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La predicción meteorológica es un problema clásico de la programación paralela. Muchos de los modelos matemáticos que se utilizan en meteorología para pronosticar el comportamiento de la atmósfera tienen implementaciones preparadas para ejecutarse en entornos de cálculo paralelo. La información obtenida después de ejecutar un modelo matemático de predicción meteorológica es necesario procesarla para poder visualizar los resultados. Sin embargo, no es fácil encontrar herramientas que permitan el procesado en paralelo de estas salidas. El presente trabajo plantea la posibilidad de dar un paso más y mejorar el rendimiento, utilizando el paradigma paralelo para procesar las salidas de un modelo de predicción numérica, en concreto, el modelo WRF (Weather Research and Forecasting)

Los últimos años se está detectando una bajada significativa en la matrículación de alumnos en las ingenierías en los países desarrollados. Esto nos ha hecho plantearnos la necesidad de fomentar las vocaciones científico-técnicas, para lo que hemos decidido aprovechar nuestra experiencia en el campo de la robótica. En concreto hemos organizado un campeonato de construcción de robots que denominamos RoboCampeones y que describimos en esta comunicación

This paper presents the object-oriented programing envir- onment for the AIBO robot, focusing in its concurrency model. Con- currency problems arise when programming a robot due to the various sensors and actuators that the programmers must manage. As this man- agement has some aspects of real time and communication, involves some coplexity. In order to deal with this complexity Sony has developed a framework for programming the AIBO Robot. The description of this API called OPEN-R is presented. Also we will discuss how the under- lying operating system, APERTOS, hides almost all the complexity of implement applications compounded of concurrent objects intercommu- nicated

This article describes two vision-based behaviors designed for an autonomous legged robot. These behaviors have been designed in a modular way in order to be able to integrate them in an architecture named DSH (Dynamic Schema Hierarchies), which is also briefly described. These behaviors have been tested in office indoor environments and experiments carried out are also described in this paper. The platform used in these experiments carried out are also described in theis paper. The platform used in these experiments has been the Sony AIBO robot. The developed behaviors provide the robot with the follow wall and follow person capabilities, using as main sensor the robot on-board camera

P. 708-715 This paper presents a visual based localization mechanism for a legged robot. Our proposal, fundamented on a probabilistic approach, uses a precompiled topological map where natural landmarks like doors or ceiling lights are recognized by the robot using its on-board camera. Experiments have been conducted using the AIBO Sony robotic dog showing that it is able to deal with noisy sensors like vision and to approximate world models representing indoor of ce environments. The two major contributions of this work are the use of this technique in legged robots, and the use of an active camera as the main sensor SI

Perception problem in robotics has been usually faced from the individual perspective, in this work we present preliminary results of a shared perception mechanism for a group of legged robots working is a dynamic scenario. The experiments has been conducted using a group of aiBo robots in the RoboCup environment. Each individual robot has its own perception of a common interesting feature, the ball, and they al together build a shared perception

En la liga de 4 patas de la Robocup, equipos de 4 robots AIBO autónomos se enfrentan entre si en partidos de fútbol. El objetivo de esta competición es presentar un entorno desafiante en que se han de resolver varios problemas relacionados con la robótica. En particular, la localización. Cada uno de los jugadores ha de estar localizado durante los partidos para que su comportamiento sea coherente. En este artículo proponemos un método de localización que combina técnicas de lógica difusa y filtros de Kalman para conseguir una localización más robusta, fiable y ligera

Este artículo presenta un ejemplo de cooperación borrosa entre un grupo de robots como una solución alternativa a los protocolos clásicos utilizados en las arquitecturas de cooperación entre robots. Para ello se ha procedido a integrar trabajos previos realizados en el Laboratorio de Agentes Inteligentes (LAI) sobre comportamientos borrosos y sobre arquitecturas de cooperación. Se han considerado tres tipos diferentes de protocolos borrosos y se han probado tanto en un simulador como sobre un robot real. Por último, se presenta la descripción de los experimentos realizados así como los resultados obtenidos

