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Socially aware robot navigation system in human-populated and interactive environments based on an adaptive spatial density function and space affordances

Araceli Vega, Luis J. Manso, Douglas G. Macharet, Pablo Bustos and Pedro Núñez
Journal Papers Pattern Recognition Letters, ISSN 0167-8655, Vol 2018, (JCR 1.952), pp. 13. August 2018. DOI: 10.1016/j.patrec.2018.07.015

BibTeX

@article{vega2018socially,
    author="Araceli Vega and Luis J. Manso and Douglas G. Macharet and Pablo Bustos and Pedro Núñez",
    title="Socially aware robot navigation system in human-populated and interactive environments based on an adaptive spatial density function and space affordances",
    journal="Pattern Recognition Letters",
    year="2018",
    volume="2018",
    number="",
    pages="13",
    doi="https://doi.org/10.1016/j.patrec.2018.07.015",
}

Abstract

Traditionally robots are mostly known by society due to the wide use of manipulators, which are generally placed in controlled environments such as factories. However, with the advances in the area of mobile robotics, they are increasingly inserted into social contexts, i.e., in the presence of people. The adoption of socially acceptable behaviours demands a trade-off between social comfort and other metrics of efficiency. For navigation tasks, for example, humans must be differentiated from other ordinary objects in the scene. In this work, we propose a novel human-aware navigation strategy built upon the use of an adaptive spatial density function that efficiently cluster groups of people according to their spatial arrangement. Space affordances are also used for defining potential activity spaces considering the objects in the scene. The proposed function defines regions where navigation is either discouraged or forbidden. To implement a socially acceptable navigation, the navigation architecture combines a probabilistic roadmap and rapidly-exploring random tree path planners, and an adaptation of the elastic band algorithm. Trials in real and simulated environments carried out demonstrate that the use of the clustering algorithm and social rules in the navigation architecture do not hinder the navigation performance.

A Spiking Neural Model of HT3D for Corner Detection

Pilar Bachiller, Luis J. Manso and Pablo Bustos
Journal Papers Frontiers in Computational Neuroscience ISSN 1662-5188. Vol. 2018. (JCR 1.714 Q2), pp. TO-BE-PUBLISHED, XXXXX 2018. DOI: 10.3389/fncom.2018.00037

BibTeX

@article{bachiller2018aspiking,
    author="Pilar Bachiller and Luis J. Manso and Pablo Bustos",
    title="A Spiking Neural Model of HT3D for Corner Detection",
    journal="Frontiers in Computational Neuroscience",
    year="2018",
    volume="2018",
    number="",
    pages="to-be-published",
    doi="10.3389/fncom.2018.00037 ",
}

Abstract

Obtaining good quality image features is of remarkable importance for most computer vision tasks. It has been demonstrated that the first layers of the human visual cortex are devoted to feature detection. The need for these features has made line, segment, and corner detection one of the most studied topics in computer vision. HT3D is a recent variant of the Hough transform for the combined detection of corners and line segments in images. It uses a 3D parameter space that enables the detection of segments instead of whole lines. This space also encloses canonical configurations of image corners, transforming corner detection into a pattern search problem. Spiking neural networks have previously been proposed for multiple image processing tasks, including corner and line detection using the Hough transform. Following these ideas, this paper presents and describes in detail a model to implement HT3D as a Spiking Neural Network for corner detection. The results obtained from a thorough testing of its implementation using real images evince the correctness of the Spiking Neural Network HT3D implementation. Such results are comparable to those obtained with the regular HT3D implementation, which are turn superior to other corner detection algorithms.

Planning Object Informed Search for Robots in Household Environments

M.A. Gutierrez, L.J. Manso, P. Núñez and P. Bustos
Conference Papers Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2018), pp. (to appear), 2018.

BibTeX

@inproceedings{gutierrez2018planning,
    author="M.A. Gutierrez and L.J. Manso and P. Núñez and P. Bustos",
    title="Planning Object Informed Search for Robots in Household Environments",
    booktitle="Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2018))",
    year="2018",
    pages="205-210",
}

Abstract

In the current state-of-the-art, social robots performing non-trivial tasks often spend most of their time finding and modeling objects. In this paper we present the extension of a cognitive architecture that reduces the time and effort a robot needs to retrieve objects in a household scenario. We upgrade our previous Passive Learning Sensor algorithm into a full fledged agent that is part of the CORTEX robotics cognitive architecture. With its planning capabilities, this new configuration allows the robot to efficiently search, pick and deliver different objects from different locations in large households environments. The contribution presented here dynamically extends the robot's knowledge of the world by making use of memories from past experiences. Results obtained from several experiments show that, both, the new software agent and the integrated cognitive architecture, constitute an important step towards robot autonomy. The experiments show that the find-and-pick task is greatly accelerated.

