComp ˜,” in 1st workshop on recognition and action for scene understanding (reacts), 2011.
    [Bibtex]
    @inproceedings{calderita-mimic-motion,
    author = {Calderita Estévez, Luis Vicente and Bachiller Burgos, Pilar and Bandera, Juan P and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {1st Workshop on Recognition and Action for Scene Understanding (REACTS)},
    title = {{MIMIC: A Human motion imitation component for RoboComp ˜}},
    year = {2011}
    }
  • [PDF] M. A. Gutiérrez Giraldo, P. Bachiller Burgos, L. J. Manso Argüelles, P. Bustos García, and P. Núñez Trujillo, “An incremental hybrid approach to indoor modeling ˜,” in European conference on mobile robots, 2011, pp. 1-7.
    [Bibtex]
    @inproceedings{bachiller-incremental-hybrid,
    author = {Gutiérrez Giraldo, Marco Antonio and Bachiller Burgos, Pilar and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {European Conference on Mobile Robots},
    pages = {1--7},
    title = {{An incremental hybrid approach to indoor modeling ˜}},
    year = {2011}
    }
  • [PDF] P. Bachiller Burgos, P. Bustos García, and L. J. Manso Argüelles, “Attentional Behaviors for Environment Modeling by a Mobile Robot,” in Advances in stereo vision, 2011, p. 372.
    [Bibtex]
    @inproceedings{bachiller-modeling-mobile,
    author = {Bachiller Burgos, Pilar and Bustos García, Pablo and Manso Argüelles, Luis Jesús},
    booktitle = {Advances in Stereo Vision},
    editor = {{J. R. Torreao}},
    isbn = {978-953-307-837-3},
    pages = {372},
    publisher = {INTECH},
    title = {{Attentional Behaviors for Environment Modeling by a Mobile Robot}},
    year = {2011}
    }
  • [PDF] I. García-Varea, A. Jiménez-Picazo, J. Martínez, A. Revuelta, L. Rodríguez, P. Bustos García, and P. Núñez Trujillo, “APEDROS: Asistencia a Personas con Discapacidad mediante Robots Sociales,” in Iberdiscap, 2011, pp. 1-6.
    [Bibtex]
    @inproceedings{garcia-vare-apedros,
    abstract = {Uno de los principales retos sociales en pa{\'{i}}ses desarrollados es el de la atenci{\'{o}}n a las personas dependientes y el procurar mejorar su calidad de vida promocionando su autonom{\'{i}}a personal. Un gran paso en este sentido ser{\'{i}}a la utilizaci{\'{o}}n de las modernas Tecnolog{\'{i}}as de la Informaci{\'{o}}n y las Comunicaciones (TICs) en este {\'{a}}mbito. De hecho {\'{u}}ltimamente se est{\'{a}} demostrando c{\'{o}}mo la rob{\'{o}}tica juega un rol importante en este tipo de situaciones y retos, siendo de especial inter{\'{e}}s la rob{\'{o}}tica social. En este trabajo presentamos el proyecto APEDROS, poniendo especial atenci{\'{o}}n a los objetivos a cubrir durante su desarrollo, cuya {\'{u}}ltima finalidad es la de mejorar el bienestar social y la calidad de vida de las personas dependientes haciendo uso de la rob{\'{o}}tica social. Por tanto, el principal objetivo de este proyecto es desarrollar y evaluar experimentalmente formas de interacci{\'{o}}n Hombre-Robot que pongan de manifiesto las ventajas y/o inconvenientes del uso de la rob{\'{o}}tica social en este tipo de escenarios.},
    author = {Garc{\'{i}}a-Varea, I. and Jim{\'{e}}nez-Picazo, A and {J. Mart{\'{i}}nez} and Revuelta, A and Rodr{\'{i}}guez, L. and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {Iberdiscap},
    keywords = {discapacidad,interacci{\'{o}}n multimodal hombre-robot,rob{\'{o}}tica social},
    pages = {1--6},
    title = {{APEDROS: Asistencia a Personas con Discapacidad mediante Robots Sociales}},
    year = {2011}
    }
  • [PDF] P. Bustos García, E. Jaramillo, P. Núñez Trujillo, and P. Bachiller Burgos, “Robots Sociales para la Mejora de la Calidad de Vida de las Personas Dependientes,” in Iberdiscap, 2011.
    [Bibtex]
    @inproceedings{bustos-robots-personas-dependientes,
    abstract = {La rob{\'{o}}tica social est{\'{a}} experimentando un gran auge en las {\'{u}}ltimas d{\'{e}}cadas. Estos robots permiten interactuar con el ser humano o con otros robots siguiendo pautas y comportamientos sociales. Los escenarios de uso de los robots sociales van desde la rob{\'{o}}tica del hogar hasta la asistencia en museos, vigilancia, seguridad o incluso, en la rehabilitaci{\'{o}}n y ayuda a las personas dependientes. {\'{E}}ste {\'{u}}ltimo es el marco de desarrollo del presente trabajo. En este art{\'{i}}culo presentamos un robot social desarrollado para interaccionar con pacientes con la enfermedad del Parkinson. El dise{\~{n}}o del hardware y del software es descrito con detalle, acercando la parte de ingenier{\'{i}}a a las aplicaciones reales para las cuales va a ser utilizado. En la descripci{\'{o}}n de los mecanismos de interacci{\'{o}}n que formar{\'{a}}n parte del robot se han tenido en cuenta los trabajos realizados por la Unidad de Geriatr{\'{i}}a del Complejo Hospitalario de C{\'{a}}ceres y su Hospital de d{\'{i}}a},
    author = {Bustos García, Pablo and Jaramillo, E and Núñez Trujillo, Pedro and Bachiller Burgos, Pilar},
    booktitle = {Iberdiscap},
    keywords = {discapacidad,interacci{\'{o}}n multimodal hombre-robot,rob{\'{o}}tica social},
    number = {March},
    title = {{Robots Sociales para la Mejora de la Calidad de Vida de las Personas Dependientes}},
    year = {2011}
    }
  • [PDF] [DOI] J. B. Pagador, J. Uson, M. A. Sánchez, J. L. Moyano, J. Moreno del Pozo, P. Bustos García, J. Mateos Sánchez, and F. M. Sánchez-Margallo, “Electronic device for endosurgical skills training (EDEST): Study of reliability,” in International journal of computer assisted radiology and surgery, 2011, pp. 367-374.
    [Bibtex]
    @inproceedings{pagador-electronic-device,
    abstract = {Purpose: Minimally Invasive Surgery procedures are commonly used in many surgical practices, but surgeons need specific training models and devices due to its difficulty and complexity. In this paper, an innovative electronic device for endosurgical skills training (EDEST) is presented. A study on reliability for this device was performed. Method: Different electronic components were used to compose this new training device. The EDEST was focused on two basic laparoscopic tasks: triangulation and coordination manoeuvres. A configuration and statistical software was developed to complement the functionality of the device. A calibration method was used to assure the proper work of the device. A total of 35 subjects (8 experts and 27 novices) were used to check the reliability of the system using the MTBF analysis. Results: Configuration values for triangulation and coordination exercises were calculated as 0.5 s limit threshold and 800-11,000 lux range of light intensity, respectively. Zero errors in 1,050 executions (0%) for triangulation and 21 errors in 5,670 executions (0.37%) for coordination were obtained. A MTBF of 2.97 h was obtained. Conclusions: The results show that the reliability of the EDEST device is acceptable when used under previously defined light conditions. These results along with previous work could demonstrate that the EDEST device can help surgeons during first training stages. {\textcopyright} 2010 CARS.},
    author = {Pagador, J. B. and Uson, J. and S{\'{a}}nchez, M. A. and Moyano, J. L. and Moreno del Pozo, Jose and Bustos García, Pablo and Mateos Sánchez, José and S{\'{a}}nchez-Margallo, F. M.},
    booktitle = {International Journal of Computer Assisted Radiology and Surgery},
    doi = {10.1007/s11548-010-0516-6},
    isbn = {1154801005166},
    issn = {18616410},
    keywords = {Electronic device,Minimally invasive surgery,Skills training,Surgical assessment},
    number = {3},
    pages = {367--374},
    pmid = {20700663},
    title = {{Electronic device for endosurgical skills training (EDEST): Study of reliability}},
    volume = {6},
    year = {2011}
    }
  • [PDF] R. Cintas Peña, L. J. Manso Argüelles, L. Pinero, P. Bachiller Burgos, and P. Bustos García, “Robust behavior and perception using hierarchical state machines: A pallet manipulation experiment,” in Journal of physical agents, 2011, pp. 35-44.
    [Bibtex]
    @inproceedings{cintas-robust-behavior,
    author = {Cintas Peña, Ramón and Manso Argüelles, Luis Jesús and Pinero, L. and Bachiller Burgos, Pilar and Bustos García, Pablo},
    booktitle = {Journal of Physical Agents},
    issn = {18880258},
    keywords = {Active Perception,Autonomous Robots,Mobile Manipulators},
    number = {1},
    pages = {35--44},
    title = {{Robust behavior and perception using hierarchical state machines: A pallet manipulation experiment}},
    volume = {5},
    year = {2011}
    }
  • [PDF] [DOI] J. B. Pagador, L. F. Sánchez, J. A. Sánchez, P. Bustos García, J. Moreno del Pozo, and F. M. Sánchez-Margallo, “Augmented reality haptic (ARH): An approach of electromagnetic tracking in minimally invasive surgery,” in International journal of computer assisted radiology and surgery, 2011, pp. 257-263.
    [Bibtex]
    @inproceedings{pagador-augmented-reality,
    abstract = {PURPOSE: Minimally Invasive Surgery (MIS) is a widely used surgical technique that requires a long training process due to its difficulty and complexity. We developed an Augmented Reality Haptic (ARH) System based on electromagnetic tracking devices for use in creation training models (computer-enhanced trainers), in computer-assisted surgery or telemanipulation applications. METHOD: The ARH system consists currently in a Linux driver and a calibration protocol to acquire the tooltip position of conventional laparoscopic tools in real time. A Polhemus Isotrack({\textregistered}) II was used to track surgical endoscopic tooltip movements. The receiver was mounted on the tool handle in order to measure laparoscopic tools positions without complex modifications. Two validation tests were done to guarantee the proper functioning of the ARH system in a MIS environment. The first one checks the driver operation and the second measures the accuracy and reliability of the tooltip pose estimation process. RESULTS: Jitter and orientation errors for the first test were 2.00±0.10 and 2.00±0.09 mm, respectively. Relative position error of 0.25±0.06 cm for a distance of 5 cm was found. Jitter error for the second test was 127 ± 60, 117 ± 40 and 122 ± 39 mm in Z, Y and X rotations, respectively. CONCLUSIONS: Results obtained with the ARH system are sufficiently accurate for use in MIS training. A supplementary correction procedure would be necessary to use this ARH system in computer-assisted surgery or telemanipulation.},
    author = {Pagador, J. B. and S{\'{a}}nchez, L. F. and S{\'{a}}nchez, J. A. and Bustos García, Pablo and Moreno del Pozo, Jose and S{\'{a}}nchez-Margallo, F. M.},
    booktitle = {International Journal of Computer Assisted Radiology and Surgery},
    doi = {10.1007/s11548-010-0501-0},
    isbn = {1861-6429 (Electronic)\r1861-6410 (Linking)},
    issn = {18616410},
    keywords = {Computer-assisted surgery,Electromagnetic device tracking,Minimally invasive surgery,Surgical assessment,Surgical training},
    number = {2},
    pages = {257--263},
    pmid = {20596898},
    title = {{Augmented reality haptic (ARH): An approach of electromagnetic tracking in minimally invasive surgery}},
    volume = {6},
    year = {2011}
    }
  • F. M. Sánchez-Margallo, J. A. Sánchez-Margallo, J. B. Pagador, J. L. Moyano, J. Usón, P. Bustos García, and J. Moreno del Pozo, “A laparoscopic hybrid simulator for skills assessment and augmented reality surgical applications.” 2011, p. S263–4.
    [Bibtex]
    @inproceedings{sanchez-laparoscopic,
    title={A laparoscopic hybrid simulator for skills assessment and augmented reality surgical applications},
    author = {S{\'{a}}nchez-Margallo, F.M. and S{\'{a}}nchez-Margallo, J.A. and Pagador, J.B. and Moyano, J.L. and Us{\'{o}}n, J. and Bustos García, Pablo and Moreno del Pozo, Jose},
    journal={Int J Comput Assist Radiol Surg},
    volume={6},
    pages={S263--4},
    year={2011}
    }
  • [PDF] P. Núñez Trujillo, “Interacción hombre-máquina usando gestos,” Master Thesis, 2011.
    [Bibtex]
    @mastersthesis{interaccion-hombre-maquina-usando-gestos,
    author = {Núñez Trujillo, Pedro},
    title = {{Interacci{\'{o}}n hombre-m{\'{a}}quina usando gestos}},
    year = {2011}
    }
  • [PDF] P. Núñez Trujillo, “Extracción de Características de Imagen para Navegación de Robots Móviles,” Master Thesis, 2011.
    [Bibtex]
    @mastersthesis{navegacion-robots-moviles-pedro,
    author = {Núñez Trujillo, Pedro},
    title = {{Extracci{\'{o}}n de Caracter{\'{i}}sticas de Imagen para Navegaci{\'{o}}n de Robots M{\'{o}}viles}},
    year = {2011}
    }