This paper presents the basic design and implementation of a goalkeeper made according to the regulations of the two-legged Standard Platform League of the RoboCup Federation. The paper describes the perceptive schemas created using the architecture of the TeamChaos-URJC team as well as the action schemes designed to create a minimal reactive goalie. This player was tested in the 2009 German Open international competition. The results obtained there are analyzed and the future works derived from that analysis are presented

Any device we want to be ab le connect to a global network should have an unique global identifier. The size of this identifier can be an unaceptable overhead for devices with limited resources (sensors, toys, disposable devices, microrobots, etc.), because conventional protocols use full addresses to transmit, process and store the data required for routing. The usual solution for such devices is to limit the address space to one or two bytes, but this sacrifices the global unicity of the identifiers. Another more drastic maesure is to without any routing at all

81 p. El software es uno de los principales componentes de los robots. En particular, opinamos que es el principal problema para la extensión de la robótica en nuestra vida diaria. Uno de los factores que creemos que puede ayudar a paliar este problema es el fenomeno del software libre, que ha crecido de manera extraordinaria en el campo de la robótica. En este artículo analizamos la situación del software libre en tres subáreas de la robótica. industria, enseñanza e investigación. Las herramientas libres han sido muy populares entre la comunidad docente e investigadora en el campo de la robótica. Incluso compañías cuyo principal modelo de negocio es la venta de robots, han creído conveniente compartir el software con el fin de promover comunidades alrededor de sus productos

P. 475-483 This paper presents an architecture for the control of autonomus agents that allows explicit cooperation among them. The structure of the software agents controlling the robots is based an a general purpose multi-agent architecture based on a two level approach. One level is composed of reactive skills capable of archieving simple actions by their own. The other is based an an agenda used as an opportunistic planning mechanism to compound, activate and coordinate the basic skills. This agenda handles actions both from the internal goals of the robot or from other robots. This paper describes the work already accomplished, as well as the issues arising from the implementation of the architecture and its use the RoboCup domain SI

Digital libraries and OPACs are offering an enormous collection of information resources which can be accessed through Internet by quite different users thanks to the existence of standard protocols for information retrieval such as Z39.50. However, some users may find difficult to get the items they are looking for in such a huge bulk of heterogeneous resources since they have to know where and how they have to search for. Thus, one of the main reasons for the disregard of the Z39.50 service has traditionally been the absence of appropriate interfaces and the cost of making alternative searches. WAY-Z39.50 tries to help spreading the use of these servers by providing easy web access to them, as well as, by facilitating the access to multiple servers at once. The prototype described implements the WAY general model based on an agent-based architecture that provides adaptive searching in different servers through an adaptive interface

A new methodological approach to solve the problem of integrating different behaviors in autonomous robots is developed in this paper. It relies on the succesful integration of several fuzzy relational algorithms (Zadeh73), each one specialized in a different task. The whole system is based on a continiously act on sensor data (reactive) approach. The problem is how to got an intelligent behavior from low level reactive controllers. Our assumption is that we can obtain adecuate response to unkown external situations from the fusion of basic actions

Mobile robots need to be able to communicate among them, and with other hosts participating in a given task. Traditional wired networks are obviously not suitable for mobile robots. Current wireless networks are usually based on a fixed network infrastructure (base stations) to route packets. The best alternative for mobile robots are Ad-Hoc networks, which are wireless networks that do not need a fixed infrastructure. This paper describes PERA, an adaptation of an adhoc routing protocol that runs on Eyebot mobile robots. By using PERA, a robot can send messages to other robots or hosts that are not directly reachable through its radio antenna, by routing messages through intermediate mobile robots. The design, implementation and lessons learned in the initial tests of PERA are presented in this paper