Integrating planning perception and action for informed object search

Luis J. Manso, Marco A. Gutierrez, Pablo Bustos and Pilar Bachiller
Journal Papers Cognitive Processing ISSN 1612-4782. Vol. 2017. (JCR 0.974 Q3), pp 1-12, August 2017. DOI: http://doi.org/10.1007/s10339-017-0828-3

BibTeX

@article{manso2017integrating,
    author="Luis J. Manso and Marco A. Gutierrez and Pablo Bustos and Pilar Bachiller",
    title="Integrating planning perception and action for informed object search",
    journal="Cognitive Processing",
    year="2017",
    volume="2017",
    number="",
    pages="1-12",
    doi="https://doi.org/10.1007/s10339-017-0828-3",
}

Abstract

This paper presents a method to reduce the time spent by a robot with cognitive abilities when looking for objects in unknown locations. It describes how machine learning techniques can be used to decide which places should be inspected first, based on images that the robot acquires passively. The proposal is composed of two concurrent processes. The first one uses the aforementioned images to generate a description of the types of objects found in each object container seen by the robot. This is done passively, regardless of the task being performed. The containers can be tables, boxes, shelves or any other kind of container of known shape whose contents can be seen from a distance. The second process uses the previously computed estimation of the contents of the containers to decide which is the most likely container having the object to be found. This second process is deliberative and takes place only when the robot needs to find an object, whether because it is explicitly asked to locate one or because it is needed as a step to fulfil the mission of the robot. Upon failure to guess the right container, the robot can continue making guesses until the object is found. Guesses are made based on the semantic distance between the object to find and the description of the types of the objects found in each object container. The paper provides quantitative results comparing the efficiency of the proposed method and two base approaches.

Use and advances in the Active Grammar-based Modeling architecture

L.J. Manso, L.V. Calderita, P. Bustos and A. Bandera
Journal Papers Journal of Physical Agents ISSN 1888-0258. Vol. 8, No. 1, pp 34-39. July 2017. DOI: 10.14198/JoPha

BibTeX

@article{manso2017useandadvancesj,
    author="L.J. Manso and L.V. Calderita and P. Bustos and A. Bandera",
    title="Use and advances in the Active Grammar-based Modeling architecture",
    journal="Journal of Physical Agents",
    year="2017",
    volume="8",
    number="1",
    doi="DOI: 10.14198/JoPha",
}

Abstract

The choice of using a robotic architecture and one of its possible implementations is one of the most crucial design decisions when developing robots. Such decision affects the whole development process, the limitations of the robot, and changing minds can be prohibitively time consuming. This paper presents the redesign and the most relevant implementation issues of the Active Grammar-based Modeling architecture (AGM), as well as the latest developments thereof. AGM is flexible, modular and designed with computation distribution and scalability in mind. In addition to a continuous refactoring of the API library and planner, the most relevant improvements are an enhanced mission specification syntax, support for representations combining symbolic and metric properties, redesigned communication patterns, and extended middleware support. A few use examples are presented to demonstrate successful application of the architecture and why some of its features were needed.

A variant of the Hough Transform for the combined detection of corners, segments, and polylines

Pilar Bachiller, Luis J. Manso and Pablo Bustos
Journal Papers EURASIP Journal on Image and Video Processing 2017, 2017(32) doi: 10.1186/s13640-017-0180-7 (JCR 1.742 Q2)

BibTeX

@article{bachiller2017variant,
    author="Pilar Bachiller and Luis J. Manso and Pablo Bustos",
    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",
}

Abstract

The Hough Transform (HT) is an effective and popular technique for detecting image features such as lines and curves. From its standard form, numerous variants have emerged with the objective, in many cases, of extending the kind of image features that could be detected. Particularly, corner and line segment detection using HT has been separately addressed by several approaches. To deal with the combined detection of both image features (corners and segments), this paper presents a new variant of the Hough Transform. The proposed method provides an accurate detection of segment endpoints, even if they do not correspond to intersection points between line segments. Segments are detected from their endpoints, producing not only a set of isolated segments but also a collection of polylines. This provides a direct representation of the polygonal contours of the image despite imperfections in the input data such as missing or noisy feature points. It is also shown how this proposal can be extended to detect predefined polygonal shapes. The paper describes in detail every stage of the proposed method and includes experimental results obtained from real images showing the benefits of the proposal in comparison with other approaches.