2010

  • [PDF] L. V. Calderita Estévez, “Navegación de Robots en Formación: un Enfoque Reactivo con Restricciones.” 2010.
    [Bibtex]
    @inproceedings{navegacion-robots-formacion,
    author = {Calderita Estévez, Luis Vicente},
    title = {{Navegaci{\'{o}}n de Robots en Formaci{\'{o}}n: un Enfoque Reactivo con Restricciones}},
    year = {2010}
    }
  • [PDF] P. Núñez Trujillo, P. Drews, A. Bandera, R. Rocha, M. Campos, and J. Dias, “Change detection in 3D environments based on Gaussian Mixture Model and Robust Structural Matching for Autonomous robotic applications,” in Environments, 2010.
    [Bibtex]
    @inproceedings{nunez-change-detection,
    abstract = {The ability to detect perceptions which were never experienced before, i.e. novelty detection, is an important component of autonomous robots working in real environments. It is achieved by comparing current data provided by its sensors with a previously known map of the environment. This often constitutes an extremely challenging task due to the large amounts of data that must be compared in real- time. With respect to previously proposed approaches, this paper detects changes in 3D environment based on probabilistic models, the Gaussian Mixture Model, and a fast and robust combined constraint matching algorithm. The matching allows to represent the scene view as a graph which emerges from the comparison betweenMixtures of Gaussians. Finding the largest set of mutually consistent matches is equivalent to find the maximum clique on a graph. The proposed approach has been tested for mobile robotics purposes in real environments and compared to other matching algorithms. Experimental results demonstrate the performance of the proposal.},
    author = {Núñez Trujillo, Pedro and Drews, P and Bandera, A and Rocha, R and Campos, M and Dias, J},
    booktitle = {Environments},
    title = {{Change detection in 3D environments based on Gaussian Mixture Model and Robust Structural Matching for Autonomous robotic applications}},
    year = {2010}
    }
  • [PDF] D. P. Jr, P. Núñez Trujillo, R. Rocha, M. Campos, and J. Dias, “Novelty Detection and 3D Shape Retrieval using Superquadrics and Multi-Scale Sampling for Autonomous Mobile Robots.” 2010.
    [Bibtex]
    @inproceedings{jr-novelty-detection,
    author = {Jr, P Drews and Núñez Trujillo, Pedro and Rocha, R and Campos, M and Dias, J},
    title = {{Novelty Detection and 3D Shape Retrieval using Superquadrics and Multi-Scale Sampling for Autonomous Mobile Robots}},
    year = {2010}
    }
  • [PDF] S. F. M. Margallo, P. J. B. Carrasco, L. F. Sánchez-Peralta, S. J. A. Margallo, S. Enciso, and J. Moreno del Pozo, “Estudios de validez de un dispositivo háptico de realidad aumentada (ARH) para la evaluación objetiva de la sutura laparoscópica intracorpórea.” 2010.
    [Bibtex]
    @inproceedings{arh-estudio-validez,
    author = {F.M. S{\'{a}}nchez Margallo and J.B. Pagador Carrasco and L.F. S{\'{a}}nchez-Peralta and J.A. S{\'{a}}nchez Margallo and S. Enciso and Moreno del Pozo, Jose},
    title = {{Estudios de validez de un dispositivo h{\'{a}}ptico de realidad aumentada (ARH) para la evaluaci{\'{o}}n objetiva de la sutura laparosc{\'{o}}pica intracorp{\'{o}}rea}},
    year = {2010}
    }
  • [PDF] Sánchez-Margallo, F. M, Sánchez-Margallo, J. A, Pagador, J. B, Moyano, J. L, J. Moreno del Pozo, and J. Usón, “Ergonomic assessment of hand movements in laparoscopic surgery using the cyberglove,” in Computational biomechanics for medicine, 2010, pp. 121-128.
    [Bibtex]
    @inproceedings{sanchez-ergonomic-cyber-globe,
    title={Ergonomic assessment of hand movements in laparoscopic surgery using the CyberGlove},
    author={S{\'{a}}nchez-Margallo and Francisco M and S{\'{a}}nchez-Margallo and Juan A and Pagador and Jos{\'{e}} B and Moyano and Jos{\'{e}} L and Moreno del Pozo, Jose and Us{\'{o}}n, Jes{\'{u}}s},
    booktitle={Computational Biomechanics for Medicine},
    pages={121--128},
    year={2010},
    publisher={Springer}
    }
  • F. M. Sánchez-Margallo, J. A. Sánchez-Margallo, J. B. Pagador, J. L. Moyano, J. Usón, P. Bustos García, and J. Moreno del Pozo, “Sistema de análisis de vídeo laparoscópico para la asistencia durante la formación en cirugía de mínima invasión.” 2010.
    [Bibtex]
    @inproceedings{sanchez-laparoscopico,
    author = {S{\'{a}}nchez-Margallo, F.M. and S{\'{a}}nchez-Margallo, J.A. and Pagador, J.B. and Moyano, J.L. and Us{\'{o}}n, J. and Bustos García, Pablo and Moreno del Pozo, Jose},
    journal = {Cirugia Espa{\~{n}}ola},
    title = {{Sistema de an{\'{a}}lisis de v{\'{i}}deo laparosc{\'{o}}pico para la asistencia durante la formaci{\'{o}}n en cirug{\'{i}}a de m{\'{i}}nima invasi{\'{o}}n}},
    volume = {88},
    year = {2010}
    }
  • [PDF] P. Bustos García, J. Moreno del Pozo, and J. Franco Campos, “An approach to a new fluoroscopic X-ray image to a CT-like atlas registration algorithm of long bone fracture sites.” 2010.
    [Bibtex]
    @inproceedings{therapy-approach-fluoroscopic,
    author = {Bustos García, Pablo and Moreno del Pozo, Jose and Franco Campos, José},
    journal = {Minimally Invasive Therapy {\&} Allied Technologies},
    number = {18},
    title = {{An approach to a new fluoroscopic X-ray image to a CT-like atlas registration algorithm of long bone fracture sites}},
    volume = {19},
    year = {2010}
    }
  • [PDF] [DOI] J. Martínez, A. Romero-Garcés, L. J. Manso Argüelles, and P. Bustos García, “Improving a robotics framework with real-time and high-performance features,” in Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), 2010, pp. 263-274.
    [Bibtex]
    @inproceedings{martinez-improving-robotic-framework,
    abstract = {Middleware has a key role in modern and object-oriented robotics frameworks, which aim at developing reusable, scalable and maintainable systems using different platforms and programming languages. However, complex robotics software falls into the category of distributed real-time systems with stringent requirements in terms of throughput, latency and jitter. This paper introduces and analyzes a methodology to improve an existing robotics framework with real-time and high-performance features using a recently adopted standard: the Data Distribution Service (DDS).},
    author = {Mart{\'{i}}nez, Jes{\'{u}}s and Romero-Garc{\'{e}}s, Adri{\'{a}}n and Manso Argüelles, Luis Jesús and Bustos García, Pablo},
    booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    doi = {10.1007/978-3-642-17319-6_26},
    isbn = {3642173187},
    issn = {03029743},
    keywords = {data distribution service,middleware,performance,real-time,robotics},
    pages = {263--274},
    title = {{Improving a robotics framework with real-time and high-performance features}},
    volume = {6472 LNAI},
    year = {2010}
    }
  • [PDF] [DOI] L. J. Manso Argüelles, P. Bachiller Burgos, P. Bustos García, P. Núñez Trujillo, R. Cintas Peña, and L. V. Calderita Estévez, “RoboComp: A tool-based robotics framework,” in Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), 2010, pp. 251-262.
    [Bibtex]
    @inproceedings{manso-robocomp-framework,
    abstract = {This paper presents RoboComp, an open-source componentoriented robotics framework. Ease of use and low development effort has proven to be two of the key issues to take into account when building frameworks. Due to the crucial role of development tools in these questions, this paper deeply describes the tools that make RoboComp more than just a middleware. To provide an overview of the developer experience, some examples are given throughout the text. It is also compared to the most open-source relevant projects with similar goals, specifying its weaknesses and strengths.},
    author = {Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Bustos García, Pablo and Núñez Trujillo, Pedro and Cintas Peña, Ramón and Calderita Estévez, Luis Vicente},
    booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    doi = {10.1007/978-3-642-17319-6_25},
    isbn = {3642173187},
    issn = {03029743},
    keywords = {programming tools,robotics framework,software usability},
    pages = {251--262},
    title = {{RoboComp: A tool-based robotics framework}},
    volume = {6472 LNAI},
    year = {2010}
    }
  • [PDF] L. Pinero, R. Cintas Peña, L. J. Manso Argüelles, P. Bachiller Burgos, and P. Bustos García, “Visually-guided Object Manipulation by a Mobile Robot,” in Workshop of physical agents, 2010.
    [Bibtex]
    @inproceedings{pinero-visually-guided,
    abstract = {For mobile robots, the problem of interaction with simple objects in a semi-controlled environment is a rich source of challenging situations. In this paper we present a real experiment dealing with the design of a sequential task and its implications in the active nature of the perceptual process involved. In order to set up this experiment, it is required a non trivial set of functioning senso-motor behaviours. We build on this set to design and test a pallet picking task in which the robot has to locate, approach, obtain the pose and, finally, pick up the target. The only sensorial information available to the robot is its binocular vision system and its internal odometry. To carry out this task we have equipped a RobEx robot with a 1 dof forklift and a 4 dof's binocular head. We present the conceptual and computational models and the results of the initial experiments in a real setup.},
    author = {Pinero, L and Cintas Peña, Ramón and Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Bustos García, Pablo},
    booktitle = {Workshop of Physical Agents},
    title = {{Visually-guided Object Manipulation by a Mobile Robot}},
    url = {http://www.jopha.net/waf/index.php/waf/waf10/paper/viewPDFInterstitial/75/58},
    year = {2010}
    }
  • [PDF] R. Cintas Peña, L. V. Calderita Estévez, L. J. Manso Argüelles, P. Bustos García, P. Bachiller Burgos, and P. Núñez Trujillo, “Un framework de Desarrollo para Robótica,” in I jornadas jóvenes investigadores universidad de extremadura, 2010.
    [Bibtex]
    @inproceedings{cintas-framework-desarrollo,
    author = {Cintas Peña, Ramón and Calderita Estévez, Luis Vicente and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller Burgos, Pilar and Núñez Trujillo, Pedro},
    booktitle = {I Jornadas J{\'{o}}venes Investigadores Universidad de Extremadura},
    keywords = {complejos,componentes,las peculiaridades de los,no hace falta conocer,porque para entender el,sistema globalmente},
    title = {{Un framework de Desarrollo para Rob{\'{o}}tica}},
    year = {2010}
    }
  • [PDF] L. J. Manso Argüelles, P. Bustos García, and P. Bachiller Burgos, “Multi-cue visual obstacle detection for mobile robots.” 2010, pp. 3-10.
    [Bibtex]
    @inproceedings{manso-visual-obstacle,
    abstract = {Autonomous navigation is one of the most essential capabilities of autonomous robots. In order to navigate autonomously, robots need to detect obstacles. While many approaches achieve good results tackling this problem with lidar sensor devices, vision based approaches are cheaper and richer solutions. This paper presents an algorithm for obstacle detection using a stereo camera pair that overcomes some of the limitations of the existing state of the art algorithms and performs better in many heterogeneous scenarios. We use both geometric and color based cues in order to improve its robustness. The contributions of the paper are improvements to the state of the art on single and multiple cue obstacle detection algorithms and a new heuristic method for merging its outputs.},
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller Burgos, Pilar},
    issn = {18880258},
    journal = {Journal of Physical Agents},
    keywords = {[Autonomous robots, Obstacle detection, Visual nav},
    number = {1},
    pages = {3--10},
    title = {{Multi-cue visual obstacle detection for mobile robots}},
    volume = {4},
    year = {2010}
    }
  • [PDF] J. Mateos Sánchez, A. Sánchez Domínguez, L. J. Manso Argüelles, P. Bachiller Burgos, and P. Bustos García, “RobEx: an open-hardware robotics platform,” in Jophanet, 2010.
    [Bibtex]
    @inproceedings{mateos-robex-open-hardware,
    abstract = {Autonomous robots are usually given a considerable sensing capacity. However, they are seldom equipped with the necessary actuators to perform active perception techniques or human-like tasks. This paper presents two robot actuators and RobEx, the robot platform where they have been tested. The first of the actuators is a forklift. The other presented actuator is a four DOF stereo head. Both, the mechanical and electronic designs are released as open-hardware. The software that controls all the presented robotic hardware is also available under the GPL license.},
    author = {Mateos Sánchez, José and Sánchez Domínguez, Agustín and Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Bustos García, Pablo},
    booktitle = {Jophanet},
    title = {{RobEx: an open-hardware robotics platform}},
    url = {http://www.jopha.net/waf/index.php/waf/waf10/paper/viewPDFInterstitial/69/55},
    year = {2010}
    }
  • P. Bustos García and P. Bachiller Burgos, “X workshop of physical agents (WAF’2009),” Journal of physical agents, vol. 4, iss. 1, 2010.
    [Bibtex]
    @article{bustos-waf-x,
    abstract = {The Workshop of Physical Agents intends to be a forum for information and experience exchange in different areas regarding the concept of embodied agents, especially applied to the control and coordination of autonomous systems: robots, mobile robots, industrial processes or complex systems. This special issue is devoted to the selected papers presented at the WAF09 that took place from September 10th to 11th in the city of {\'{C}}aceres (Spain).},
    author = {Bustos García, Pablo and Bachiller Burgos, Pilar},
    issn = {18880258},
    journal = {Journal of Physical Agents},
    keywords = {[Physical agents, WAF]},
    number = {1},
    title = {{X workshop of physical agents (WAF'2009)}},
    volume = {4},
    year = {2010}
    }
  • [PDF] J. Franco Campos, “Modelado virtual de huesos largos,” PhD Thesis, 2010.
    [Bibtex]
    @phdthesis{modelado-virtual-huesos,
    author = {Franco Campos, José},
    title = {{Modelado virtual de huesos largos}},
    year = {2010}
    }
  • [PDF] R. Cintas Peña, “Estructuras Secuenciales para Percepción Activa,” PhD Thesis, 2010.
    [Bibtex]
    @phdthesis{estructuras-secenciales-ramon,
    author = {Cintas Peña, Ramón},
    title = {{Estructuras Secuenciales para Percepci{\'{o}}n Activa}},
    year = {2010}
    }
  • [PDF] P. Núñez Trujillo, “AR-Learning: Interactive book based on augmented reality for educational intentions,” Master Thesis, 2010.
    [Bibtex]
    @mastersthesis{ar-learning-augmented,
    author = {Núñez Trujillo, Pedro},
    title = {{AR-Learning: Interactive book based on augmented reality for educational intentions}},
    year = {2010}
    }
  • [PDF] P. Núñez Trujillo, “Scan Matching Algorithms For Robot Localization Using an UTM30LX Laser Range Sensor,” Master Thesis, 2010.
    [Bibtex]
    @mastersthesis{scan-robot-localization-utm,
    author = {Núñez Trujillo, Pedro},
    title = {{Scan Matching Algorithms For Robot Localization Using an UTM30LX Laser Range Sensor}},
    year = {2010}
    }
  • [PDF] P. Núñez Trujillo, “UTM-30LX and URG-04LX laser range sensors for autonomous robot navigation,” Master Thesis, 2010.
    [Bibtex]
    @mastersthesis{utm-urg-range-sensors,
    author = {Núñez Trujillo, Pedro},
    title = {{UTM-30LX and URG-04LX laser range sensors for autonomous robot navigation}},
    year = {2010}
    }
  • [PDF] P. Núñez Trujillo, “Grid-location for autonomous robot working in indoor environment,” Master Thesis, 2010.
    [Bibtex]
    @mastersthesis{grid-location-indoor-environment,
    author = {Núñez Trujillo, Pedro},
    title = {{Grid-location for autonomous robot working in indoor environment}},
    year = {2010}
    }
  • [PDF] [DOI] L. J. Manso Argüelles, P. Bachiller Burgos, P. Bustos García, P. Núñez Trujillo, R. Cintas Peña, and L. V. Calderita Estévez, “RoboComp: A tool-based robotics framework,” Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), vol. 6472 LNAI, pp. 251-262, 2010.
    [Bibtex]
    @article{manso-robocomp-robotic-framework,
    abstract = {This paper presents RoboComp, an open-source componentoriented robotics framework. Ease of use and low development effort has proven to be two of the key issues to take into account when building frameworks. Due to the crucial role of development tools in these questions, this paper deeply describes the tools that make RoboComp more than just a middleware. To provide an overview of the developer experience, some examples are given throughout the text. It is also compared to the most open-source relevant projects with similar goals, specifying its weaknesses and strengths.},
    author = {Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Bustos García, Pablo and Núñez Trujillo, Pedro and Cintas Peña, Ramón and Calderita Estévez, Luis Vicente},
    doi = {10.1007/978-3-642-17319-6_25},
    isbn = {3642173187},
    issn = {03029743},
    journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    keywords = {programming tools,robotics framework,software usability},
    pages = {251--262},
    title = {{RoboComp: A tool-based robotics framework}},
    volume = {6472 LNAI},
    year = {2010}
    }
  • [PDF] [DOI] J. Martínez, A. Romero-Garcés, L. J. Manso Argüelles, and P. Bustos García, “Improving a robotics framework with real-time and high-performance features,” Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics), vol. 6472 LNAI, pp. 263-274, 2010.
    [Bibtex]
    @article{manso-improving-robotic-framework,
    abstract = {Middleware has a key role in modern and object-oriented robotics frameworks, which aim at developing reusable, scalable and maintainable systems using different platforms and programming languages. However, complex robotics software falls into the category of distributed real-time systems with stringent requirements in terms of throughput, latency and jitter. This paper introduces and analyzes a methodology to improve an existing robotics framework with real-time and high-performance features using a recently adopted standard: the Data Distribution Service (DDS).},
    author = {Mart{\'{i}}nez, Jes{\'{u}}s and Romero-Garc{\'{e}}s, Adri{\'{a}}n and Manso Argüelles, Luis Jesús and Bustos García, Pablo},
    doi = {10.1007/978-3-642-17319-6_26},
    isbn = {3642173187},
    issn = {03029743},
    journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
    keywords = {data distribution service,middleware,performance,real-time,robotics},
    pages = {263--274},
    title = {{Improving a robotics framework with real-time and high-performance features}},
    volume = {6472 LNAI},
    year = {2010}
    }
  • [PDF] P. Núñez Trujillo, P. Drews, A. Bandera, R. Rocha, M. Campos, and J. Dias, “Change detection in 3D environments based on Gaussian Mixture Model and Robust Structural Matching for Autonomous robotic applications,” Environments, 2010.
    [Bibtex]
    @article{nunez-environments-robotics,
    abstract = {The ability to detect perceptions which were never experienced before, i.e. novelty detection, is an important component of autonomous robots working in real environments. It is achieved by comparing current data provided by its sensors with a previously known map of the environment. This often constitutes an extremely challenging task due to the large amounts of data that must be compared in real- time. With respect to previously proposed approaches, this paper detects changes in 3D environment based on probabilistic models, the Gaussian Mixture Model, and a fast and robust combined constraint matching algorithm. The matching allows to represent the scene view as a graph which emerges from the comparison betweenMixtures of Gaussians. Finding the largest set of mutually consistent matches is equivalent to find the maximum clique on a graph. The proposed approach has been tested for mobile robotics purposes in real environments and compared to other matching algorithms. Experimental results demonstrate the performance of the proposal.},
    author = {Núñez Trujillo, Pedro and Drews, P and Bandera, A and Rocha, R and Campos, M and Dias, J},
    journal = {Environments},
    title = {{Change detection in 3D environments based on Gaussian Mixture Model and Robust Structural Matching for Autonomous robotic applications}},
    year = {2010}
    }
  • [PDF] J. Mateos Sánchez, A. Sánchez Domínguez, L. J. Manso Argüelles, P. Bachiller Burgos, and P. Bustos García, “RobEx: an open-hardware robotics platform,” Jophanet, 2010.
    [Bibtex]
    @article{mateos-open-hardware,
    abstract = {Autonomous robots are usually given a considerable sensing capacity. However, they are seldom equipped with the necessary actuators to perform active perception techniques or human-like tasks. This paper presents two robot actuators and RobEx, the robot platform where they have been tested. The first of the actuators is a forklift. The other presented actuator is a four DOF stereo head. Both, the mechanical and electronic designs are released as open-hardware. The software that controls all the presented robotic hardware is also available under the GPL license.},
    author = {Mateos Sánchez, José and Sánchez Domínguez, Agustín and Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Bustos García, Pablo},
    journal = {Jophanet},
    title = {{RobEx: an open-hardware robotics platform}},
    url = {http://www.jopha.net/waf/index.php/waf/waf10/paper/viewPDFInterstitial/69/55},
    year = {2010}
    }
  • [PDF] L. Pinero, R. Cintas Peña, L. J. Manso Argüelles, P. Bachiller Burgos, and P. Bustos García, “Visually-guided Object Manipulation by a Mobile Robot,” Workshop of physical agents, 2010.
    [Bibtex]
    @article{pnunez-waf-visually-guided,
    abstract = {For mobile robots, the problem of interaction with simple objects in a semi-controlled environment is a rich source of challenging situations. In this paper we present a real experiment dealing with the design of a sequential task and its implications in the active nature of the perceptual process involved. In order to set up this experiment, it is required a non trivial set of functioning senso-motor behaviours. We build on this set to design and test a pallet picking task in which the robot has to locate, approach, obtain the pose and, finally, pick up the target. The only sensorial information available to the robot is its binocular vision system and its internal odometry. To carry out this task we have equipped a RobEx robot with a 1 dof forklift and a 4 dof's binocular head. We present the conceptual and computational models and the results of the initial experiments in a real setup.},
    author = {Pinero, L and Cintas Peña, Ramón and Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Bustos García, Pablo},
    journal = {Workshop of Physical Agents},
    title = {{Visually-guided Object Manipulation by a Mobile Robot}},
    url = {http://www.jopha.net/waf/index.php/waf/waf10/paper/viewPDFInterstitial/75/58},
    year = {2010}
    }

