| Caro, L., Correa, J., Espinace, P., Langdon, D., Maturana, D., Mitnik, R., Montabone, S., Pszczolkowski, S., Araneda, A., Mery, D., Torres, M. & Soto, A. (2012), "Indoor mobile robotics at Grima, PUC", Journal of Intelligent and Robotic Systems: Theory and Applications. Vol. 66(1-2), pp. 151-165. |
| Abstract: This paper describes the main activities and achievements of our research group on Machine Intelligence and Robotics (Grima) at the Computer Science Department, Pontificia Universidad Catolica de Chile (PUC). Since 2002, we have been developing an active research in the area of indoor autonomous social robots. Our main focus has been the cognitive side of Robotics, where we have developed algorithms for autonomous navigation using wheeled robots, scene recognition using vision and 3D range sensors, and social behaviors using Markov Decision Processes, among others. As a distinguishing feature, in our research we have followed a probabilistic approach, deeply rooted in machine learning and Bayesian statistical techniques. Among our main achievements are an increasing list of publications in main Robotics conference and journals, and the consolidation of a research group with more than 25 people among full-time professors, visiting researchers, and graduate students. © 2011 Springer Science+Business Media B.V. |
BibTeX:
@article{Caro2012,
author = {Caro, L. and Correa, J. and Espinace, P and Langdon, D. and Maturana, D. and Mitnik, R. and Montabone, S and Pszczolkowski, S. and Araneda, A. and Mery, D. and Torres, M. and Soto, A.},
title = {Indoor mobile robotics at Grima, PUC},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
year = {2012},
volume = {66},
number = {1-2},
pages = {151-165},
url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84857760368&partnerID=40&md5=896e761c8d8dd619719efa02970d2cb8}
}
|
| Jimenez-Pinto, J. & Torres-Torriti, M. (2011), "Face salient points and eyes tracking for robust drowsiness detection", Robotica., September, 2011. Vol. Available on CJO, pp. 1-11. |
BibTeX:
@article{Jimenez-Pinto2011,
author = {J. Jimenez-Pinto and M. Torres-Torriti},
title = {Face salient points and eyes tracking for robust drowsiness detection},
journal = {Robotica},
year = {2011},
volume = {Available on CJO},
pages = {1-11},
doi = {http://dx.doi.org/10.1017/S0263574711000749}
}
|
| Oberli, C., Torres-Torriti, M. & Landau, D. (2010), "Performance Evaluation of UHF RFID Technologies for Real-Time Passenger Recognition in Intelligent Public Transportation Systems", Intelligent Transportation Systems, IEEE Transactions on., September, 2010. Vol. 11(3), pp. 748 -753. |
| Abstract: Automated passenger tracking in public transportation systems can be used to estimate the short-term demand and, thereby, to optimize the fleet schedule in real time. It can also be used to determine the origin-destination matrix and to maintain statistics of each passenger's transportation habits over time, thus enabling enhancements in long-term planning. However, ubiquitously tracking passengers throughout a network requires the ability to recognize them at single locations in the network. In this paper, we study the merits of realizing this task by means of radio-frequency identification (RFID) technologies. Forty volunteers carried RFID tags of the norm EPC Gen2 in their backpacks, wallets, pockets, and hands through a mockup of a bus door equipped with four reading antennas. Setups with one and two rows of persons walking through the portal were evaluated. The RFID tags were embedded in laminated plastic cards. Single-tag cards embedded with a single EPC Gen2 tag and dual-tag cards that also contained a traditional Mifare tag were used. Recognition statistics of passengers for all the combinations of one, two, three, and four antennas are presented. The recognition percentages are mainly influenced by the antenna position and radiation pattern and by the line-of-sight conditions between the tag and the antennas. |
BibTeX:
@article{Oberli2010,
author = {Christian Oberli and Miguel Torres-Torriti and Dan Landau},
title = {Performance Evaluation of UHF RFID Technologies for Real-Time Passenger Recognition in Intelligent Public Transportation Systems},
journal = {Intelligent Transportation Systems, IEEE Transactions on},
year = {2010},
volume = {11},
number = {3},
pages = {748 -753},
doi = {http://dx.doi.org/10.1109/TITS.2010.2048429}
}
|
| Donoso-Aguirre, F., Bustos-Salas, J.-P., Torres-Torriti, M. & Guesalaga, A. (2008), "Mobile robot localization using the Hausdorff distance", Robotica., March, 2008. Vol. 26(2), pp. 129-141. |
| Abstract: This paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation. |
BibTeX:
@article{Donoso-Aguirre2008,
author = {Felipe Donoso-Aguirre and Juan-Pablo Bustos-Salas and Miguel Torres-Torriti and Andres Guesalaga},
title = {Mobile robot localization using the Hausdorff distance},
journal = {Robotica},
year = {2008},
volume = {26},
number = {2},
pages = {129-141},
doi = {http://dx.doi.org/10.1017/S0263574707003657}
}
|