P. 287-297 Different models have been proposed to build systems that adapt to the user reducing the complexity in the information browsing process, saving user time and offering personalised interfaces. The work described in this paper, named Way-Z39.50, is an example of adaptive system specially built for accessing digital libraries. A fuzzy decision mechanism is used to implement the adaptation of both the user interface and the information searching process. This paper describes how this system has been designed and implemented, focusing on its fuzzy-based components. Finally, it also briefly discusses the advantages of using fuzzy logic to implement adaptability of the user interface and the searching process SI

En la Inteligencia Artificial, desde sus orígenes, han existido dos corrientes básicas, la simbólica y la subsimbólica. Estas dos aproximaciones han tenido gran influencia también en la robótica. En este artículo queremos presentar un enfoque menos conocido, el de la etología, y en concreto su aplicación a la generación de comportamiento autónomo en robots móviles. Para ello presentamos los fundamentos de la "Jerarquía Dinámica de Esquemas", una arquitectura para el control de robots móviles, basada en la composición de unidades simples denominadas "esquemas" siguiendo las teorías etológicas de Arbib. Igualmente se presentan experimentos preliminares que validan esta aproximación y se discute su viabilidad y se presentan los trabajos previstos para continuar investigando en esta línea

This paper is concerned with the learning of basic behaviors in autonomous robots. In this way, we present a method for the adaptation of basic reactive behaviors implemented as fuzzy controllers applying a genetic algorithm to the evolution of the fuzzy rule system. In this sense, we show our experiments in the evolution of control rules based on symbolic concepts represented as linguistic labels. The rules will be formulated in a fuzzy way and in order to test the rules obtained in each generation of the genetic algorithm a real robot has been used. The individual with the best performance is chosen to generate a new population: the elite strategy. All the new individuals were tested in the same real environment. In conclusion, the individuals of the last generation offer a set of rules that provides better performance than the ones designed by a non-expert designer

Some of the most succesful products in the market of robots for edutainment have made manufactures realize that software for controlling the robots is one of the key elements of the success. Some of them have also conclude that libre software is the best way to produce, maintain and distribute their software. This paper will summarize the fundamentals of the libre software model and their benefits for the edutainment robot market as well as some examples of companies currently supporting it

Systems that must plan, act, and probably learn using a rational, flexible behavior in real time present a challenge to current integrated schemas of planning and acting. Classical planning is still far from solving problems on such short time as needed in dynamic domains, such as Robosoccer, even with new approaches such as graph-based techniques. Reactive systems on the other hand, are hard to configure and do not work well when high level flexible reasoning is required.This paper presents an opportunistic planning-acting schema based on our model named ABC2. The primary goal of the modeli s to composep re-defined skills in an opportunistic way to achieve and intelligent behavior for robots working autonomously

Los robots están apareciendo en nuestra vida. Hace algún tiempo llegaron a las cadenas de montaje, pero hoy están llegando a nuestras casas. Lo están haciendo para una utilidad inesperada, la de hacer compañía a los humanos. Así, los primeros robots que nos vamos a encontrar en nuestra vida diaria serán las mascotas electrónicas, nuestros hijos los encontrarán en sus juguetes. Una de las caracteríssticas principales de estos robots precisamente es que están diseñados para interactuar con las personas, su finalidad es precisamente esa, relacionarse con los humanos. Por tanto, comienza a vislumbrarse un nuevo campo dentro de la interacción entre las personas y los computadores. En este artículo intentamos dar una visión general a las diferentes formas de interactuar con los robots, presentando sus características principales y proponiendo una clasificación de los mismos con el objetivo de divulgar este campo entre los investigadores preocupados por la interacción entre los ordenadores y sus usuarios

This paper describes a teleoperator system developed for the EyeBot robot under a client-server architecture. The teleoperator is made up of two different programs: a server, running on robot’s microprocessor, and a client running on a PC. They talk to each other through a serial connection following an specific protocol. The server gathers sensor information required by the client, sends it and executes movement commands. The client asks for sensor data to the server on behalf of the human operator and sends motion orders. It also shows her a graphical interface, so she can see the values from all robot sensors and she can request different movements to its motors and servomotors