A Passive Learning Sensor Architecture for Multimodal Image Labeling: An Application for Social Robots

Marco A. Gutierrez, Luis J. Manso, Harit Pandya and Pedro Nunez
Journal Papers Sensors 2017, 17(2), 353; doi:10.3390/s17020353. (JCR 2.677 Q1) 2017

BibTeX

@article{gutierrez2017apassive,
    author="Marco A. Gutierrez and Luis J. Manso and Harit Pandya and Pedro Nunez",
    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",
}

Abstract

Object detection and classification have countless applications in human-robot interacting systems. It is a necessary skill for autonomous robots that perform tasks in household scenarios. Despite the great advances in deep learning and computer vision, social robots performing non-trivial tasks usually spend most of their time finding and modeling objects. Working in real scenarios means dealing with constant environment changes and relatively low-quality sensor data due to the distance at which objects are often found. Ambient intelligence systems equipped with different sensors can also benefit from the ability to find objects, enabling them to inform humans about their location. For these applications to succeed, systems need to detect the objects that may potentially contain other objects, working with relatively low-resolution sensor data. A passive learning architecture for sensors has been designed in order to take advantage of multimodal information, obtained using an RGB-D camera and trained semantic language models. The main contribution of the architecture lies in the improvement of the performance of the sensor under conditions of low resolution and high light variations using a combination of image labeling and word semantics. The tests performed on each of the stages of the architecture compare this solution with current research labeling techniques for the application of an autonomous social robot working in an apartment. The results obtained demonstrate that the proposed sensor architecture outperforms state-of-the-art approaches.

Socially Acceptable Robot Navigation over Groups of People

A. Vega, L.J. Manso, P. Bustos, P. Núñez and D.G. Macharet
Conference Papers Proceedings of IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2017), pp. 1182-1187, 2017.

BibTeX

@inproceedings{vega2017socially,
    author="A. Vega and L.J. Manso and P. Bustos and P. Núñez and D.G. Macharet",
    title="Socially Acceptable Robot Navigation over Groups of People",
    booktitle="Proceedings of IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2017))",
    year="2017",
    pages="1182-1187",
}

Abstract

Considering the widespread use of mobile robots in different parts of society, it is important to provide them with the capability to behave in a socially acceptable manner. Therefore, a research topic of great importance recently has been the study of Human-Robot Interaction. Autonomous navigation is a fundamental task in Robotics, and several different strategies that produce paths that are either length or time optimized can be found in the literature. However, considering the recent use of mobile robots in a more social context, the use of such classical techniques is restricted. Therefore, in this article we present a social navigation approach considering environments with groups of people. The proposal uses a density function to efficiently represent groups of people, and modify the navigation architecture in order to include the social behaviour of the robot during its motion. This architecture is based on the combined use of the Probabilistic Road Mapping (PRM) and the Rapidly-exploring Random Tree (RRT) path planners and an adaptation of the elastic band algorithm. Experimental evaluation was carried out in different simulated environments, providing insight on the performance of the proposed technique, which surpasses classical techniques with no proxemics awareness in terms of social impact.

A Perception-aware Architecture for Autonomous Robots

L.J. Manso, P. Bustos, P. Bachiller and P. Núñez
Journal Papers International Journal of Advanced Robotic Systems (ISSN 1729-8806), InTech, Vol. 12, No. 174, 2015. DOI: 10.5772/61742 (JCR 0.615 Q3)

BibTeX

@article{manso2015perceptionaware,
    author="L.J. Manso and P. Bustos and P. Bachiller and P. Núñez",
    title="A Perception-aware Architecture for Autonomous Robots",
    journal="International Journal of Advanced Robotic Systems",
    year="2015",
    volume="12",
    number="174",
    pages="13",
    doi="DOI: 10.5772/61742",
}

Abstract

Planning Human-Robot Interaction Tasks using Graph Models

L.J. Manso, P. Bustos, R. Alami, G. Milliez and P. Núñez
Conference Papers Proceedings of International Workshop on Recognition and Action for Scene Understanding (REACTS 2015), pp. 15-27, 2015.