2009

  • [PDF] [DOI] R. Vázquez-Martín, P. Núñez Trujillo, A. Bandera, and F. Sandoval, “Spectral clustering for feature-based metric maps partitioning in a hybrid mapping framework,” in Proceedings – ieee international conference on robotics and automation, 2009, pp. 4175-4181.
    [Bibtex]
    @inproceedings{spectral-clustering-feature-based,
    abstract = {Hybrid maps combine metric and topological information for efficiently managing large-scale environments. In a feature-based mapping framework, this paper describes the application of a spectral clustering approach for automatically detecting the transitions between subsequently traversed local maps. Contrary to recently proposed approaches, this algorithm considers each individual map feature as a node of a graph whose edges link two nodes if they are simultaneously observed. Thus, given a sequence of observations, an auxiliary graph is incrementally built whose edges carry non-negative weights according to the locality of the features. Given a feature, its locality defines the set of features that has been observed simultaneously with it at least once. At each execution of the mapping approach, the feature-based graph is split into two subgraphs using a normalized spectral clustering algorithm. If the graph partition is validated, the algorithm determines that the robot is moving into a new area and a new local map is generated. We have tested the proposed approach in real environments where features are obtained using 2D laser sensors or vision. Experimental results demonstrate the performance of the proposal. {\textcopyright} 2009 IEEE.},
    author = {V{\'{a}}zquez-Mart{\'{i}}n, Ricardo and Núñez Trujillo, Pedro and Bandera, Antonio and Sandoval, Francisco},
    booktitle = {Proceedings - IEEE International Conference on Robotics and Automation},
    doi = {10.1109/ROBOT.2009.5152476},
    isbn = {9781424427895},
    issn = {10504729},
    pages = {4175--4181},
    title = {{Spectral clustering for feature-based metric maps partitioning in a hybrid mapping framework}},
    year = {2009}
    }
  • [PDF] [DOI] H. Aliakbarpour, P. Núñez Trujillo, P. J, K. K, and D. J, “An Efficient Algorithm For Extrinsic Calibration Between a 3D Laser Range Finder And A Stereo Camera For Surveillance,” in International conference on advanced robotics, 2009, pp. 1-6.
    [Bibtex]
    @inproceedings{calibration-between-d-laser,
    abstract = {The combined use of 3D laser range finders (LRF) and cameras is increasingly common in the navigation application for autonomous mobile robots. The integration of laser range information and images requires the estimation of the Euclidean 3-dimensional transformation between the coordinate systems of the LRF and the cameras. This paper describes a new and efficient method to perform the extrinsic calibration between a 3D LRF and a stereo camera with the aid of inertial data. The main novelty of the proposed approach compared to other state of the art calibration procedures is the use of an inertial measurement unit (IMU), which decreases the number of points needed to a robust calibration. Furthermore, a freely moving bright spot is the only calibration object. A set of virtual 3D points is made by waving the bright spot through the working volume in three different planes. Its projections onto the images are found with sub-pixel precision and verified by a robust RANSAC analysis. These same points are extracted according to the laser scan data and are corresponded to the virtual 3D points in the stereo pair. Experimental results presented in this paper demonstrate the accuracy of our approach. Furthermore, the applicability of the proposed technique is high, only requiring of an inertial sensor coupled to the sensor platform. This approach has been also extended for a camera network.},
    author = {Aliakbarpour, H and Núñez Trujillo, Pedro and J, Prado and K, Kholshhal and J, Dias},
    booktitle = {International Conference on Advanced Robotics},
    doi = {10.1016/S0263-2241(96)00065-6},
    isbn = {9781424409112},
    issn = {02632241},
    pages = {1--6},
    title = {{An Efficient Algorithm For Extrinsic Calibration Between a 3D Laser Range Finder And A Stereo Camera For Surveillance}},
    url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5174703},
    year = {2009}
    }
  • [PDF] R. Vázquez-Martí, R. Marfil, P. Núñez Trujillo, A. Bandera, F. Sandoval, and others, “A novel approach for salient image regions detection and description,” Pattern recognition letters, vol. 30, iss. 16, pp. 1464-1476, 2009.
    [Bibtex]
    @article{nunez-novel-approach,
    title={A novel approach for salient image regions detection and description},
    author={V{\'{a}}zquez-Mart{\'{i}}, R and Marfil, Rebeca and Núñez Trujillo, Pedro and Bandera, Antonio and Sandoval, F and others},
    journal={Pattern Recognition Letters},
    volume={30},
    number={16},
    pages={1464--1476},
    year={2009},
    publisher={Elsevier}
    }
  • [PDF] A. Bandera, F. Sandoval, and P. Núñez Trujillo, “Combined Constraint Matching Algorithm for Stereo Visual Odometry based on Local Interest Points.” 2009, pp. 3095-3100.
    [Bibtex]
    @inproceedings{bandera-combined-constraint,
    author = {Bandera, A and Sandoval, F and Núñez Trujillo, Pedro},
    isbn = {9781424438044},
    pages = {3095--3100},
    title = {{Combined Constraint Matching Algorithm for Stereo Visual Odometry based on Local Interest Points}},
    year = {2009}
    }
  • [PDF] [DOI] R. Vázquez-Martín, P. Núñez Trujillo, A. Bandera, and F. Sandoval, “Curvature-based environment description for robot navigation using laser range sensors,” in Sensors, 2009, pp. 5894-5918.
    [Bibtex]
    @inproceedings{pedro-curvature-based,
    abstract = {This work proposes a new feature detection and description approach for mobile robot navigation using 2D laser range sensors. The whole process consists of two main modules: a sensor data segmentation module and a feature detection and characterization module. The segmentation module is divided in two consecutive stages: First, the segmentation stage divides the laser scan into clusters of consecutive range readings using a distance-based criterion. Then, the second stage estimates the curvature function associated to each cluster and uses it to split it into a set of straight-line and curve segments. The curvature is calculated using a triangle-area representation where, contrary to previous approaches, the triangle side lengths at each range reading are adapted to the local variations of the laser scan, removing noise without missing relevant points. This representation remains unchanged in translation or rotation, and it is also robust against noise. Thus, it is able to provide the same segmentation results although the scene will be perceived from different viewpoints. Therefore, segmentation results are used to characterize the environment using line and curve segments, real and virtual corners and edges. Real scan data collected from different environments by using different platforms are used in the experiments in order to evaluate the proposed environment description algorithm.},
    author = {R. V{\'{a}}zquez-Mart{\'{i}}n and Núñez Trujillo, Pedro and A. Bandera and F. Sandoval},
    booktitle = {Sensors},
    doi = {10.3390/s90805894},
    issn = {14248220},
    keywords = {Adaptive curvature estimation,Laser scan data segmentation,Mobile robot navigation},
    number = {8},
    pages = {5894--5918},
    pmid = {22461732},
    title = {{Curvature-based environment description for robot navigation using laser range sensors}},
    volume = {9},
    year = {2009}
    }
  • [PDF] P. Drews-jr, J. M. Dias, P. Núñez Trujillo, D. P. Jr, R. Rocha, and J. Dias, “Data Fusion Calibration for a 3D Laser Range Finder and a Camera using Inertial Data . Data Fusion Calibration for a 3D Laser Range Finder and a Camera.” 2009.
    [Bibtex]
    @inproceedings{drews-fata-fusion-calibration,
    author = {Drews-jr, Paulo and Dias, Jorge Miranda and Núñez Trujillo, Pedro and Jr, P Drews and Rocha, R and Dias, J},
    number = {March 2017},
    title = {{Data Fusion Calibration for a 3D Laser Range Finder and a Camera using Inertial Data . Data Fusion Calibration for a 3D Laser Range Finder and a Camera}},
    year = {2009}
    }
  • [PDF] [DOI] A. Bandera, F. Sandoval, and P. Núñez Trujillo, “Fast laser scan matching approach based on adaptive curvature estimation for mobile robots P . N ´ u n.” 2009, pp. 469-479.
    [Bibtex]
    @inproceedings{bandera-fast-laser-scan,
    author = {Bandera, A and Sandoval, F and Núñez Trujillo, Pedro},
    doi = {10.1017/S0263574708004840},
    isbn = {0263574708004},
    keywords = {adaptive curvature function,scan matching},
    number = {2009},
    pages = {469--479},
    title = {{Fast laser scan matching approach based on adaptive curvature estimation for mobile robots P . N ´ u n}},
    volume = {27},
    year = {2009}
    }
  • [PDF] P. Núñez Trujillo, D. P. Jr, R. Rocha, M. Campos, and J. Dias, “Novelty Detection and 3D Shape Retrieval based on Gaussian Mixture Models for Autonomous Surveillance Robotics.” 2009, pp. 4724-4730.
    [Bibtex]
    @inproceedings{nunez-novelty-surveillance-robotics,
    author = {Núñez Trujillo, Pedro and Jr, P Drews and Rocha, R and Campos, M and Dias, J},
    isbn = {9781424438044},
    pages = {4724--4730},
    title = {{Novelty Detection and 3D Shape Retrieval based on Gaussian Mixture Models for Autonomous Surveillance Robotics}},
    year = {2009}
    }
  • E. R. Rodrigues and J. Moreno del Pozo, “Main path to learning using interactive adjustable software,” in Iceri2009 proceedings, 2009, pp. 2506-2513.
    [Bibtex]
    @inproceedings{main-path-to-learning,
    author = {Rodrigues, E.R. and Moreno del Pozo, Jose},
    title = {MAIN PATH TO LEARNING USING INTERACTIVE ADJUSTABLE SOFTWARE},
    series = {2nd International Conference of Education, Research and Innovation},
    booktitle = {ICERI2009 Proceedings},
    isbn = {978-84-613-2953-3},
    issn = {2340-1095},
    publisher = {IATED},
    location = {Madrid, Spain},
    month = {16-18 November, 2009},
    year = {2009},
    pages = {2506-2513}}
  • [PDF] [DOI] D. M. Bejarano, Javier, J. Moreno del Pozo, and G. C. J. J., “A multi-view dense reconstruction for rock glacier modelling,” in Vsmm 2009 – proceedings of the 15th international conference on virtual systems and multimedia, 2009, pp. 163-168.
    [Bibtex]
    @inproceedings{muti-view-reconstruction,
    abstract = {Rock glacier is a rare case of study for 3D modelling. This type of models has particular properties which make it a special application for multi-view stereo reconstruction algorithms. In this work we analize different types of methods for dense reconstruction from wide base-line views. Besides that we select a method which was adapted and implemented for the specific case of rock glacier modelling. Principally we add two suitable innovations: implement a pyramidal image structure for get more efficient computation and use a feature-based method to obtain a initial terrain surface and improve the depth estimation. The proposed method has been tested in a real rock glacier example (Veleta in Sierra Nevada, Spain) with good results.},
    author = {De Mat??as Bejarano and Javier and Moreno del Pozo, Jose and Guerrero Campo Jos?? J.},
    booktitle = {VSMM 2009 - Proceedings of the 15th International Conference on Virtual Systems and Multimedia},
    doi = {10.1109/VSMM.2009.30},
    isbn = {9780769537900},
    keywords = {Computer vision,Dense reconstruction,Photogrammetry,Rock glaciers},
    number = {September},
    pages = {163--168},
    title = {{A multi-view dense reconstruction for rock glacier modelling}},
    year = {2009}
    }
  • C. Suárez, C. Parra, S.Fínez, C. Angulo, D. Lopez-de-Ipiña, R. Del-Coso, M. Loichate, D. Del-Rio, S. Plana, P. Bustos García, A. Yuste, F. Massana, J. L. Lázaro, and J. L. Rey, “La robótica al servicio de la salud: Caso de aplicación robótica para la atención sanitaria de la salud infantil,” Informatica y salud, iss. 77, 2009.