P. 269-279 The main goal of this paper is to present the advantages that the new generation of mobile robot simulators has given to the teaching of robotics to computer science students. We present some of their features, as well as some experiences of their uso in two Spanish universities. These experiences have taken place at different courses, both at graduate and undergraduate levels. We also discuss about those experiences and introduce how we envision teachng in this frekl. SI

P. 902-913 This paper proposes a behavior based architecture for robot control which uses dynamic hierarchies of small schemas to generate autonomous behavior. Each schema is a ow of execution with a target, can be turned on and o , and has several parameters which tune its behavior. Low level schemas are woken up and modulated by upper level schemas, forming a hierarchy for a given behavior. At any time there are several awake schemas per level, running concurrently, but only one of them is activated by environment perception. When none or more than one schema wants to be activated then upper level schema is called for arbitration. This paper also describes an implementation of the architecture and its use on a real robot

220 p. "Sobre software libre" reune casi una treintena de ensayos sobre temas de candente actualidad relacionados con el software libre (del cual Linux es su ex- ponente más conocido). Los ensayos que el lector encontrará están divididos en bloques temáticos que van desde la propiedad intelectual o las cuestiones económicas y sociales de este modelo hasta su uso en la educación y las administraciones publicas, pasando por alguno que repasa la historia del software libre en los ultimos años y los problemas que tiene que enfocar en un futuro próximo como es el caso de las patentes de programación. La obra incluye además una serie de artículos calificados como seminales dentro del mundo del software libre y firmados por Richard Stallman, uno de los grandes gurus del movimiento del software libre. Este es un libro pensado para un publico objetivo muy amplio, no especificamente informáticos, sino también abogados, economistas, universitarios en general. Esto es así, porque la naturaleza de los contenidos, aunque técnica, está prin- cipalmente orientada en dar a conocer la vertiente más filosófica, sociológica y pragmática del software libre. En la actualidad no existe ninguna edición en nuestro idioma que permita a las personas interesadas (sobre todo las que no tienen una formación informática más allá de nivel de usuario) introducirse en la naturaleza y la filosofía del software libre, aún cuando esta temática está ganando en peso dentro y fuera del campo de la informática. Esta obra ha sido concebida en su mayor parte por un activo grupo de profesores de la Universidad Rey Juan Carlos de Madrid, uno de los grupos pioneros en la adopción y difusión del software libre en España

DSR in one of the best known protocols for datagram routing in ad-hoc networks. It uses source routing, soeach datagram must carry the addresses of all the machines in its path. Under some circunstances, specially with the use of IPv6, headers size can become very big. In this paper we propose ADSR protocol, a modification of DSR that drastically reduces its headers size by using abbreviated addresses for the routing. This mechanism can lead to two different nodes having the same address, fact that we coll a collision and analyce in this work. We will also show some results about this protocol performance obtained by simulations implemented using the ns-2 network simulator

Research on Mobile robotics is in our opinion more focused on generating autonomous behaviors than on the development of basic technologies (locomotion, localization, navigation, etc.). However, this issue is really a complex problem where many technologies converge: artificial perception, electronics, even philosophy and there are no general theories generally accepted in the research community. Historically, Cybernetics was the first subjacent theory, then artificial intelligence techniques were the dominant paradigm used to try the solve the problem, in the 90s the focus turned to biology based systems, nowadays ethology has emerged again as the most promising theories to generate autonomous behavior. In this paper we want to present the most relevant concepts borrowed from ethology that have been successfully used in mobile robotics, such as the use of ethograms in robotic pets or the ideas of schemes, or the use of fixed actions patterns to implement reactivity

Una de las habilidades fundamentales que debe poseer un robot para definirse como autónomo es la de autolocalizarse en un entorno dado. En este artículo abordaremos el problema de la localización aplicando técnicas probabilísticas combinando representaciones topológicas y métricas sobre un terreno acotado como es el campo de fútbol de la RoboCup. El artículo presenta también el funcionamiento y resultados obtenidos sobre un conjunto de pruebas simuladas y reales utilizando el humanoide Nao