| Peralta-Cabezas, J.-L., Torres-Torriti, M. & Guarini-Hermann, M. (2008), "A comparison of Bayesian prediction techniques for mobile robot trajectory tracking", Robotica., September, 2008. Vol. 26(5), pp. 571-585. |
| Abstract: This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques compared are the well-known Kalman filters and their different variants (e.g. extended and unscented), and the more recent techniques relying on Sequential Monte Carlo Sampling methods, such as particle filters and Gaussian Mixture Sigma Point Particle Filter. |
BibTeX:
@article{Peralta-Cabezas2008,
author = {Jose-Luis Peralta-Cabezas and Miguel Torres-Torriti and Marecelo Guarini-Hermann},
title = {A comparison of Bayesian prediction techniques for mobile robot trajectory tracking},
journal = {Robotica},
year = {2008},
volume = {26},
number = {5},
pages = {571-585},
doi = {http://dx.doi.org/10.1017/S0263574708004153}
}
|
| Bustos, J.-P., Felipe Donoso, A.G. & Torres-Torriti, M. (2007), "Matching radar and satellite images for ship trajectory estimation using the Hausdorff distance", Radar, Sonar Navigation, IET., February, 2007. Vol. 1(1), pp. 50 -58. |
| Abstract: A novel technique to obtain position, velocity and radar biases estimates of a ship is described by matching ship-borne radar images to geo-referenced satellite images. The matching is performed through the minimisation of the averaged partial Hausdorff distances between data points in each image. The minimisation rapidly yields robust geographical latitude and longitude position measurements, as well as ship heading and radar biases. The accuracy of the measurements is improved by feeding them into a Kalman filter that also allows estimates of the ship's velocity to be obtained. The method provides an alternative effective position sensor for GPS denied environments, which may also be employed for automatic radar calibration of bearing and range biases or for indoor autonomous mobile robot navigation |
BibTeX:
@article{Bustos2007,
author = {Juan-Pablo Bustos and Felipe Donoso, Andres Guesalaga and Miguel Torres-Torriti},
title = {Matching radar and satellite images for ship trajectory estimation using the Hausdorff distance},
journal = {Radar, Sonar Navigation, IET},
year = {2007},
volume = {1},
number = {1},
pages = {50 -58},
doi = {http://dx.doi.org/10.1049/iet-rsn:20060025}
}
|
| Torres-Torriti, M. & Michalska, H. (2005), "A Software Package for Lie Algebraic Computations", SIAM Review. Vol. 47(4), pp. 722-745. SIAM. |
BibTeX:
@article{Torres-Torriti2005,
author = {Miguel Torres-Torriti and Hannah Michalska},
title = {A Software Package for Lie Algebraic Computations},
journal = {SIAM Review},
publisher = {SIAM},
year = {2005},
volume = {47},
number = {4},
pages = {722-745},
url = {http://link.aip.org/link/?SIR/47/722/1},
doi = {http://dx.doi.org/10.1137/S0036144502410427}
}
|
| Michalska, H. & Torres-Torriti, M. (2004), "Feedback stabilization of strongly non-linear systems using the CBH formula", International Journal of Control. Vol. 77(6), pp. 562-571. |
| Abstract: This paper presents an approach to the construction of stabilizing feedback for strongly non-linear systems. The class of systems of interest includes systems with drift which are affine in the controls and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov function, but requires the on-line solution of a non-linear programming satisficing problem stated in terms of expressions resulting from the composition of flows via the Campbell–Baker–Hausdorff formula. |
BibTeX:
@article{Michalska2004,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {Feedback stabilization of strongly non-linear systems using the CBH formula},
journal = {International Journal of Control},
year = {2004},
volume = {77},
number = {6},
pages = {562-571},
url = {http://www.informaworld.com/10.1080/00207170410001663516},
doi = {http://dx.doi.org/10.1080/00207170410001663516}
}
|
| Michalska, H. & Torres-Torriti, M. (2003), "A geometric approach to feedback stabilization of nonlinear systems with drift", Systems & Control Letters. Vol. 50(4), pp. 303 - 318. |
| Abstract: The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov type function, but requires the solution of a nonlinear programming satisficing problem stated in terms of the logarithmic coordinates of flows. As opposed to other approaches, point-to-point steering is not required to achieve asymptotic stability. Instead, the flow of the controlled system is required to intersect periodically a certain reachable set in the space of the logarithmic coordinates. |
BibTeX:
@article{Michalska2003b,
author = {Hannah Michalska and Miguel Torres-Torriti},
title = {A geometric approach to feedback stabilization of nonlinear systems with drift},
journal = {Systems & Control Letters},
year = {2003},
volume = {50},
number = {4},
pages = {303 - 318},
url = {http://www.sciencedirect.com/science/article/B6V4X-48XCKMF-1/2/01461b92faf169e62f66d52b499514b9},
doi = {DOI: 10.1016/S0167-6911(03)00169-5}
}
|
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