    [Bibtex]
    @article{Suarez2009,
    author = {Su{\'{a}}rez, C. and Parra, C. and S.F{\'{i}}nez and Angulo, C. and Lopez-de-Ipi{\~{n}}a, D. and Del-Coso, R. and Loichate, M. and Del-Rio, D. and Plana, S. and Bustos García, Pablo and Yuste, A. and Massana, F. and L{\'{a}}zaro, J.L. and Rey, J.L.},
    journal = {Informatica y Salud},
    number = {77},
    title = {{La rob{\'{o}}tica al servicio de la salud: Caso de aplicaci{\'{o}}n rob{\'{o}}tica para la atenci{\'{o}}n sanitaria de la salud infantil}},
    year = {2009}
    }
  • [PDF] L. J. Manso Argüelles, P. Bustos García, P. Bachiller Burgos, and J. Moreno del Pozo, “Obstacle Detection on Heterogeneous Surfaces Using Color and Geometric Cues,” in Jophanet, 2009, pp. 95-101.
    [Bibtex]
    @inproceedings{manso-obstacle-detection,
    abstract = {Autonomous navigation is one of the most essen- tial capabilities of autonomous robots. In order to navigate autonomously, robots need to detect obstacles. While many approaches achieve good results tackling this problem with lidar sensor devices, vision based approaches are cheaper and richer solutions. This paper presents an algorithm for obstacle detection using a stereo camera pair that overcomes some of the limitations of the existing algorithms and performs better on heterogeneous circumstances. We use both geometric and color based cues in order to improve its robustness. The contributions of the paper are improvements to the state of the art on single and multiple cue obstacle detection algorithms and a new heuristic method for merging its outputs.},
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller Burgos, Pilar and Moreno del Pozo, Jose},
    booktitle = {Jophanet},
    pages = {95--101},
    title = {{Obstacle Detection on Heterogeneous Surfaces Using Color and Geometric Cues}},
    url = {http://www.jopha.net/waf/index.php/waf/waf09/paper/viewPDFInterstitial/49/39},
    year = {2009}
    }
  • [PDF] [DOI] P. Núñez Trujillo, R. Vázquez-Martín, A. Bandera, and F. Sandoval, “Combined Constraint Matching Algorithm for Stereo Visual Odometry based on Local Interest Points,” in 2009 ieee/rsj international conference on intelligent robots and systems, iros 2009, 2009.
    [Bibtex]
    @inproceedings{nunnez-laser,
    abstract = {In this paper, we describe a new approach which uses scale-invariant image features to estimate the motion of a stereo head. These point features are matched between pairs of frames and linked into image trajectories at video rate, generating what it is called visual odometry, i.e. motion estimates from visual input alone. With respect to previously proposed approaches, the main novelty of our proposal is that the matching between sets of features associated to stereo pairs and between sets of image features associated to consecutive frames are conducted by means of a fast combined constraint matching algorithm. Besides, the efficiency of the approach is increased by using a closed-form solution to estimate the final robot displacement between consecutive acquired frames. We have tested the proposed approach for navigational purposes in a real environment. Experimental results demonstrate the performance of the proposal. {\textcopyright} 2009 IEEE.},
    author = {Núñez Trujillo, Pedro and R. V{\'{a}}zquez-Mart{\'{i}}n and A. Bandera and F. Sandoval},
    booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009},
    doi = {10.1109/IROS.2009.5354667},
    isbn = {9781424438044},
    title = {{Combined Constraint Matching Algorithm for Stereo Visual Odometry based on Local Interest Points}},
    year = {2009}
    }
  • [PDF] [DOI] P. Núñez Trujillo, P. Drews, R. Rocha, M. Campos, and J. Dias, “Novelty Detection and 3D Shape Retrieval Based on Gaussian Mixture Models for Autonomous Surveillance Robotics,” in Ieee/rsj international conference on intelligent robots and systems, (iros’09), 2009, p. pp. 4724–4730.
    [Bibtex]
    @inproceedings{nunnez-retrieva-gauss,
    abstract = {This paper describes an efficient method for retrieving the 3-dimensional shape associated to novelties in the environment of an autonomous robot, which is equipped with a laser range finder. First, changes are detected over the point clouds using a combination of the Gaussian mixture model (GMM) and the earth mover's distance (EMD) algorithms. Next, the shape retrieval is achieved using two different algorithms. First, new samplings are generated from each Gaussian function, followed by a random sampling consensus (RANSAC) algorithm to retrieve geometric primitives. Furthermore, a new algorithm is developed to directly retrieve the shape according to the mathematical space of Gaussian mixture. In this paper, the set of geometric primitives has been limited to the set C = {sphere, cylinder, plane}. The two shape retrieval methods are compared in terms of computational cost and accuracy. Experimental results in various real and simulated scenarios demonstrate the feasibility of the approach.},
    author = {Núñez Trujillo, Pedro and Drews, P and Rocha, R and Campos, M and Dias, J},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS'09)},
    doi = {10.1109/iros.2009.5354712},
    isbn = {9781424438044},
    keywords = {3D shape retrieval,Gaussian mixture models,Gaussian processes,autonomous surveillance robotics,earth mover distance algorithms,geometric primitive retrieval,image retrieval,mobile robots,object detection,random sampling consensus},
    pages = {pp. 4724--4730},
    title = {{Novelty Detection and 3D Shape Retrieval Based on Gaussian Mixture Models for Autonomous Surveillance Robotics}},
    year = {2009}
    }
  • [PDF] R. Cintas Peña and P. Bustos García, “Técnicas visuales de reconocimiento de objetos en robots móviles,” PhD Thesis, 2009.
    [Bibtex]
    @phdthesis{cintas-tecnicas-visuales,
    author = {Cintas Peña, Ramón and Bustos García, Pablo},
    title = {{T{\'{e}}cnicas visuales de reconocimiento de objetos en robots m{\'{o}}viles}},
    year = {2009}
    }
  • [PDF] P. Núñez Trujillo, “Tracking automático de objetos en secuencias de imágenes usando el filtro de Kalman,” Master Thesis, 2009.
    [Bibtex]
    @mastersthesis{tracking-automatico-filtro-kalman,
    author = {Núñez Trujillo, Pedro},
    title = {{Tracking autom{\'{a}}tico de objetos en secuencias de im{\'{a}}genes usando el filtro de Kalman}},
    year = {2009}
    }
  • [PDF] P. Núñez Trujillo, “Tracking automático de objetos en secuencias de imágenes usando Filtro de Partículas,” Master Thesis, 2009.
    [Bibtex]
    @mastersthesis{tracking-automatico-secuencias,
    author = {Núñez Trujillo, Pedro},
    title = {{Tracking autom{\'{a}}tico de objetos en secuencias de im{\'{a}}genes usando Filtro de Part{\'{i}}culas}},
    year = {2009}
    }
  • [PDF] L. V. Calderita Estévez and P. Bustos García, “Localización estereofónica en robots móviles,” PhD Thesis, 2009.
    [Bibtex]
    @phdthesis{estevez-esteriofonica,
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo},
    title = {{Localizaci{\'{o}}n estereof{\'{o}}nica en robots m{\'{o}}viles}},
    year = {2009}
    }
  • [PDF] L. J. Manso Argüelles, “Navegación visual en robots móviles.,” PhD Thesis, 2009.
    [Bibtex]
    @phdthesis{manso-navegacion-visual-robots-moviles,
    abstract = {La navegaci n aut noma es la habilidad que diferencia a los robots m viles del resto. Uno de los requisitos m s esenciales para desplazarse es la detecci n de obst culos. El proyecto tiene como objetivo desarrollar un sistema visual de detecci n de obst culos alternativo a los existentes. A pesar de que ya existen enfoques basados en l ser que dan buenos re- sultados para la navegaci n aut noma, sus precios son elevados y carecen de algunas caracter'isticas deseables. Debido a esto, resulta interesante disponer de una alternativa de bajo coste que siga manteniendo los requisitos de e cacia y e ciencia. La soluci n a la que se llega es a un sistema de detecci n de obst culos basado en la fusi n de m ltiples clasi caciones, una que se basa en informaci n geom trica y otra basada en informaci n crom tica. La memoria del proyecto, adem s de detallar la soluci n desarrollada, la compara con otras opciones previas, indica los problemas encarados y c mo han sido resueltos, muestra los resultados de los experimentos, e introduce Ro- bEx y RoboComp, las plataformas hardware y software usadas. Finalmente, se describe la puesta en marcha del sistema en un robot RobEx. Adem s, para demostrar la bondad del sistema desarrollado, el cap'itulo 5 se dedica a la descripci n de los m ltiples experimentos realizados y los resultados y conclusiones que se han extraido de la ejecuci n de los mismos. El c digo del proyecto de n de carrera se ha incorporado a RoboComp (repositorio de componentes software para rob tica). Adem s, tambi n se puede encontrar en el disco que acompa a a la memoria del proyecto, junto con videos y fotograf'ias tomadas durante la fase de experimentaci n.},
    author = {Manso Argüelles, Luis Jesús},
    keywords = {autonomus robots,navigation robots},
    title = {{Navegaci{\'{o}}n visual en robots m{\'{o}}viles.}},
    year = {2009}
    }
  • [PDF] [DOI] R. Vázquez Martín, P. Núñez Trujillo, A. Bandera, and F. Sandoval, “Curvature-based environment description for robot navigation using laser range sensors,” Sensors, vol. 9, iss. 8, pp. 5894-5918, 2009.
    [Bibtex]
    @article{nunez-curvature,
    abstract = {This work proposes a new feature detection and description approach for mobile robot navigation using 2D laser range sensors. The whole process consists of two main modules: a sensor data segmentation module and a feature detection and characterization module. The segmentation module is divided in two consecutive stages: First, the segmentation stage divides the laser scan into clusters of consecutive range readings using a distance-based criterion. Then, the second stage estimates the curvature function associated to each cluster and uses it to split it into a set of straight-line and curve segments. The curvature is calculated using a triangle-area representation where, contrary to previous approaches, the triangle side lengths at each range reading are adapted to the local variations of the laser scan, removing noise without missing relevant points. This representation remains unchanged in translation or rotation, and it is also robust against noise. Thus, it is able to provide the same segmentation results although the scene will be perceived from different viewpoints. Therefore, segmentation results are used to characterize the environment using line and curve segments, real and virtual corners and edges. Real scan data collected from different environments by using different platforms are used in the experiments in order to evaluate the proposed environment description algorithm.},
    author = {Vázquez Martín, Ricardo and Núñez Trujillo, Pedro and Bandera, Antonio and Sandoval, Francisco},
    doi = {10.3390/s90805894},
    issn = {14248220},
    journal = {Sensors},
    keywords = {Adaptive curvature estimation,Laser scan data segmentation,Mobile robot navigation},
    number = {8},
    pages = {5894--5918},
    pmid = {22461732},
    title = {{Curvature-based environment description for robot navigation using laser range sensors}},
    volume = {9},
    year = {2009}
    }
  • [PDF] P. Núñez Trujillo, P. D. Jr, R. Rocha, and J. Dias, “Data Fusion Calibration for a 3D Laser Range Finder and a Camera using Inertial Data.,” ResearchGate, pp. 31-36, 2009.
    [Bibtex]
    @article{nunnez-data-fusion,
    abstract = {Official Full-Text Publication: Data Fusion Calibration for a 3D Laser Range Finder and a Camera using Inertial Data. on ResearchGate, the professional network for scientists.},
    author = {Núñez Trujillo, Pedro and Jr, Paulo Drews and Rocha, Rui and Dias, Jorge},
    journal = {{ResearchGate}},
    pages = {31--36},
    title = {{Data {{Fusion Calibration}} for a {{3D Laser Range Finder}} and a {{Camera}} using {{Inertial Data}}.}},
    year = {2009}
    }