BibTeX

@inproceedings{manso2015planning,
    author="L.J. Manso and P. Bustos and R. Alami and G. Milliez and P. Núñez",
    title="Planning Human-Robot Interaction Tasks using Graph Models",
    booktitle="Proceedings of International Workshop on Recognition and Action for Scene Understanding (REACTS 2015)",
    year="2015",
    pages="15--27",
}

Abstract

A Novel Multimodal Emotion Recognition Approach for Affective Human Robot Interaction

F. Cid, L.J. Manso and Pedro Nunez
Conference Papers Proceedings of the Workshop on Multimodal and Semantics for Robotics Systems (MuSRobS @ IEEE/RSJ International Conference on Intelligent Robots and Systems 2015), pp. 1-9, ISSN 1613-0073, 2015

BibTeX

@inproceedings{cid2015facial,
    author="F. Cid and L.J. Manso and Pedro Nunez",
    title="A Novel Multimodal Emotion Recognition Approach for Affective Human Robot Interaction",
    booktitle="Proceedings of the Workshop on Multimodal and Semantics for Robotics Systems",
    year="2015",
    pages="1-9",
}

Abstract

Facial expressions and speech are elements that provide emotional information about the user through multiple communication channels. In this paper, a novel multimodal emotion recognition system based on visual and auditory information processing is proposed. The proposed approach is used in real affective human robot communication in order to estimate five different emotional states (i.e., happiness, anger, fear, sadness and neutral), and it consists of two subsystems with similar structure. The first subsystem achieves a robust facial feature extraction based on consecutively applied filters to the edge image and the use of a Dynamic Bayessian Classifier. A similar classifier is used in the second subsystem, where the input is associated to a set of speech descriptors, such as speech-rate, energy and pitch. Both subsystems are finally combined in real time. The results of this multimodal approach show the robustness and accuracy of the methodology respect to single emotion recognition systems.

RGBD Data analysis for Real-Time Emotion Recognition from Upper Body Movements

F. Cid, E. Mogena, L.J. Manso and P. Núñez
Conference Papers Proceedings of International Workshop on Recognition and Action for Scene Understanding (REACTS 2015), pp. 43-52, 2015

BibTeX

@inproceedings{cid2015rgbd,
    author="F. Cid and E. Mogena and L.J. Manso and P. Núñez",
    title="RGBD Data analysis for Real-Time Emotion Recognition from Upper Body Movements",
    booktitle="Proceedings of International Workshop on Recognition and Action for Scene Understanding (REACTS 2015)",
    year="2015",
    pages="43-52",
}

Abstract

Testing a fully autonomous robotic salesman in real scenarios

A. Romero, L.V. Calderita, J. Martín, J.P. Bandera, R. Marfil, L.J. Manso, A. Bandera and P. Bustos
Conference Papers Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2015), IEEE, pp. 124-130, ISBN 978-1-4673-6991-6, 2015

BibTeX

@inproceedings{romero2015testing,
    author="A. Romero and L.V. Calderita and J. Martín and J.P. Bandera and R. Marfil and L.J. Manso and A. Bandera and P. Bustos",
    title="Testing a fully autonomous robotic salesman in real scenarios",
    booktitle="Proceedings of International Conference on Autonomous Robot Systems and Competitions (ICARSC 2015)",
    year="2015",
    editor="IEEE",
    pages="124-130",
}

Abstract

THERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children

L.V. Calderita, L.J. Manso, P. Bustos, C. Suárez, F. Fernández and A. Bandera
Journal Papers Journal of Rehabilitation and Assistive Technologies, JMIR, vol. 1, n. 1, DOI:10.2196/rehab.31512014, 2014

BibTeX

@article{calderita2014therapist,
    author="L.V. Calderita and L.J. Manso and P. Bustos and C. Suárez and F. Fernández and A. Bandera",
    title="THERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children",
    journal="Journal of Rehabilitation and Assistive Technologies, JMIR",
    year="2014",
    volume="1",
    number="1",
    doi="10.2196/rehab.31512014",
}

Abstract

Toward Social Cognition in Robotics: Extracting and Internalizing Meaning from Perception

J. Martínez, R. Marfil, L.V. Calderita, J.P. Bandera, L.J Manso, A. Bandera, A. Romero and P. Bustos
Conference Papers Proceedings of Workshop of Physical Agents (WAF), pp. 93-104, ISBN ISBN: 978-84-9773-681-7, 2014

