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…

In this article we describe a novel algorithm that allows fast and continuous learning on a physical robot working in a real environment. The learning process is never stopped and new knowledge gained from robot-environment interactions can be incorporated into…

This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The…

Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of…

In this paper we present an approach for the control of autonomous robots, based on Automated Planning (AP) techniques, where a control architecture was developed (ROPEM: RObot Plan Execution with Monitoring). The proposed architecture is composed of a set of…

Interacting with simple objects in semi-controlled environments is a rich source of challenging situations for mobile robots, particularly when performing sequential tasks. In this paper we present the computational architecture and results obtained from a pallet manipulation experiment with a…