2008

  • [PDF] R. {Vázquez Martín}, A. J. {Bandera Rubio}, J. Martinez, P. Núñez Trujillo, and F. {Sandoval Hernández}, “A new hybrid approach for simultaneous localization and mapping.” 2008.
    [Bibtex]
    @inproceedings{a-new-hybrid,
    author = {{V{\'{a}}zquez Mart{\'{i}}n}, R. and {Bandera Rubio}, A. J. and Martinez, J. and Núñez Trujillo, Pedro and {Sandoval Hern{\'{a}}ndez}, F},
    title = {{A new hybrid approach for simultaneous localization and mapping}},
    year = {2008}
    }
  • [PDF] R. Vázquez-martín, J. Martinez, J. C. Toro, and P. Núñez Trujillo, “A Software Control Architecture based on Active Perception for Mobile Robotics 1.” 2008.
    [Bibtex]
    @inproceedings{active-perception-mobile,
    abstract = {The conceptual architecture of a robot is the organization of its\nactuation, perception and processing capabilities with the aim of\ngenerating a whole set of autonomous behaviours. In order to accomplish\na task, autonomous mobile robots must be capable of perceiving its\nenvironment and maintaining an exact model of the world. Usually,\na robot is equipped with several sensor systems to gather information\nfrom the environment and update this model. In this paper, we present\na control architecture based on perceptions, which is specified from\nthe sensors up to the highest level. The control architecture scheme\nfollows the hybrid guidelines and maintains an environment representation\nwhere the highest level is built from perception outcomes. The system\nis composed of reactive and deliberative layers. In the reactive\nlayer perceptions are organized into a set of modules divided into\ndifferent levels of sensory representation: primitives, such as localization\nor landmark detection, and compound perceptions, such as feature\nmaps (local SLAM). The other part of the reactive layer is the action\nmodule, where a set of behaviours provide the robot with navigation\ncapabilities. Finally, the deliberative layer builds a symbolic environmental\nrepresentation (topological map) and integrates suitable algorithms\nto accomplish the execution of a task. Key Words:- autonomous robot,\nhybrid control architecture, active perception, framework, design\npatterns 1},
    author = {V{\'{a}}zquez-mart{\'{i}}n, R. and Martinez, J. and Toro, J C and Núñez Trujillo, Pedro},
    keywords = {- autonomous robot,active perception,design patterns,framework,hybrid control architecture},
    title = {{A Software Control Architecture based on Active Perception for Mobile Robotics 1}},
    year = {2008}
    }
  • [PDF] [DOI] R. Vazquez-Martin, P. Núñez Trujillo, J. C. del Toro, A. Bandera, and F. Sandoval, “Simultaneous mobile robot localization and mapping using an adaptive curvature-based environment description,” in Melecon 2008 – the 14th ieee mediterranean electrotechnical conference, 2008, pp. 343-349.
    [Bibtex]
    @inproceedings{mobile-robot-curvature,
    author = {Vazquez-Martin, R. and Núñez Trujillo, Pedro and del Toro, J.C. and Bandera, A. and Sandoval, F.},
    booktitle = {MELECON 2008 - The 14th IEEE Mediterranean Electrotechnical Conference},
    doi = {10.1109/MELCON.2008.4618458},
    isbn = {978-1-4244-1632-5},
    pages = {343--349},
    title = {{Simultaneous mobile robot localization and mapping using an adaptive curvature-based environment description}},
    url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4618458},
    year = {2008}
    }
  • [PDF] [DOI] P. Núñez Trujillo, R. Vázquez-Martín, A. Bandera, and F. Sandoval, “CF-IDC: A robust robot’s self-localization in dynamic environments using curvature information,” Proceedings of the mediterranean electrotechnical conference – melecon, iss. Idc, pp. 330-336, 2008.
    [Bibtex]
    @article{robust-selft-localization,
    abstract = {This paper describes a complete laser-based approach for self-localization of mobile robots. The presented algorithm is a novel variant of the classic Iterative Dual Correspondence Method (IDC). Our scan matching method improves results of this popular algorithm in dynamic environments, due to the changed elements between two consecutive scans acquired by the robot are detected and removed of the matching process. To do that, the curvature information of each element of the environment is used. The proposed scan matching algorithm consists of three stages. Firstly, the whole raw data laser is segmented into groups of consecutive range readings using a distance-based criterion and the adaptive curvature function for each group is computed. Then, this set of curvature functions is matched to the set of curvature functions associated to the previously acquired laser scan. Finally, IDC algorithm is applied only considering those scan points which belong to the set of matched curvature functions. Thus, the system is outstanding in terms of robustly, accuracy and computation time. The implemented algorithm is evaluated and compared to the classic IDC scan matching approaches. Experimental results show that the new variant of the popular IDC algorithm performs well as it adjusts in a good way to changing environments. {\textcopyright} 2008 IEEE.},
    author = {Núñez Trujillo, Pedro and V{\'{a}}zquez-Mart{\'{i}}n, R. and Bandera, A. and Sandoval, F.},
    doi = {10.1109/MELCON.2008.4618456},
    isbn = {9781424416332},
    journal = {Proceedings of the Mediterranean Electrotechnical Conference - MELECON},
    keywords = {Adaptive curvature function,Mobile robotics,Scan matching},
    number = {Idc},
    pages = {330--336},
    title = {{CF-IDC: A robust robot's self-localization in dynamic environments using curvature information}},
    year = {2008}
    }
  • [PDF] [DOI] P. Núñez Trujillo, R. V??zquez-Mart??n, J. C. del Toro, A. Bandera, and F. Sandoval, “Natural landmark extraction for mobile robot navigation based on an adaptive curvature estimation,” in Robotics and autonomous systems, 2008, pp. 247-264.
    [Bibtex]
    @inproceedings{natural-landmark-extraction,
    abstract = {This paper proposes a geometrical feature detection system which is to be used with conventional 2D laser range finders. It consists of three main modules: data acquisition and pre-processing, segmentation and landmark extraction and characterisation. The novelty of this system is a new approach for laser data segmentation based on an adaptive curvature estimation. Contrary to other works, this approach divides the laser scan into line and curve segments. Then, these items are used to directly extract several types of landmarks associated with real and virtual features of the environment (corners, center of tree-like objects, line segments and edges). For each landmark, characterisation provides not only the parameter vector, but also complete statistical information, suitable to be used in a localization and mapping algorithm. Experimental results show that the proposed approach is efficient to detect landmarks for structured and semi-structured environments. ?? 2007 Elsevier Ltd. All rights reserved.},
    author = {Núñez Trujillo, Pedro and V??zquez-Mart??n, R. and del Toro, J. C. and Bandera, A. and Sandoval, F.},
    booktitle = {Robotics and Autonomous Systems},
    doi = {10.1016/j.robot.2007.07.005},
    isbn = {0921-8890},
    issn = {09218890},
    keywords = {Adaptive curvature estimation,Covariance matrix,Mobile robot navigation,Natural landmark extraction},
    number = {3},
    pages = {247--264},
    title = {{Natural landmark extraction for mobile robot navigation based on an adaptive curvature estimation}},
    volume = {56},
    year = {2008}
    }
  • [PDF] [DOI] P. Núñez Trujillo, R. Vazquez-Martin, A. Bandera, and F. Sandoval, “An algorithm for fitting 2-D data on the circle: Applications to mobile robotics,” in Ieee signal processing letters, 2008, pp. 127-130.
    [Bibtex]
    @inproceedings{fitting-data-circle,
    abstract = {In this paper, an approach for fitting a circle to 2-D data which represent only a small part of the curve is described. This approach deals with the particular case where data is specified in terms of its Cartesian coordinates and the errors in both coordinates are not independent. Besides, an associated uncertainty ellipse which describes the measurement error and the variance matrix associated to the estimated parameters are obtained. This method is particularly well designed to fit a circle to a set of measured range readings provided by a 2-D laser range finder when these range readings are specified in terms of its Cartesian coordinates. Therefore, it has been successfully applied to acquire circle-shaped landmarks in a mobile robotics navigation task.},
    author = {Núñez Trujillo, Pedro and Vazquez-Martin, R. and Bandera, A. and Sandoval, F.},
    booktitle = {IEEE Signal Processing Letters},
    doi = {10.1109/LSP.2007.912964},
    isbn = {1070-9908},
    issn = {10709908},
    keywords = {Circle fitting,Laser landmark acquisition,Mobile robotics},
    number = {2},
    pages = {127--130},
    title = {{An algorithm for fitting 2-D data on the circle: Applications to mobile robotics}},
    volume = {15},
    year = {2008}
    }
  • [PDF] J. D. Matías, J. Moreno del Pozo, and J. J. Guerrero, “Automatización de trabajos fotogramétricos mediante técnicas de visión artificial. Automatización de trabajos fotogramétricos mediante técnicas de visión artificial,” in Automatización de trabajos fotogramétricos mediante técnicas de visión artificial. automatización de trabajos fotogramétricos mediante técnicas de visión artificial, 2008.
    [Bibtex]
    @inproceedings{automatizacion-trabajos-fotogrametricos,
    author = {Mat{\'{i}}as, Javier De and Moreno del Pozo, Jose and Guerrero, Jos{\'{e}} J},
    booktitle = {Automatizaci{\'{o}}n de trabajos fotogram{\'{e}}tricos mediante t{\'{e}}cnicas de visi{\'{o}}n artificial. Automatizaci{\'{o}}n de trabajos fotogram{\'{e}}tricos mediante t{\'{e}}cnicas de visi{\'{o}}n artificial},
    title = {{Automatizaci{\'{o}}n de trabajos fotogram{\'{e}}tricos mediante t{\'{e}}cnicas de visi{\'{o}}n artificial. Automatizaci{\'{o}}n de trabajos fotogram{\'{e}}tricos mediante t{\'{e}}cnicas de visi{\'{o}}n artificial}},
    year = {2008}
    }
  • [PDF] P. Bachiller Burgos and P. Bustos García, “Manteniendo el Foco: Control de Seguimiento y Vergencia en un Sistema de Atencion Visual,” in Workshop of physical agents, Vigo, 2008.
    [Bibtex]
    @inproceedings{bachiller-manteniendo-foco-seguimiento,
    address = {Vigo},
    author = {Bachiller Burgos, Pilar and Bustos García, Pablo},
    booktitle = {Workshop of Physical Agents},
    title = {{Manteniendo el Foco: Control de Seguimiento y Vergencia en un Sistema de Atencion Visual}},
    url = {http://www.jopha.net/waf/index.php/waf/waf08/paper/viewPDFInterstitial/19/19},
    year = {2008}
    }
  • [PDF] P. Bachiller Burgos and P. Bustos García, “Manteniendo el Foco: Control de Seguimiento y Vergencia en un Sistema de Atención Visual.” 2008, pp. 5-12.
    [Bibtex]
    @inproceedings{bachiller-manteniendo-foco,
    author = {Bachiller Burgos, Pilar and Bustos García, Pablo},
    keywords = {porque permiten compensar,visuales de seres vivos},
    pages = {5--12},
    title = {{Manteniendo el Foco: Control de Seguimiento y Vergencia en un Sistema de Atención Visual}},
    year = {2008}
    }
  • [PDF] P. Bustos García and P. Bachiller Burgos, “Percepción dinámica del entorno en un robot móvil,” PhD Thesis, 2008.
    [Bibtex]
    @phdthesis{phd-thesis-pilar-percepcion,
    author = {Bustos García, Pablo and Bachiller Burgos, Pilar},
    booktitle = {Tesis doctoral},
    title = {{Percepci{\'{o}}n din{\'{a}}mica del entorno en un robot m{\'{o}}vil}},
    year = {2008}
    }
  • [PDF] P. Bachiller Burgos, P. Bustos García, and L. J. Manso Argüelles, Attentional Selection for Action in Mobile Robots, , 2008.
    [Bibtex]
    @book{bachiller-attentional-selection,
    abstract = {During the last few years attention has become an important issue in machine vision. Studies of attentional mechanisms in biological vision have inspired many computational models (Tsotsos et al., 1995; Itti {&} Koch, 2000; Frintrop et al., 2005; Torralba et al., 2006; Navalpakkan {&} Itti, 2006). Most of them follow the assumption of limited capacity associated to the role of attention from psychological proposals (Broadbent, 1958; Laberge, 1995). These theories hypothesize that the visual system has limited processing capacity and that attention acts as a filter selecting the information that should be processed. This assumption has been criticized by many authors who affirm that the human perceptual system processing capacity is enormous (Neumann et al., 1986; Allport, 1987). From this point of view, a stage selecting the information to be processed is not needed. Instead, they claim the role of attention from the perspective of selection for action (Allport, 1987). According to this new conception, the function of attention is to avoid behavioural disorganization by selecting the appropriate information to drive task execution. Such a notion of attention is very interesting in robotics, where the aim is to build autonomous robots that interact with complex environments, keeping multiple behavioural objectives. Attentional selection for action can guide robot behaviours by focusing on relevant visual targets while avoiding distracting elements. Moreover, it can be conceived as a coordination mechanism, since stimuli selection allows serializing the actions of, potentially, multiple active behaviours.},
    author = {Bachiller Burgos, Pilar and Bustos García, Pablo and Manso Argüelles, Luis Jesús},
    booktitle = {Advances in Robotics, Automation and Control},
    keywords = {Action,Attentional,Automation,Mobile Robots,selection},
    number = {October},
    pages = {111--136},
    title = {{Attentional Selection for Action in Mobile Robots}},
    url = {http://robolab.unex.es/people/pilar/Attentional{\_}Selection{\_}for{\_}Action{\_}in{\_}Mobile{\_}Robots.pdf},
    year = {2008}
    }
  • [PDF] [DOI] P. Núñez Trujillo, R. Vázquez-Martín, a. Bandera, and F. Sandoval, “Fast laser scan matching approach based on adaptive curvature estimation for mobile robots,” Robotica, vol. 27, iss. 03, p. 469, 2008.
    [Bibtex]
    @article{nunez-fast-laser,
    abstract = {This paper describes a complete laser-based approach for tracking the pose of a robot in a dynamic environment. The main novelty of this approach is that the matching between consecutively acquired scans is achieved using their associated curvature-based representations. The proposed scan matching algorithm consists of three stages. Firstly, the whole raw laser data is segmented into groups of consecutive range readings using a distance-based criterion and the curvature function for each group is computed. Then, this set of curvature functions is matched to the set of curvature functions associated to the previously acquired laser scan. Finally, characteristic points of pairwise curvature functions are matched and used to correctly obtain the best local alignment between consecutive scans. A closed form solution is employed for computing the optimal transformation and minimizing the robot pose shift error without iterations. Thus, the system is outstanding in terms of accuracy and computation time. The implemented algorithm is evaluated and compared to three state of the art scan matching approaches.},
    author = {Núñez Trujillo, Pedro and V{\'{a}}zquez-Mart{\'{i}}n, R. and Bandera, a. and Sandoval, F.},
    doi = {10.1017/S0263574708004840},
    isbn = {0263574708004},
    issn = {0263-5747},
    journal = {Robotica},
    keywords = {Adaptive curvature function,Mobile robotics,Scan matching,adaptive curvature function,scan matching},
    number = {03},
    pages = {469},
    title = {{Fast laser scan matching approach based on adaptive curvature estimation for mobile robots}},
    url = {http://www.journals.cambridge.org/abstract_S0263574708004840%5Cnhttp://journals.cambridge.org/abstract_S0263574708004840},
    volume = {27},
    year = {2008}
    }

2007

  • [PDF] R. {Vázquez Martín}, P. Núñez Trujillo, R. {Marfil Robles}, and A. J. {Bandera Rubio}, “Robust Vision Landmark Acquisition and Data Association for an Autonomous Robot.” 2007.
    [Bibtex]
    @inproceedings{robust-vision-landmark,
    author = {{V{\'{a}}zquez Mart{\'{i}}n}, R. and Núñez Trujillo, Pedro and {Marfil Robles}, R. and {Bandera Rubio}, A. J},
    title = {{Robust Vision Landmark Acquisition and Data Association for an Autonomous Robot}},
    year = {2007}
    }
  • [PDF] P. Núñez Trujillo, A. Bandera, and F. Sandoval, “A Curvature based Method to Extract Natural Landmarks for Mobile Robot Navigation.” 2007.
    [Bibtex]
    @inproceedings{landmarks-mobile-navigation,
    author = {Núñez Trujillo, Pedro and Bandera, Antonio and Sandoval, Francisco},
    keywords = {- natural landmark extraction,adaptive curvature estimation,mobile robot navigation},
    title = {{A Curvature based Method to Extract Natural Landmarks for Mobile Robot Navigation}},
    year = {2007}
    }
  • [PDF] P. Bachiller Burgos, P. Bustos García, J. M. Canas, and R. Royo, “An experiment in distributed visual attention,” in Proceedings of the 3rd international workshop on multi-agent robotic systems – mars 2007; in conjunction with icinco 2007, 2007, pp. 106-112.
    [Bibtex]
    @inproceedings{bachiller-experiment-visual-attention,
    abstract = {Attention mechanisms of biological vision have been applied to machine vision for several applications, like visual search and object detection. Most of the proposed models are centred on a unique way of attention, mainly stimulus-driven or bottom-up attention. We propose a visual attention system that integrates several attentional behaviours. To get a real-time implementation, we have designed a distributed software architecture that exhibits an efficient and flexible structure. We describe some implementation details and real experiments performed in a mobile robot endowed with a stereo vision head.},
    author = {Bachiller Burgos, Pilar and Bustos García, Pablo and Canas, J M and Royo, R},
    booktitle = {Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - MARS 2007; In Conjunction with ICINCO 2007},
    keywords = {Computer vision,Flexible structures,Multi agent sy},
    pages = {106--112},
    url = {http://gsyc.es/{~}jmplaza/papers/icinco2007.pdf},
    title = {{An experiment in distributed visual attention}},
    year = {2007}
    }
  • [PDF] B. Paniagua, M. Rodríguez, P. Bustos García, and J. Pulido, “Análisis avanzado de texturas para la detección automática de la calidad en del corcho,” in Xxviii jornadas de automática, 2007.
    [Bibtex]
    @inproceedings{paniagua-analisis-avanzado,
    abstract = {En este art{\'{i}}culo estudiamos una serie de t{\'{e}}cnicas avanzadas de an{\'{a}}lisis de texturas para intentar resolver un problema existente en la industria del corcho: la clasificaci{\'{o}}n de tapones/discos de corcho en funci{\'{o}}n a su calidad. El corcho es un material que puede ser encontrado mayormente en las orillas occidentales del Mar Mediterr{\'{a}}neo y es por eso que su producci{\'{o}}n adquiere una gran importancia en esas {\'{a}}reas. El corcho es un material natural y heterog{\'{e}}neo, y por ello su clasificaci{\'{o}}n autom{\'{a}}tica en funci{\'{o}}n a su calidad (seg{\'{u}}n los est{\'{a}}ndares, existen siete clases distintas de calidad del corcho) es muy dif{\'{i}}cil, pero necesaria en la industria del corcho. Tras realizar una serie de estudios previos, sabemos que la calidad del corcho puede ser detectada en base a su textura. En este nuevo trabajo, evaluaremos la eficacia de dos t{\'{e}}cnicas avanzadas de an{\'{a}}lisis de texturas: texturas de Laws y texturas de Varma-Zisserman. Estas dos t{\'{e}}cnicas son muy distintas y por eso hemos obtenido resultados bastante diferentes con cada una de ellas. Como conclusi{\'{o}}n se obtiene que las medidas de Laws mejoran ampliamente los resultados obtenidos con an{\'{a}}lisis texturales anteriores.},
    author = {Paniagua, B and Rodr{\'{i}}guez, M and Bustos García, Pablo and Pulido, J},
    booktitle = {XXVIII Jornadas de Autom{\'{a}}tica},
    number = {March 2017},
    title = {{An{\'{a}}lisis avanzado de texturas para la detecci{\'{o}}n autom{\'{a}}tica de la calidad en del corcho}},
    url = {http://xmvtech.org/actividades/jornadas/XXVIII/documentos/1112-Texturas.pdf},
    year = {2007}
    }
  • [PDF] P. Bachiller Burgos, P. Bustos García, J. M. Canas, and R. Royo, “An experiment in distributed visual attention,” , pp. 106-112, 2007.
    [Bibtex]
    @article{bachiller-visual-attention,
    abstract = {Attention mechanisms of biological vision have been applied to machine vision for several applications, like visual search and object detection. Most of the proposed models are centred on a unique way of attention, mainly stimulus-driven or bottom-up attention. We propose a visual attention system that integrates several attentional behaviours. To get a real-time implementation, we have designed a distributed software architecture that exhibits an efficient and flexible structure. We describe some implementation details and real experiments performed in a mobile robot endowed with a stereo vision head.},
    author = {Bachiller Burgos, Pilar and Bustos García, Pablo and Canas, J M and Royo, R},
    booktitle = {Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - MARS 2007; In Conjunction with ICINCO 2007},
    keywords = {Computer vision,Flexible structures,Multi agent sy},
    pages = {106--112},
    url = {http://gsyc.es/{~}jmplaza/papers/icinco2007.pdf},
    title = {{An experiment in distributed visual attention}},
    year = {2007}
    }