BibTeX

@inproceedings{martinez2014toward,
    author="J. Martínez and R. Marfil and L.V. Calderita and J.P. Bandera and L.J Manso and A. Bandera and A. Romero and P. Bustos",
    title="Toward Social Cognition in Robotics: Extracting and Internalizing Meaning from Perception",
    booktitle="Proceedings of Workshop of Physical Agents",
    year="2014",
    pages="",
}

Abstract

A General-Purpose Architecture to Control Mobile Robots

L.J. Manso, L.V. Calderita, P. Bustos, J. García, M. Martínez, F. Fernández, A. Romero and A. Bandera
Conference Papers In Proceedings of Workshop of Physical Agents (WAF), pp. 105-116, 2014

BibTeX

@inproceedings{manso2014generalpurpose,
    author="L.J. Manso and L.V. Calderita and P. Bustos and J. García and M. Martínez and F. Fernández and A. Romero and A. Bandera",
    title="A General-Purpose Architecture to Control Mobile Robots",
    booktitle="Proceedings of Workshop of Physical Agents (WAF)",
    year="2014",
    pages="105--116",
}

Abstract

A Multi-layer Description of the Environment using Curvature Information for Robot Navigation

J. Almeida, L.J. Manso, A. Bandera and P. Núñez
Conference Papers Proceedings of Workshop of Physical Agents (WAF), pp. 135-144, 2014

BibTeX

@inproceedings{almeida2014multilayer,
    author="J. Almeida and L.J. Manso and A. Bandera and P. Núñez",
    title="A Multi-layer Description of the Environment using Curvature Information for Robot Navigation",
    booktitle="Proceedings of Workshop of Physical Agents (WAF)",
    year="2014",
    pages="135--144",
}

Abstract

A Novel Robust Scene Change Detection Algorithm for Autonomous Robots using Mixtures of Gaussians

Luis J. Manso, Pedro Núñez, Sidnei Da Silva and Paulo Drews-Jr
Journal Papers International Journal of Advanced Robotic Systems (ISSN 1729-8806), InTech, vol. 11, no. 18, 2014 (JCR 0.497 Q3)

BibTeX

@article{manso2014novel,
    author="Luis J. Manso and Pedro Núñez and Sidnei Da Silva and Paulo Drews-Jr",
    title="A Novel Robust Scene Change Detection Algorithm for Autonomous Robots using Mixtures of Gaussians",
    journal="International Journal of Advanced Robotic Systems (ISSN 1729-8806)",
    year="2014",
    volume="11",
    number="18",
    doi="10.5772/57360",
}

Abstract

Improving Change Detection using Vertical Surface Normal Histograms and Gaussian Mixture Models in Structured Environments

Paulo Drews-Jr, Luis J. Manso, Sidnei Da Silva and Pedro Núñez
Conference Papers Proc. of The 16th International Conference on Advanced Robotics (ICAR), ISBN:978-1-4799-2722-7, 25 November, 2013

BibTeX

@inproceedings{drews2013improving,
    author="Paulo Drews-Jr and Luis J. Manso and Sidnei Da Silva and Pedro Núñez",
    title="Improving Change Detection using Vertical Surface Normal Histograms and Gaussian Mixture Models in Structured Environments",
    booktitle="Proc. of The 16th International Conference on Advanced Robotics",
    year="2013",
}

Abstract

Multimodal interaction with Loki

P. Bustos, J. Martinez, I. Garcia, L. Rodriguez, P. Bachiller, L. Calderita, L.J. Manso, A. Sanchez, A. Bandera and J.P. Bandera
Conference Papers Proc. of Workshop of Physical Agents, pages 53--60, 2013

BibTeX

@inproceedings{bustos2013multimodal,
    author="P. Bustos and J. Martinez and I. Garcia and L. Rodriguez and P. Bachiller and L. Calderita and L.J. Manso and A. Sanchez and A. Bandera and J.P. Bandera",
    title="Multimodal interaction with Loki",
    booktitle="Proc. of Workshop of Physical Agents",
    year="2013",
    pages="53--60",
}

Abstract

Perception as Stochastic Sampling on Dynamic Graph Spaces

L.J. Manso
Theses PhD. Thesis. Cáceres School of Technology, University of Extremadura, 2013

BibTeX

@phdthesis{manso2013perception,
    author="L.J. Manso",
    title="Perception as Stochastic Sampling on Dynamic Graph Spaces",
    school="Cáceres School of Technology, University of Extremadura",
    year="2013",
    type="phdthesis",
}

Abstract

Ursus: A robotic assistant for training of children with motor impairments

C. Suarez-Mejías, C. Echevarría, P. Núñez, L.J. Manso, P. Bustos, S. Leal and C. Parra
Book Chapters Converging Clinical and Engineering Research on Neurorehabilitation Biosystems & Biorobotics, pp. 249--253, Springer, 2013

BibTeX

@inbook{suarez2013ursus,
    author="C. Suarez-Mejías and C. Echevarría and P. Núñez and L.J. Manso and P. Bustos and S. Leal and C. Parra",
    title="Ursus: A robotic assistant for training of children with motor impairments",
    pages="249-253",
    publisher="Springer",
    year="2013",
    volume="1",
    editor="Springer",
    type="bookchapter",
}

Abstract

Experiments in self-calibration of an autonomous mobile manipulator

A. Sánchez, P. Núñez, L.J. Manso and P. Bustos
Conference Papers Proc. of Workshop of Physical Agents, pp. 183--190, 2012

BibTeX

@inproceedings{sanchez2012experiments,
    author="A. Sánchez and P. Núñez and L.J. Manso and P. Bustos",
    title="Experiments in self-calibration of an autonomous mobile manipulator",
    booktitle="Proc. of Workshop of Physical Agents",
    year="2012",
    pages="183-190",
}

Abstract

Indoor scene perception for object detection and manipulation

L.J. Manso, P. Bustos, P. Bachiller and J. Franco
Journal Papers Journal of Cognitive Processing. Vol. 13. No. 1. pp. 55-56 (JCR:1.754), DOI 10.1007/s10339-012-0509-1. Springer. 2012

BibTeX

@article{manso2012indoor,
    author="L.J. Manso and P. Bustos and P. Bachiller and J. Franco",
    title="Indoor scene perception for object detection and manipulation",
    journal="Symposium on Spatial Cognition in Robotics. International Conference on Spatial Cognition",
    year="2012",
    volume="13",
    number="1",
    pages="55-56",
}

Abstract

Graph Grammars for Active Perception

Luis J. Manso, Pablo Bustos, Pilar Bachiller and Marco A. Gutierrez
Conference Papers Proc. of 12th International Conference on Autonomous Robot Systems and Competitions, pp.63--68, (ISBN 978-972-98603-4-8) 2012

BibTeX

@inproceedings{manso2012graph,
    author="Luis J. Manso and Pablo Bustos and Pilar Bachiller and Marco A. Gutierrez",
    title="Graph Grammars for Active Perception",
    booktitle="Proc. of 12th International Conference on Autonomous Robot Systems and Competitions",
    year="2012",
    pages="63-68",
}

Abstract

Engaging human-to-robot attention using conversational gestures and lip-synchronization

F. Cid, R. Cintas, L.J. Manso, L. Calderita, A. Sánchez and P Núñez
Journal Papers Journal of Physical Agents ISSN 1888-0258. Vol. 6, No. 1, pp 3-10. March 2012

BibTeX

@article{cid2012engaging,
    author="F. Cid and R. Cintas and L.J. Manso and L. Calderita and A. Sánchez and P Núñez",
    title="Engaging human-to-robot attention using conversational gestures and lip-synchronization",
    journal="Journal of Physical Agents",
    year="2012",
    volume="6",
    number="1",
    pages="3-10",
}

Abstract

Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation

A.B. Naranjo, C. Suárez, C. Parra, E. González, F. Bockel, A. Yuste, P. Bustos, L. Manso, P. Bachiller and S. Plana
Book Chapters Serious Games as Educational, Business, and Research Tools: Development and Design. ISBN 978-1-4666-0149-9. Vol. 1, pp. 1212-1233. February 2012.