2006

  • [PDF] [DOI] R. Vazquez-Martin, P. Núñez Trujillo, D. J. C. Toro, A. Bandera, and F. Sandoval, “Adaptive Observation Covariance for EKF-SLAM in Indoor Environments using Laser Data,” in Melecon 2006 – 2006 ieee mediterranean electrotechnical conference, 2006, pp. 445-448.
    [Bibtex]
    @inproceedings{adaptive-covarience-laser-data,
    abstract = {In this paper we describe an approach to concurrently localize a robot and to build a feature based map using laser sensor. Stochastic simultaneous localization and mapping (SLAM) is performed by storing the robot pose and map landmarks in a single state vector, and estimating this state vector via a recursive process of prediction and updating. In our case, these estimates are updated using an extended Kalman filter (EKF). The main novelty of this proposal is the development and test of an adaptive measurement covariance matrix that permits to include close and distant features in the updating stage of the EKF-SLAM algorithm, providing more precision to closer detected features},
    author = {Vazquez-Martin, R. and Núñez Trujillo, Pedro and Toro, J.C. Del and Bandera, A. and Sandoval, F.},
    booktitle = {MELECON 2006 - 2006 IEEE Mediterranean Electrotechnical Conference},
    doi = {10.1109/MELCON.2006.1653134},
    isbn = {1-4244-0087-2},
    pages = {445--448},
    title = {{Adaptive Observation Covariance for EKF-SLAM in Indoor Environments using Laser Data}},
    year = {2006}
    }
  • [PDF] [DOI] R. Vazquez-Martin, J. Martinez, D. Toro, P. Núñez Trujillo, and F. Sandoval, “An active perception control architecture for autonomous robots,” in Icai’06: proceedings of the 7th wseas international conference on automation & information, 2006, pp. 144-149.
    [Bibtex]
    @inproceedings{active-perception-architecture,
    author = {Vazquez-Martin, R and Martinez, J and Toro, Del and Núñez Trujillo, Pedro and Sandoval, F},
    booktitle = {ICAI'06: Proceedings of the 7th WSEAS International Conference on Automation \& Information},
    doi = {citeulike-article-id:2761825},
    keywords = {control-theory,multisensory-integration,perception,reviews,robotics},
    pages = {144--149},
    title = {{An active perception control architecture for autonomous robots}},
    url = {http://portal.acm.org/citation.cfm?id=1362937.1362964},
    year = {2006}
    }
  • [PDF] [DOI] P. Núñez Trujillo, R. Vazquez-Martin, J. C. del Toro, A. Bandera, and F. Sandoval, “Feature extraction from laser scan data based on curvature estimation for mobile robotics,” in Proceedings of the 2006 ieee international conference on robotics and automation, 2006, pp. 1167-1172.
    [Bibtex]
    @inproceedings{feature-extraction-from-laser,
    abstract = {This paper presents a geometrical feature detection system to use with conventional 2D laser rangefinders. This system consists of three main modules: data acquisition and pre-processing, rupture and breakpoint detection and feature extraction. The novelty of this system is a new efficient approach for natural feature extraction based on curvature estimation. This approach permits to extract and characterise line segments, corners and curve segments from the laser scan. Experimental results show that the proposed approach is very fast and permit to verify its effectiveness in indoor and outdoor environments},
    author = {Núñez Trujillo, Pedro and Vazquez-Martin, Ricardo and del Toro, Jose C and Bandera, Antonio and Sandoval, Francisco},
    booktitle = {Proceedings of the 2006 IEEE International Conference on Robotics and Automation},
    doi = {10.1109/ROBOT.2006.1641867},
    isbn = {0-7803-9505-0},
    issn = {10504729},
    keywords = {Feature Extraction,LIDAR,laserscanner,mapping,robots},
    number = {May},
    pages = {1167--1172},
    title = {{Feature extraction from laser scan data based on curvature estimation for mobile robotics}},
    year = {2006}
    }
  • [PDF] [DOI] P. Núñez Trujillo, J. P. Bandera, J. M. P. Perez-Lorenzo, and F. Sandoval, “A Human-Robot Interaction System for Navigation Supervision based on Augmented Reality,” in Melecon 2006 – 2006 ieee mediterranean electrotechnical conference, 2006, pp. 441-444.
    [Bibtex]
    @inproceedings{human-robot-interaction,
    abstract = {This paper proposes an innovative human-robot interaction mechanism that permits users to interact intuitively with an autonomous mobile robot which localisation problem is solved using a new and fast feature extraction method. To allow that human-robot interaction, we use an augmented reality display. This mechanism makes it possible to overlay planning, world model and sensory data provided by the robot over the same field of view. The determination of the camera pose in the AR system is solved using this novelty feature-based localisation method. Thus, the human user can intuitively help to build a topological map in an unknown environment by setting and manipulating map nodes and visualize and correct the robot's path planning},
    author = {Núñez Trujillo, Pedro and Bandera, J.P. and Perez-Lorenzo, J.M.P. and Sandoval, F.},
    booktitle = {MELECON 2006 - 2006 IEEE Mediterranean Electrotechnical Conference},
    doi = {10.1109/MELCON.2006.1653133},
    isbn = {1-4244-0087-2},
    issn = {2158-8473},
    number = {Mcl},
    pages = {441--444},
    title = {{A Human-Robot Interaction System for Navigation Supervision based on Augmented Reality}},
    url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1653133},
    year = {2006}
    }
  • [PDF] [DOI] R. VAZQUEZ-MARTIN, P. Núñez Trujillo, J. C. {DEL TORO}, A. BANDERA, and F. SANDOVAL, “Slam With Corner Features From a Novel Curvature-Based Local Map Representation,” in Applied artificial intelligence – proceedings of the 7th international flins conference, 2006, pp. 711-718.
    [Bibtex]
    @inproceedings{slam-corner-features,
    author = {VAZQUEZ-MARTIN, R. and Núñez Trujillo, Pedro and {DEL TORO}, J. C. and BANDERA, A. and SANDOVAL, F.},
    booktitle = {Applied Artificial Intelligence - Proceedings of the 7th International FLINS Conference},
    doi = {10.1142/9789812774118_0100},
    isbn = {9789812566904},
    pages = {711--718},
    title = {{Slam With Corner Features From a Novel Curvature-Based Local Map Representation}},
    url = {http://eproceedings.worldscinet.com/9789812774118/9789812774118_0100.html},
    year = {2006}
    }
  • [PDF] M. del Pozo, P. Jose Bustos García, and P. Bachiller Burgos, “EyeBoard: Un Periférico Alternativo Visual,” , 2006.
    [Bibtex]
    @article{tur-eye-board,
    author = {Moreno del Pozo and Jose, Bustos García, Pablo and Bachiller Burgos, Pilar},
    title = {{EyeBoard: Un Perif{\'{e}}rico Alternativo Visual}},
    year = {2006}
    }

2005

  • [PDF] J. Canas, M. D. L. Casa, P. Bustos García, and P. Bachiller Burgos, “Overt visual attention inside JDE control architecture,” in Portuguese conference on, 2005.
    [Bibtex]
    @inproceedings{canas-overt-visual,
    abstract = {In this paper a visual overt attention mechanism is presented. It builds and keeps updated a scene representation of all the relevant objects around a robot, specially if they are far away of each other and do not lie in the same camera image. The algorithm chooses the next fixation point for a monocular camera, which is mounted over a pantilt unit. Our approach is based on two related dynamics: liveliness and saliency. The liveliness of each relevant object diminishes in time but increases with new observations of such object. The position of each valid object is a possible fixation point for the camera. The saliency of each fixation point increases in time but is reset after the camera visit such location. Real experiments with a pioneer robot endowed with a firewire camera on a pantilt unit are displayed},
    author = {Canas, JM and Casa, MM De La and Bustos García, Pablo and Bachiller Burgos, Pilar},
    booktitle = {Portuguese Conference on},
    title = {{Overt visual attention inside JDE control architecture}},
    url = {http://scholar.google.com/scholar?hl=en&btnG=Search&q=intitle:Overt+visual+attention+inside+JDE+control+architecture#0},
    year = {2005}
    }

2004

  • [PDF] [DOI] J. B. Pagador, J. Moreno del Pozo, V. Mosero, and J. M. León-Rojas, “Active contour on the basis of inertia,” in Proceedings of the 2004 acm symposium on applied computing – sac ’04, 2004, p. 307.
    [Bibtex]
    @inproceedings{active-contour-inertia,
    author = {Pagador, J. B. and Moreno del Pozo, Jose and Mosero, V. and Le{\'{o}}n-Rojas, J. M.},
    booktitle = {Proceedings of the 2004 ACM symposium on Applied computing - SAC '04},
    doi = {10.1145/967900.967965},
    isbn = {1581138121},
    number = {January},
    pages = {307},
    title = {{Active contour on the basis of inertia}},
    url = {http://portal.acm.org/citation.cfm?doid=967900.967965},
    year = {2004}
    }

2003

  • [PDF] S. J. J. de Blasco, J. Moreno del Pozo, and B. A. Borrega, “Fotogrametría digital automática aplicada al estudio de estructuras geomorfológicas dinámicas. Aplicación sobre el glaciar rocoso de las Argualas.” 2003.
    [Bibtex]
    @inproceedings{fotogrametria-digital-glaciar,
    author = {J.J. de Sanjos{\'{e}} Blasco and Moreno del Pozo, Jose and A. Bejarano Borrega},
    keywords = {climatolog{\'{i}}a,geodesia,sistemas},
    title = {{Fotogrametr{\'{i}}a digital autom{\'{a}}tica aplicada al estudio de estructuras geomorfol{\'{o}}gicas din{\'{a}}micas. Aplicaci{\'{o}}n sobre el glaciar rocoso de las Argualas}},
    year = {2003}
    }
  • [PDF] P. Bachiller Burgos, F. Monasterio, P. Bustos García, and J. Vicente, “Fuzzy Controller for Dynamic Vergence in a Stereo Head.,” in 11 international conference on advanced robotics, 2003.
    [Bibtex]
    @inproceedings{bachiller-fuzzy-controller,
    author = {Bachiller Burgos, Pilar and Monasterio, F and Bustos García, Pablo and Vicente, J},
    booktitle = {11 International Conference on Advanced Robotics},
    title = {{Fuzzy Controller for Dynamic Vergence in a Stereo Head.}},
    year = {2003}
    }
  • [PDF] J. Moreno del Pozo, “Comparison judgments, linguistic inferences and decision acts in effectively computable knowledge representation systems based on vague shaped units,” PhD Thesis, 2003.
    [Bibtex]
    @phdthesis{comparison-judgemnts,
    author = {Moreno del Pozo, Jose},
    title = {{Comparison judgments, linguistic inferences and decision acts in effectively computable knowledge representation systems based on vague shaped units}},
    year = {2003}
    }

2002

  • P. Bachiller Burgos, “Optimizing and learning algorithm for feedforward neural networks and its.” 2002, p. 205.
    [Bibtex]
    @inproceedings{bachiller-optimizing-learning,
    title={OPTIMIZING AND LEARNING ALGORITHM FOR FEEDFORWARD NEURAL NETWORKS AND ITS},
    author={Bachiller Burgos, Pilar},
    journal={Neural Networks and Systolic Array Design},
    volume={49},
    pages={205},
    year={2002},
    publisher={World Scientific}
    }
  • [PDF] P. Bachiller Burgos, J. Vicente, and P. Bustos García, “Modelado 3D Dinámico del entorno por un robot móvil con visión estreoscópica.,” in Iii workshop en agentes físicos, 2002.
    [Bibtex]
    @inproceedings{bachiller-dinamico-vision,
    author = {Bachiller Burgos, Pilar and Vicente, J and Bustos García, Pablo},
    booktitle = {III Workshop en Agentes F{\'{i}}sicos},
    title = {{Modelado 3D Din{\'{a}}mico del entorno por un robot m{\'{o}}vil con visi{\'{o}}n estreosc{\'{o}}pica.}},
    year = {2002}
    }

2001

  • [PDF] P. J.M., S. J.M., J. Moreno del Pozo, J. A., and D. M. la M, “Rutherford simple and multiple scattering by computer simulation.” 2001.
    [Bibtex]
    @inproceedings{rutherford-simple-scattering,
    author = {Paniagua J.M. and S{\'{a}}nchez J.M. and Moreno del Pozo, Jose and Jim{\'{e}}nez A. and De la Monta{\~{n}}a M},
    title = {{Rutherford simple and multiple scattering by computer simulation}},
    year = {2001}
    }
  • [PDF] V. Masero, J. M. León-Rojas, J. Moreno del Pozo, and A. M. Silva, “Automatic Three-dimensional Reconstruction of Radiological Images for Telediagnosis.” 2001.
    [Bibtex]
    @inproceedings{three-dimensional-telediagnosis,
    author = {Valent{\'{i}}n Masero and Juan M. Le{\'{o}}n-Rojas and Moreno del Pozo, Jose and A.M. Silva},
    title = {{Automatic Three-dimensional Reconstruction of Radiological Images for Telediagnosis}},
    year = {2001}
    }
  • F. Monasterio, P. Bustos García, B. Artaloytia, E. Serantes, D. Caballero, M. Broncano, M. A. Lima, F. J. Hernández, and J. Usón, “A Force Feedback Laparoscopic Tool-Set for Robotic minimally Invasive Surgery,” in Vi international symposium on experimental techniques, Viseu, Portugal, 2001.
    [Bibtex]
    @inproceedings{Monasterio2001,
    address = {Viseu, Portugal},
    author = {Monasterio, F. and Bustos García, Pablo and Artaloytia, B. and Serantes, E. and Caballero, D. and Broncano, M. and Lima, M. A. and Hern{\'{a}}ndez, F. J. and {J. Us{\'{o}}n}},
    booktitle = {VI International Symposium on Experimental Techniques},
    title = {{A Force Feedback Laparoscopic Tool-Set for Robotic minimally Invasive Surgery}},
    year = {2001}
    }
  • P. Bustos García, J. Vicente, P. Bachiller Burgos, and M. Broncano, “Real-Time Sparse 3D Reconstruction for a Stereo Mobile Robot.,” in Xiii congreso internacional de ingeniería gráfica, Badajoz, 2001.
    [Bibtex]
    @inproceedings{Bustos2001,
    address = {Badajoz},
    author = {Bustos García, Pablo and Vicente, J and Bachiller Burgos, Pilar and Broncano, M},
    booktitle = {XIII Congreso Internacional de Ingenier{\'{i}}a Gr{\'{a}}fica},
    title = {{Real-Time Sparse 3D Reconstruction for a Stereo Mobile Robot.}},
    year = {2001}
    }
  • [PDF] J. Vicente, P. Bustos García, and P. Bachiller Burgos, “Extended visual sequence metric reconstruction from uncalibrated cameras,” in Xiii congreso internacional de ingeniería gráfica, 2001.
    [Bibtex]
    @inproceedings{vicente-extended-visual-sequence,
    abstract = {This paper is focused on real-time algorithms for estimating dense 3D structure and camera motion from images sequence. Within this approach a practical method is proposed which can retrieve metric reconstruction from continuous image sequences obtained with uncalibrated cameras. Our approach can be divided in two main stages. First, the projection matrices between non-differential camera displacement are estimated, it's known this process relies on correct estimations of matched points. In order to efficiently deal with correspondence searches, a continuous differential tracking of interest points is accomplished by a real-time parameter estimation procedure. Making use of those projection matrices, a self-calibration and camera ego-motion estimation are carried out. Secondly, a dense point reconstruction is performed combining optical flow constraint with the projective model of a moving camera that has been determined in previous stage. In both stages no correspondence searches are found in an explicit way, alternatively corresponding point searches are guided by a continuous tracking of interest points and optical flow constraint. Additionally, we implement a multi-resolution approach to avoid failures in employing differential models such as optical flow constraint, that is the case of large image displacements},
    author = {Vicente, J and Bustos García, Pablo and Bachiller Burgos, Pilar},
    booktitle = {XIII Congreso internacional de ingenier{\'{i}}a gr{\'{a}}fica},
    title = {{Extended visual sequence metric reconstruction from uncalibrated cameras}},
    year = {2001}
    }
  • [PDF] P. Bustos García, J. Vicente, P. Bachiller Burgos, and M. Broncano, “Reconstrucción 3D en tiempo real para un robot móvil,” in Xiii congreso internacional de ingeniería gráfica, 2001.
    [Bibtex]
    @inproceedings{bustos-reconstruccion-robot-movil,
    abstract = {La percepci{\'{o}}n de un entorno tridimensional en un robot m{\'{o}}vil es a{\'{u}}n un problema abierto para la comunidad cient{\'{i}}fica. Hay dos cuestiones claves que motivan la dificultad para resolver este problema. La primera es la relaci{\'{o}}n existente entre la percepci{\'{o}}n de un espacio sin objetos y la percepci{\'{o}}n de los objetos. La segunda cuesti{\'{o}}n hace referencia al concepto de objetos y a la manera de llegar a ellos. Recientemente se han realizado avances sobre la teor{\'{i}}a geom{\'{e}}trica de la visi{\'{o}}n estereosc{\'{o}}pica y la visi{\'{o}}n en movimiento, que permiten iniciar nuevas l{\'{i}}neas de exploraci{\'{o}}n de estas cuestiones. La propuesta que se presenta en este art{\'{i}}culo se basa en las teor{\'{i}}as anteriores para generar la percepci{\'{o}}n del espacio en un robot m{\'{o}}vil (Murphy). El sistema desarrollado es capaz de extraer informaci{\'{o}}n 3D visualmente y convertirla en una representaci{\'{o}}n interna. Asimismo, se presentan estrategias para refinar esta representaci{\'{o}}n utilizando reproyecciones sobre las im{\'{a}}genes y movimientos del robot.},
    author = {Bustos García, Pablo and Vicente, J and Bachiller Burgos, Pilar and Broncano, M},
    booktitle = {XIII Congreso internacional de ingenier{\'{i}}a gr{\'{a}}fica},
    title = {{Reconstrucci{\'{o}}n 3D en tiempo real para un robot m{\'{o}}vil}},
    year = {2001}
    }
  • [PDF] P. Bustos García, P. Bachiller Burgos, J. Vicente, M. Broncano, and C. Fernández, “Murphy: hacia un robot con visión estereoscópica,” in Ii workshop en agentes físicos, 2001.
    [Bibtex]
    @inproceedings{bustos-murphy-vision,
    author = {Bustos García, Pablo and Bachiller Burgos, Pilar and Vicente, J and Broncano, M and Fern{\'{a}}ndez, C},
    booktitle = {II Workshop en Agentes F{\'{i}}sicos},
    number = {March 2017},
    title = {{Murphy: hacia un robot con visi{\'{o}}n estereosc{\'{o}}pica}},
    url = {http://scholar.google.com/scholar?hl=en&btnG=Search&q=intitle:Murphy:+Hacia+un+robot+con+visi?n+estereosc?pica.#0},
    year = {2001}
    }

2000

  • [PDF] G. J. L. Rivera, G. J. L. Sánchez, G. A. Cervero, P. Bachiller Burgos, G. P. Rodríguez, and F. Sánchez, “Descripción técnica de Campus Virtual Multimedia como propuesta para la aplicación de la teleenseñanza y el teletrabajo en la innovación docente.” 2000.
    [Bibtex]
    @inproceedings{descripcion-tecnica-campus,
    author = {J.L. Gordo Rivera and J.L. Gonz{\'{a}}lez S{\'{a}}nchez and A. Gazo Cervero and Bachiller Burgos, Pilar and P. Garc{\'{i}}a Rodr{\'{i}}guez and F. S{\'{a}}nchez},
    title = {{Descripci{\'{o}}n t{\'{e}}cnica de Campus Virtual Multimedia como propuesta para la aplicaci{\'{o}}n de la teleense{\~{n}}anza y el teletrabajo en la innovaci{\'{o}}n docente}},
    year = {2000}
    }
  • [PDF] J. M. León, J. Moreno del Pozo, A. M. Silva, and M. Morales, “A Family of Divergences between Phi-Probablistics Sets with Application to Handshape Recognition.” 2000.
    [Bibtex]
    @inproceedings{family-divergences-phi-probablistics,
    author = {J.M. Le{\'{o}}n and Moreno del Pozo, Jose and A.M. Silva and M. Morales},
    title = {{A Family of Divergences between Phi-Probablistics Sets with Application to Handshape Recognition}},
    year = {2000}
    }
  • [PDF] L. Baumela, L. Agapito, P. Bustos García, and I. Reid, “Motion estimation using the differential epipolar equation.” 2000.
    [Bibtex]
    @inproceedings{baumela-motion-estimation,
    author = {Baumela, L and L. Agapito and Bustos García, Pablo and I. Reid},
    journal = {International Conference on},
    title = {{Motion estimation using the differential epipolar equation}},
    url = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.80.7048{\&}rep=rep1{\&}type=pdf},
    year = {2000}
    }

1999

  • [PDF] P. Bachiller Burgos, R. M. Pérez, P. Martínez, P. L. Aguila, and P. Díaz, “Optimal Hidden Structure for Feedforward Neural Networks 1 Selection of the Optimal Hidden Structure.” 1999, pp. 2-3.
    [Bibtex]
    @inproceedings{bachiller-opmital-hidden-structure,
    author = {Bachiller Burgos, Pilar and P{\'{e}}rez, R.M. and Mart{\'{i}}nez, P. and Aguila, P.L. and D{\'{i}}az, P.},
    pages = {2--3},
    title = {{Optimal Hidden Structure for Feedforward Neural Networks 1 Selection of the Optimal Hidden Structure}},
    year = {1999}
    }
  • [PDF] P. Bachiller Burgos, P. Martı, P. L. Aguilar, and R. M. Pe, “Neural network quantifier for solving the mixture problem and its implementation by systolic arrays.” 1999, pp. 77-82.
    [Bibtex]
    @inproceedings{bachiller-neural-quantifier,
    author = {Bachiller Burgos, Pilar and Martı, P and Aguilar, P L and Pe, R M},
    keywords = {neural networks,orthogonal transformation,pattern recognition,signal processing,systolic arrays},
    pages = {77--82},
    title = {{Neural network quantifier for solving the mixture problem and its implementation by systolic arrays}},
    volume = {30},
    year = {1999}
    }
  • [PDF] M. Sesmero, P. Bustos García, L. J. Barrios, and S. Ros, “Un sistema de aprendizaje multiestratégico basado en un modelo de arquitectura fluida,” in Conferencia de la asociacion espanola para la inteligencia artificial., 1999, pp. 72-79.
    [Bibtex]
    @inproceedings{sesmero-sistema-aprendizaje,
    author = {Sesmero, M{\textordfeminine} and Bustos García, Pablo and Barrios, L J and Ros, S},
    booktitle = {Conferencia de la Asociacion Espanola para la Inteligencia Artificial.},
    editor = {AEIA},
    pages = {72--79},
    title = {{Un sistema de aprendizaje multiestrat{\'{e}}gico basado en un modelo de arquitectura fluida}},
    volume = {I},
    year = {1999}
    }
  • P. Bustos García, “Generación de Comportamiento Complejo en Robots Móviles,” PhD Thesis, 1999.
    [Bibtex]
    @phdthesis{Bustos1999,
    author = {Bustos García, Pablo},
    booktitle = {Universidad Polit{\'{e}}cnica de Madrid},
    school = {Polit{\{}{\'{e}}{\}}cnica de Madrid},
    title = {{Generaci{\'{o}}n de Comportamiento Complejo en Robots M{\'{o}}viles}},
    year = {1999}
    }

1998

  • [PDF] P. Bachiller Burgos, R. M. Pérez, P. Martinez, P. L. Aguilar, and J. E. Calle, “A method based on orthogonal transformations for the design of optimal feedforward neural networks.” 1998.
    [Bibtex]
    @inproceedings{bachiller-method-orthogonal,
    author = {Bachiller Burgos, Pilar and P{\'{e}}rez, R.M. and Martinez, P. and Aguilar, P.L. and Calle, J. E.},
    title = {{A method based on orthogonal transformations for the design of optimal feedforward neural networks}},
    year = {1998}
    }
  • C. González, M. L. Reynoso, and P. Bustos García, “A software system for the design and evalation of flexible manufacturing cells,” in Mini and microcomputers applications, San Feliu de Guixols, 1998.
    [Bibtex]
    @inproceedings{gonzalez-software-system,
    address = {San Feliu de Guixols},
    author = {Gonz{\'{a}}lez, C and Reynoso, M L and Bustos García, Pablo},
    booktitle = {Mini and Microcomputers Applications},
    title = {{A software system for the design and evalation of flexible manufacturing cells}},
    year = {1998}
    }
  • [PDF] P. Bustos García, “Generación de Comportamiento Complejo en Robots Autónomos,” PhD PhD Thesis, 1998.
    [Bibtex]
    @phdthesis{thesis-bustos,
    abstract = {The goal of this dissertation is to study the relationship among autonomy, intelligent behavior and the perception of space in autonomous agents. These three factors are usually explored from quite different perspectives, but their relationship is so deep that a conceptual structure joining them must exist. Efforts aimed at developing intelligent robots that have adopted the main paradigms: Cognitivism and Behavior-Based Artificial Intelligence, have not offered the expected results. However, two new approaches are exploring the middle land in an effort to recover, from a new perspective, the insights developed during the last forty years. On one side, Hybrid Architectures try to soften the interface between reactive behavior and deliberative reasoning, through increasingly dense bidirectional information flows. From a different departure point, Dynamical Systems Theory is beginning to be applied to a wide variety of problems related to Artificial Intelligence, which have been traditionally approached from a straightforward computational point of view. This work is an effort is this last direction. Here, we face the problem of spatial perception in autonomous agents from two complementary viewpoints: the development of a conceptual model that is able to explain desirable properties and facts, inspired in animal and human perception; and the experimental validation of basic aspects of the model on a mobile robot built for this purpose. The proposed model is called perceptual space and consists of a dynamical structure -its state evolves with time- that interacts with specific processing modules: the visual module and the motor module. This structure is organized in three levels: the inner space, which keeps an updated copy of the kinematics, dynamics and propioceptive state of the agent; the outer space, where direct perception of proximal environment is carried out; and extended space, whose recursive encapsulated structure keeps, coded and ordered, unbound amounts of spatial information. The inner dynamics of the perceptual space try to continuously reach an equilibrium point, while it is perturbed by inputs from visual and motor modules. The outcome of this interaction becomes, simultaneously, behavior and representation. The robot used in the experimental research is a mobile tank-like platform endowed with a vision head. It uses a modular control architecture that connects to the main computer on board. All the processing is carried out on board and, at the same time, it can comun{\'{i}}cate with remote workstations through an Ethernet network.},
    author = {Bustos García, Pablo},
    keywords = {autonomous robots},
    pages = {176},
    school = {Universidad Polit{\'{e}}cnica de Madrid},
    title = {{Generaci{\'{o}}n de Comportamiento Complejo en Robots Aut{\'{o}}nomos}},
    type = {PhD},
    year = {1998}
    }

1997

  • P. Bustos García, S. Espejo, and G. Cristobal, “Resultados preliminares en el diseño de un sistema integrado de visión activa,” in Reunión nacional de óptica, Valencia, 1997.
    [Bibtex]
    @inproceedings{resultados-preliminares-bustos,
    address = {Valencia},
    author = {Bustos García, Pablo and Espejo, S and Cristobal, G},
    booktitle = {Reuni{\'{o}}n Nacional de {\'{O}}ptica},
    title = {{Resultados preliminares en el dise{\~{n}}o de un sistema integrado de visi{\'{o}}n activa}},
    year = {1997}
    }

1996

  • [PDF] B. Jańczuk, J. M. Bruque, M. L. Gonzalez-Martin, J. Moreno del Pozo, A. Zdziennicka, and F. Quintana-Gragera, “The Usefulness of the Equation of State for Interfacial Tensions Estimation in Some Liquid – Liquid and Solid – Liquid Systems,” in Journal of colloid and interface science, 1996, pp. 108-117.
    [Bibtex]
    @inproceedings{usefulness-liquid-solid,
    author = {Ja{\'{n}}czuk, B. and Bruque, J.M. and Gonzalez-Martin, M.L. and Moreno del Pozo, Jose and Zdziennicka, A. and Quintana-Gragera, F.},
    booktitle = {Journal of Colloid and Interface Science},
    keywords = {4,be a,contact angle,equation of state for,interfacial tension,liquid and solid surface,liquid interfacial tension to,parameter of interfacial interac-,tension,they proposed the solid,tions,unique function of the},
    pages = {108--117},
    title = {{The Usefulness of the Equation of State for Interfacial Tensions Estimation in Some Liquid – Liquid and Solid – Liquid Systems}},
    volume = {117},
    year = {1996}
    }

1995

  • [PDF] [DOI] B. Janczuk, M. L. GonzalezMartin, J. M. Bruque, C. DoradoCalasanz, and J. Moreno del Pozo, “The relationship between the interfacial free energy and the free energy of micellization of triton X-100 and sodium dodecyl sulfonate,” in Journal of colloid and interface science, 1995, pp. 352-357.
    [Bibtex]
    @inproceedings{relationship-interfacial,
    abstract = {The contact angles for water and Triton X-100 on Teflon; for water, glycerol, formamide, and diiodomethane on Teflon covered with a Triton X-100 film and a sodium dodecyl sulfonate film and glass covered with a sodium dodecyl sulfonate film; and for water, glycerol, and diiodomethane on glass were measured, Also, the surface tension of Triton X-100 and the interfacial tensions of Triton X-100-n-dodecane and Triton X-100-diiodomethane were measured. From the results of these measurements, the Lifshitz-van der Waals component and the electron-acceptor and electron-donor parameters of the acid-base component of the apolar and polar moieties of Triton X-100 and sodium dodecyl sulfonate were determined. Next, taking into account the molecular dimensions of these surfactants, the free energy of interfacial interaction through water was calculated for the apolar and polar parts of Triton X-100 and sodium dodecyl sulfonate. Also, the electrostatic free energy of interactions between DSs(-) ions was evaluated. Good agreement between the free energy of micellization obtained from the cmc data and the free energy of interaction between molecules of surfactant through water was found. (C) 1995 Academic Press, Inc.},
    author = {Janczuk, B and GonzalezMartin, M L and Bruque, J M and DoradoCalasanz, C and Moreno del Pozo, Jose},
    booktitle = {Journal of Colloid and Interface Science},
    doi = {10.1006/jcis.1995.9958},
    isbn = {0021-9797},
    issn = {00219797},
    keywords = {acid-base interactions,adsorption,components,contact-angle measurements,interfacial free energy,lifshitz-van der waals interactions,liquids,micellization,sodium dodecyl sulfonate,sulfates,surface free-energy,tension,triton x-100,water},
    number = {2},
    pages = {352--357},
    title = {{The relationship between the interfacial free energy and the free energy of micellization of triton X-100 and sodium dodecyl sulfonate}},
    volume = {176},
    year = {1995}
    }
  • D. Guinea, J. Vicente, A. Ibañez, and P. Bustos García, “A Multi-Agent Hierarchy for Motor Control,” in First ecpd conf.on advanced robotics and intelligent automation., Atenas, 1995.
    [Bibtex]
    @inproceedings{guinea-multi-agent-hierarchy,
    address = {Atenas},
    author = {Guinea, D and Vicente, J and Iba{\~{n}}ez, A and Bustos García, Pablo},
    booktitle = {First ECPD Conf.on Advanced Robotics and Intelligent Automation.},
    title = {{A Multi-Agent Hierarchy for Motor Control}},
    year = {1995}
    }
  • P. Bustos García, F. Recio, D. Guinea, and M. C. García-Alegre, “Cortical Representations in Active Vision on a Transputer network,” in First ecpd conf.on advanced robotics and intelligent automation., Atenas, 1995, pp. 259-264.
    [Bibtex]
    @inproceedings{bustos-transputer-network,
    address = {Atenas},
    author = {Bustos García, Pablo and Recio, F and Guinea, D and Garc{\'{i}}a-Alegre, M C},
    booktitle = {First ECPD Conf.on Advanced Robotics and Intelligent Automation.},
    pages = {259--264},
    title = {{Cortical Representations in Active Vision on a Transputer network}},
    year = {1995}
    }
  • [PDF] D. Guinea, G. Sanchez, P. Bustos García, and M. Garcia-Alegre, “Distributed architecture for active perception in autonomous robots,” in Proceedings of the ieee international conference on systems, man and cybernetics, 1995.
    [Bibtex]
    @inproceedings{guinea-distributed-architecture,
    abstract = {Present work describes the developed architecture for sensor information integration in a mobile robot. Hardware and software modules work locally with sensors signals, distributing the fitness functions over a parallel processing scheme. This organization tries to overcome real time constraints when dealing a with dynamic system-environments. A distributed network of DS5000 Dallas microprocessors and T800 transputers assisted by several DSP's, is addressed for first stages of sensors signals accommodation and generation of low level survival behaviors. Human knowledge in transferred to the perception modules as Fuzzy Logic inferences located on each processor. A set of decision rules account for efficient decisions making using a small number of linguistic terms that condense rough sensor data by means of membership functions representation. System experience can be modulated with existing algorithms according with some pre-defined safety conditions.},
    author = {Guinea, D. and Sanchez, G. and Bustos García, Pablo and Garcia-Alegre, M.},
    booktitle = {Proceedings of the IEEE International Conference on Systems, Man and Cybernetics},
    issn = {08843627},
    title = {{Distributed architecture for active perception in autonomous robots}},
    volume = {2},
    year = {1995}
    }
  • [PDF] [DOI] M. C. Garcia-Alegre, P. Bustos García, and D. Guinea, “Complex behaviour generation on autonomous robots: a case study.” 1995, pp. 1729-1734.
    [Bibtex]
    @inproceedings{garcia-alegre-complex,
    author = {Garcia-Alegre, M.C. and Bustos García, Pablo and Guinea, D.},
    doi = {10.1109/ICSMC.1995.538024},
    file = {:home/pbustos/Mendeley/00b4951795a702a035000000.pdf:pdf},
    isbn = {0-7803-2559-1},
    journal = {1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century},
    number = {August 2015},
    pages = {1729--1734},
    publisher = {Ieee},
    title = {{Complex behaviour generation on autonomous robots: a case study}},
    url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=538024},
    volume = {2},
    year = {1995}
    }