BibTeX

@inbook{naranjo2012interactive,
    author="A.B. Naranjo and C. Suárez and C. Parra and E. González and F. Bockel and A. Yuste and P. Bustos and L. Manso and P. Bachiller and S. Plana",
    title="Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation",
    pages="1212-1233",
    publisher="IGI Global",
    year="2012",
    volume="1",
    editor="IGI Global",
    type="bookchapter",
}

Abstract

Improving the life cycle of robotics components using Domain Specific Languages

A. Romero, L.J. Manso, M.A. Gutiérrez, R. Cintas and P. Bustos
Conference Papers 2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'2011). September 2011

BibTeX

@inproceedings{romero2011improving,
    author="A. Romero and L.J. Manso and M.A. Gutiérrez and R. Cintas and P. Bustos",
    title="Improving the life cycle of robotics components using Domain Specific Languages",
    booktitle="Proc. of Int. Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'2011)",
    year="2011",
    pages="1--9",
}

Abstract

An incremental hybrid approach to indoor modeling

P. Bachiller, M.A. Gutierrez, L.J. Manso, P. Bustos and P. Núñez
Conference Papers Proc. of European Conference on Mobile Robots 2011, pp. 219--226. September 2011

BibTeX

@inproceedings{bachiller2011incremental,
    author="P. Bachiller and M.A. Gutierrez and L.J. Manso and P. Bustos and P. Núñez",
    title="An incremental hybrid approach to indoor modeling",
    booktitle="Proc. of European Conference on Mobile Robots",
    year="2011",
    pages="219--226",
}

Abstract

A real-time synchronization algorithm between Text-To-Speech (TTS) system and Robot Mouth for Social Robotic Applications

F. Cid, R. Cintas, L.J. Manso, L. Calderita, A. Sánchez and P. Núñez
Conference Papers Proc. of Workshop of Physical Agents 2011, pp. 81--86. September 2011

BibTeX

@inproceedings{cid2011realtime,
    author="F. Cid and R. Cintas and L.J. Manso and L. Calderita and A. Sánchez and P. Núñez",
    title="A real-time synchronization algorithm between Text-To-Speech (TTS) system and Robot Mouth for Social Robotic Applications",
    booktitle="Proc. of Workshop of Physical Agents",
    year="2011",
    pages="81--86",
}

Abstract

Attentional Behaviors for Environment Modeling by a Mobile Robot

Pilar Bachiller, Pablo Bustos and Luis J. Manso
Book Chapters Advances in Stereo Vision, InTech, ISBN 978-953-307-837-3, pp 17-40. July 2011

BibTeX

@inbook{bachiller2011attentional,
    author="Pilar Bachiller and Pablo Bustos and Luis J. Manso",
    title="Attentional Behaviors for Environment Modeling by a Mobile Robot",
    pages="17--40",
    publisher="InTech",
    year="2011",
    type="bookchapter",
}

Abstract

Robust Behavior and Perception using Hierarchical State Machines: A Pallet Manipulation Experiment

Ramón Cintas, Luis J. Manso, Luis Pinero, Pilar Bachiller and Pablo Bustos
Journal Papers Journal of Physical Agents, ISSN 1888-0258. Vol. 5, No. 1, pp 35-44. March 2011

BibTeX

@article{cintas2011robust,
    author="Ramón Cintas and Luis J. Manso and Luis Pinero and Pilar Bachiller and Pablo Bustos",
    title="Robust Behavior and Perception using Hierarchical State Machines: A Pallet Manipulation Experiment",
    journal="Journal of Physical Agents",
    year="2011",
    volume="5",
    number="1",
    pages="35-44",
}

Abstract

RoboComp: a Tool-based Robotics Framework

Luis J. Manso, Pilar Bachiller, Pablo Bustos, Pedro Núñez, Ramón Cintas and Luis Calderita
Book Chapters Simulation, Modeling and Programming for Autonomous Robots. Springer LNAI 6472, ISBN 978-3-540-89075-1, pp 251-262. November 2010

BibTeX

@inbook{manso2010robocomp,
    author="Luis J. Manso and Pilar Bachiller and Pablo Bustos and Pedro Núñez and Ramón Cintas and Luis Calderita",
    title="RoboComp: a Tool-based Robotics Framework",
    pages="251--262",
    publisher="Springer",
    year="2010",
    type="bookchapter",
}

Abstract

Improving a Robotics Framework with Real-Time and High-Performance Features

Jesús Martinez, Adrián Romero, Luis Manso and Pablo Bustos
Book Chapters Simulation, Modeling and Programming for Autonomous Robots. Springer LNAI 6472, ISBN 978-3-540-89075-1, pp 263-274. November 2010

BibTeX

@inbook{martinez2010improving,
    author="Jesús Martinez and Adrián Romero and Luis Manso and Pablo Bustos",
    title="Improving a Robotics Framework with Real-Time and High-Performance Features",
    pages="263--274",
    publisher="Springer",
    year="2010",
    type="bookchapter",
}