1994

  • [PDF] J. B., B. J.M., G. J.M., and J. Moreno del Pozo, “The surface free energy of fluorite in presence of sodium dodecyl sulfate,” in Powder technology, 1994, p. 0-4.
    [Bibtex]
    @inproceedings{surface-free-energy,
    author = {Janczuk B. and Bruque J.M. and Gonz{\'{a}}lez-Mart{\'{i}}n J.M. and Moreno del Pozo, Jose},
    booktitle = {Powder Technology},
    number = {94},
    pages = {0--4},
    title = {{The surface free energy of fluorite in presence of sodium dodecyl sulfate}},
    volume = {6779},
    year = {1994}
    }
  • M. C. García-Alegre, P. Bustos García, and D. Guinea, “The Behavioral Agents Approach in a Hierarchical Architecture for Robotics,” in Proc of the ecla’94 workshop on advanced automation, Madrid, 1994.
    [Bibtex]
    @inproceedings{garcia-alegre-behavioral-agents,
    address = {Madrid},
    author = {Garc{\'{i}}a-Alegre, M C and Bustos García, Pablo and Guinea, D},
    booktitle = {Proc of the ECLA'94 WorkShop on Advanced Automation},
    title = {{The Behavioral Agents Approach in a Hierarchical Architecture for Robotics}},
    year = {1994}
    }
  • D. Guinea, A. Ibañez, P. Bustos García, and M. C. García-Alegre, “Designing the autonomous mobile unit: The frontiers of complexity and uncertainty,” in Mechatronics and applications in the transportation industries, 1994.
    [Bibtex]
    @inproceedings{guinea-designing-autonomous,
    author = {Guinea, D and Iba{\~{n}}ez, A and Bustos García, Pablo and Garc{\'{i}}a-Alegre, M C},
    booktitle = {Mechatronics and Applications in the Transportation Industries},
    editor = {Limited., Automotive Automation},
    isbn = {0 94771968 7},
    title = {{Designing the autonomous mobile unit: The frontiers of complexity and uncertainty}},
    year = {1994}
    }
  • [PDF] [DOI] L. J. Barrios, A. Ruiz, P. Bustos García, and A. Iban???z, “Building the knowledge base of a production system from the raw data of a multi-sensor system,” in Sensors and actuators: a. physical, 1994, pp. 599-603.
    [Bibtex]
    @inproceedings{barrios-building-knowledge,
    abstract = {The knowledge base of the rule-based systems, or production systems, is built from the experience of human experts using well-known techniques and highly developed tools of knowledge engineering. Although this is not a simple task in itself, the difficulties dramatically increase when it is intended to synthesize the inference rules directly from signals obtained from sensors on complex applications. Specific problems concerning knowledge acquisition and representation must be solved. This paper introduces an automatic method to build the knowledge base of a production system from the raw data of a multi-sensor system, using a machine-learning procedure and abstracting the numerical data for symbolic knowledge representation. The method is demonstrated for two applications for monitoring the tool condition in machining processes. ?? 1994.},
    author = {Barrios, L. J. and Ruiz, A. and Bustos García, Pablo and Iban???z, A.},
    booktitle = {Sensors and Actuators: A. Physical},
    doi = {10.1016/0924-4247(94)80061-8},
    isbn = {9244247194},
    issn = {09244247},
    number = {1-3},
    pages = {599--603},
    title = {{Building the knowledge base of a production system from the raw data of a multi-sensor system}},
    volume = {42},
    year = {1994}
    }

1993

  • [PDF] [DOI] B. Jańczuk, J. M. Bruque, M. L. González-Martín, and J. Moreno del Pozo, “Wettability and surface tension of fluorite,” in Colloids and surfaces a: physicochemical and engineering aspects, 1993, pp. 163-168.
    [Bibtex]
    @inproceedings{wettability-surface,
    abstract = {Measurements of the contact angle for water, glycerol, formamide, diiodomethane and bromoform on a fluorite surface with different initial treatments were carried out. Using the measured values of contact angle, the Lifshitz-van der Waals and the acid-base components of the surface tension of fluorite were calculated. The electron-acceptor and electron-donor parts of the acid-base component were also determined. From these results it appears that "dry" fluorite is hydrophobic and that only Lifshitz-van der Waals intermolecular interactions are the origin of its surface tension. Under the influence of water, HF and Ca(OH)2 aqueous solutions, the fluorite surface exhibits hydrophilic behaviour, and its tension, apart from Lifshitz-van der Waals intermolecular interactions, results from acid-base interactions due to the hydration process taking place in the treatment. {\textcopyright} 1993.},
    author = {Ja{\'{n}}czuk, B. and Bruque, J. M. and Gonz{\'{a}}lez-Mart{\'{i}}n, M. L. and Moreno del Pozo, Jose},
    booktitle = {Colloids and Surfaces A: Physicochemical and Engineering Aspects},
    doi = {10.1016/0927-7757(93)80427-G},
    issn = {09277757},
    keywords = {Fluorite,Surface tension,Wettability},
    number = {C},
    pages = {163--168},
    title = {{Wettability and surface tension of fluorite}},
    volume = {75},
    year = {1993}
    }
  • [PDF] B. Jańczuk, J. Bruque, M. González-Martín, and J. Moreno del Pozo, “Determination of components of cassiterite surface free energy from contact angle measurements.” 1993, pp. 209-222.
    [Bibtex]
    @inproceedings{determination-free-energy,
    title={Determination of components of cassiterite surface free energy from contact angle measurements},
    author={Ja{\'{n}}czuk, B and Bruque, JM and Gonz{\'{a}}lez-Mart{\'{i}}n, ML and Moreno del Pozo, Jose},
    journal={Journal of Colloid and Interface Science},
    volume={161},
    number={1},
    pages={209--222},
    year={1993},
    publisher={Elsevier}
    }
  • [PDF] B. Janczuk, M. L. Gonzalez-Martin, J. M. Bruque, and J. Moreno del Pozo, “The influence of oleate adsorption on fluorite surface free energy at the fluorite / water interface,” in Applied surface science, 1993.
    [Bibtex]
    @inproceedings{influence-oleate-adsorption,
    author = {Janczuk, B. and Gonzalez-Martin, M. L. and Bruque, J. M. and Moreno del Pozo, Jose},
    booktitle = {Applied Surface Science},
    title = {{The influence of oleate adsorption on fluorite surface free energy at the fluorite / water interface}},
    year = {1993}
    }
  • D. Guinea, M. C. García-Alegre, P. Bustos García, and L. J. Barrios, “Competitividad, Cooperación y Jerarquía entre Agentes Autónomos de Comportamiento,” in 3 congreso de la asociación española de robótica, 1993, pp. 61-68.
    [Bibtex]
    @inproceedings{Guinea1993,
    author = {Guinea, D and Garc{\'{i}}a-Alegre, M C and Bustos García, Pablo and Barrios, L J},
    booktitle = {3 Congreso de la Asociaci{\'{o}}n Espa{\~{n}}ola de Rob{\'{o}}tica},
    pages = {61--68},
    title = {{Competitividad, Cooperaci{\'{o}}n y Jerarqu{\'{i}}a entre Agentes Aut{\'{o}}nomos de Comportamiento}},
    year = {1993}
    }
  • [DOI] L. J. Barrios, A. Ruiz, D. Guinea, A. Ibañez, P. Bustos García, and J. Etxeberria, “Experimental comparison of sensors for tool-wear monitoring on milling,” Sensors and actuators a, vol. 37-38, pp. 589-595, 1993.
    [Bibtex]
    @article{Barrios1993,
    abstract = {This paper compares spindle motor current, vibration and acoustic emission sensors for tool-wear monitoring; the methodology and the results are also given. Comparison of the data is not restricted to raw ones, but it is applied to a broad set of derived features by means of previously developed procedures. The analysis of variance is carried out for the best found features. Corresponding models are built to explain the measurements variability, and significative differences are tested. Some quality indexes are specially introduced for the assessment. Finally, sensors are classified according to its sensitivity to the tool wear. From the point of view of the application the observed dependence of measurements on the used tool and on the cutting position, and the discovery of interactions between this last factor and tool wear, are very remarkable facts.},
    author = {Barrios, L J and Ruiz, A and Guinea, D and Iba{\~{n}}ez, A and Bustos García, Pablo and Etxeberria, J},
    doi = {http://dx.doi.org/10.1016/0924-4247(93)80101-L},
    journal = {Sensors and Actuators A},
    pages = {589--595},
    title = {{Experimental comparison of sensors for tool-wear monitoring on milling}},
    url = {http://linkinghub.elsevier.com/retrieve/pii/092442479380101L},
    volume = {37-38},
    year = {1993}
    }

1992

  • P. Bustos García, A. Ibañez, A. Ruiz, D. Guinea, and L. J. Barrios, “Generacion de Sistemas de Tiempo-Real para Problemas de Percepcion Artificial.,” in V congreso latinoamericano de control automático., La Habana, 1992.
    [Bibtex]
    @inproceedings{bustos-generacion-de-sistemas-tiempo-real,
    address = {La Habana},
    author = {Bustos García, Pablo and Iba{\~{n}}ez, A and Ruiz, A and Guinea, D and Barrios, L J},
    booktitle = {V Congreso Latinoamericano de Control Autom{\'{a}}tico.},
    title = {{Generacion de Sistemas de Tiempo-Real para Problemas de Percepcion Artificial.}},
    year = {1992}
    }
  • [PDF] [DOI] A. Ruiz, D. Guinea, L. J. Barrios, P. Bustos García, and F. Betancourt, “Data structures for multi-sensor integration.” 1992, pp. 491-498.
    [Bibtex]
    @inproceedings{ruiz-structures-multi-sensor,
    abstract = {This paper analyzes data organization requirements for multi-sensor information processing. It proposes solutions for both abstract data structures and storage formats. We formalize the concept of general sensor information and define a data structure able to support sensor information obtained by a wide spectrum of applications. The problem of off-line storage is studied and two different solutions are proposed. Finally, we comment on some guidelines for designing real-time applications under our approach. ?? 1992.},
    author = {Ruiz, A. and Guinea, D. and Barrios, L. J. and Bustos García, Pablo and Betancourt, F.},
    doi = {doi:10.1016/0924-4247(92)80034-Z},
    file = {:home/pbustos/Mendeley/1-s2.0-092442479280034Z-main.pdf:pdf},
    journal = {Sensors and Actuators A: Physical},
    number = {1-3},
    pages = {491--498},
    publisher = {Elsevier},
    title = {{Data structures for multi-sensor integration}},
    url = {http://linkinghub.elsevier.com/retrieve/pii/092442479280034Z},
    volume = {32},
    year = {1992}
    }

1991

  • F. Betancourt, L. J. Barrios, D. Guinea, and P. Bustos García, “Expert systems applications in metal cutting processes.,” in Engineering and industrial applications of microcomputers, 1991, pp. 157-161.
    [Bibtex]
    @inproceedings{expert-systems-applications,
    author = {Betancourt, F and Barrios, L J and Guinea, D and Bustos García, Pablo},
    booktitle = {Engineering and Industrial Applications of Microcomputers},
    editor = {Millar, Ed. L L},
    pages = {157--161},
    publisher = {ACTA-PRESS},
    title = {{Expert systems applications in metal cutting processes.}},
    volume = {ISBN: 0-88},
    year = {1991}
    }
  • F. Cano and P. Bustos García, “Sistema para la detección automática de defectos en pieles,” in Primeras jornadas de grupos de investigación en visión por computador, Valladolid, 1991.
    [Bibtex]
    @inproceedings{cano-sistema-deteccion-automatica,
    address = {Valladolid},
    author = {Cano, F and Bustos García, Pablo},
    booktitle = {Primeras Jornadas de Grupos de Investigaci{\'{o}}n en Visi{\'{o}}n por Computador},
    title = {{Sistema para la detecci{\'{o}}n autom{\'{a}}tica de defectos en pieles}},
    year = {1991}
    }
  • P. Bustos García, “Aplicación de una red neuronal a la discriminación en pieles artificiales,” MSc PhD Thesis, 1991.
    [Bibtex]
    @phdthesis{Bustos1991,
    author = {Bustos García, Pablo},
    school = {Universidad Polit{\'{e}}cnica de Madrid},
    title = {{Aplicaci{\'{o}}n de una red neuronal a la discriminaci{\'{o}}n en pieles artificiales}},
    type = {MSc},
    year = {1991}
    }

1989

  • [PDF] P. Bustos García, A. Ruiz, and D. Guinea, “Neural Networks for Pneumatic Tactile Perception,” in Iee international workshop on sensorial integration for industrial robots, Zaragoza, 1989.
    [Bibtex]
    @inproceedings{neutral-networks-bustos,
    address = {Zaragoza},
    author = {Bustos García, Pablo and Ruiz, A and Guinea, D},
    booktitle = {IEE International Workshop on Sensorial Integration for Industrial Robots},
    title = {{Neural Networks for Pneumatic Tactile Perception}},
    year = {1989}
    }
  • [PDF] C. González, M. L. Reynoso, P. Bustos García, and N. Rigau, “A flexible manufacturing system design and evaluation package,” in Ieee industrial electronics conference (iecon), 1989, pp. 513-518.
    [Bibtex]
    @inproceedings{gonzalez-data-structures,
    author = {Gonz{\'{a}}lez, C and Reynoso, M L and Bustos García, Pablo and Rigau, N},
    booktitle = {IEEE Industrial Electronics Conference (IECON)},
    pages = {513--518},
    title = {{A flexible manufacturing system design and evaluation package}},
    year = {1989}
    }

1987

  • P. Bustos García, “Informatización de Excavaciones Arqueológicas: interfaz gráfica,” BSc PhD Thesis, 1987.
    [Bibtex]
    @phdthesis{Bustos1987,
    author = {Bustos García, Pablo},
    school = {Universidad Polit{\'{e}}cnica de Madrid},
    title = {{Informatizaci{\'{o}}n de Excavaciones Arqueol{\'{o}}gicas: interfaz gr{\'{a}}fica}},
    type = {BSc},
    year = {1987}
    }
  • [PDF] P. Bustos García, “Categorización visual en robex,” PhD Thesis.
    [Bibtex]
    @phdthesis{laura-carrasco-visual,
    author = {Bustos García, Pablo},
    title = {Categorizaci{\'{o}}n visual en RobEx}}