Abstract

RobEx: an Open-hardware Robotics Platform

José Mateos, Agustín Sánchez, Luis Manso, Pilar Bachiller and Pablo Bustos
Conference Papers Proc. of Workshop of Physical Agents, pp 17-24. September 2010. ISBN 978-84-92812-54-7

BibTeX

@inproceedings{mateos2010robex,
    author="José Mateos and Agustín Sánchez and Luis Manso and Pilar Bachiller and Pablo Bustos",
    title="RobEx: an Open-hardware Robotics Platform",
    booktitle="Proc. of Workshop of Physical Agents",
    year="2010",
    pages="17--24",
}

Abstract

Visually-guided Object Manipulation by a Mobile Robot

Luis Pinero, Ramón Cintas, Luis Manso, Pilar Bachiller and Pablo Bustos
Conference Papers Proc. of Workshop of Physical Agents, pp 145-152. September 2010. 978-84-92812-54-7

BibTeX

@inproceedings{pinero2010visuallyguided,
    author="Luis Pinero and Ramón Cintas and Luis Manso and Pilar Bachiller and Pablo Bustos",
    title="Visually-guided Object Manipulation by a Mobile Robot",
    booktitle="Proc. of Workshop of Physical Agents",
    year="2010",
    pages="145--152",
}

Abstract

Un Framework de Desarrollo para Robótica

Luis Manso, Pablo Bustos, Pilar Bachiller, Pedro Núñez, Ramón Cintas and Luis Calderita
Conference Papers Proceedings of I Jornadas Jóvenes Investigadores, pp 33-38, ISBN 978-84-693-1707-5. Cáceres, 17th April 2010

BibTeX

@inproceedings{manso2010framework,
    author="Luis Manso and Pablo Bustos and Pilar Bachiller and Pedro Núñez and Ramón Cintas and Luis Calderita",
    title="Un Framework de Desarrollo para Robótica",
    booktitle="Proc. of I Jornadas Jóvenes Investigadores",
    year="2010",
    pages="33--38",
}

Abstract

Multi-cue Visual Obstacle Detection for Mobile Robots

Luis Manso, Pablo Bustos, Pilar Bachiller and José Moreno
Journal Papers Journal of Physical Agents, ISSN 1888-0258. Vol 4, No 1, pp 3-10. January 2010

BibTeX

@article{manso2010multicue,
    author="Luis Manso and Pablo Bustos and Pilar Bachiller and José Moreno",
    title="Multi-cue Visual Obstacle Detection for Mobile Robots",
    journal="Journal of Physical Agents",
    year="2010",
    volume="4",
    number="1",
    pages="3-10",
}

Abstract

Obstacle Detection on Heterogeneous Surfaces Using Color and Geometric Cues

Luis Manso, Pablo Bustos, Pilar Bachiller and José Moreno
Conference Papers Proc. of Workshop of Physical Agents, pp 95-101, Cáceres, 10th-11th September 2009. ISBN 978-84-692-3220-0

BibTeX

@inproceedings{manso2009obstacle,
    author="Luis Manso and Pablo Bustos and Pilar Bachiller and José Moreno",
    title="Obstacle Detection on Heterogeneous Surfaces Using Color and Geometric Cues",
    booktitle="Proc. of Workshop of Physical Agents",
    year="2009",
    pages="95--101",
}

Abstract

Navegación Visual en Robots Móviles

L.J. Manso
Theses M.Eng. thesis. Universidad de Extremadura.

BibTeX

@masterthesis{manso2009navegacion,
    author="L.J. Manso",
    title="Navegación Visual en Robots Móviles",
    school="Cáceres School of Technology, University of Extremadura",
    year="2009",
    type="masterthesis",
}

Abstract

Attentional Selection for Action in Mobile Robots

P. Bachiller, P. Bustos and L.J. Manso
Book Chapters Advances in Robotics, Automation and Control. I-Tech, pp 111-136, ISBN 78-953-7619-16-9. November 2008

BibTeX

@inbook{bachiller2008attentional,
    author="P. Bachiller and P. Bustos and L.J. Manso",
    title="Attentional Selection for Action in Mobile Robots",
    pages="111--136",
    publisher="I-Tech",
    year="2008",
    type="bookchapter",
}

Abstract

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