In this article we propose a dynamic role exchange algorithm for mobile robots. The heuristics used to alternate among the different roles is based on utility functions. We have utilize the Sony Aibo ERS-7 for testing our design and implementation. The RoboCup 4-legged competition environment has been chosen for proving our work

Reinforcement learning har proven to be very successful for finding optimal policies on uncertian and/or dynamic domains. One of the problems on using such techniques appears with large state and action spaces. This problem appears very frequently given that most information in the type of tasks to which these techniques have been applied is continuous. In the paper, we describe a new mechanism for solving the states generalization problem in reinforcement learning algorithms, the VQQL technique

Position estimation is one of the classic problems in mobile robotics. The goal of this paper is to compare two probabilistic localization methods based on local vision for a mobile robot. The experimental set up is based on the Aibo league of the RoboCup, where the robotic dogs major sensor is the on-board camera. Two localization algorithms, Bayesian and Montecarlo (MCL), have been implemented and compared, and their behaviour studied in several situations using a simulator

En este artículo presentamos jdec, una implementación de la arquitectura basada en comportamientos Jerarquía Dinámica de Esquemas. Esta plataforma usa esquemas como unidad básica para la programación de aplicaciones con robots. Estos esquemas se combinan en jerarquías dinámicas para desarrollar comportamientos y en jdec se han implementado como hebras. La plataforma se ha probado en distintos robots reales con aplicaciones de navegación visual, de localización y navegación híbrida en interiores. Además, proporciona una capa de abstracción del hardware, ejecución distribuida, e interfaz gráfica para depuración así como una colección de esquemas ya realizados para componer nuevas aplicaciones

116 p. El comportamiento de un robot autónomo viene determinado por el programa que gobierna sus actuaciones. La creación de programas para robots debe cumplir con ciertos requisitos específicos frente a la programación en otros entornos más tradicionales, como el ordenador personal. En este artículo planteamos que el software de los robots se estructura actualmente en tres niveles: sistema operativo, plataforma de desarrollo y aplicaciones concretas. En los últimos años, han surgido con fuerza plataformas de desarrollo con la idea de facilitar la construcción incremental de estas aplicaciones robóticas. Más allá del acceso básico a los sensores y actuadores, las plataformas suelen proporcionar un modelo para la organización del código y bibliotecas con funcionalidades comunes. En este artículo se identifican y analizan esos tres niveles, describiendo desde esta perspectiva los entornos de desarrollo de los robots reales más extendidos, y las tendencias más recientes

This paper deals with the decision making process, using fuzzy information, in a distributed environment. In order to deal with the complexity of this problem we have used the agent model approach. In this way we have apply this model to the problem of transportation in a non-centralized environment. The internal decosion process inside each agent is archieved through a fuzzy reasoning system

Determining the 3D location of a moving object, and tracking it from a sequence of different camera images is a classical but still challenging problem. In our approach neither explicit triangulation, nor precise motion model are used; only the colour of the object to be tracked is required. We use a particle filter, where the observation model we have developed avoids the colour filtering of the entire image. Preliminary experiments are presented and lessons learned are commented. The approach easily scales to several cameras and new sensor cues

This article exposes the localization issues faced during the implementation of a humanoid goalkeeper to take part in the RoboCup SPL standardized soccer robot competition. For this task, we have used BICA, a state-driven, component-based architecture created by our counterparts in the URJC, to allow a much easier behavior design process. The use of BICA let us choose different self-localization methods in configuration time, and the possibility of using none in running time if some type of error appears

P. 31-32 One of the major scientific contributions of CompCog has been to provide a unified system to collate research methods and results across various animal species, including humans, and also artificial creatures (robots). The systematic collection of data produced by different research groups would enhance the study of social cognition in an operationally comparative way. In the project an on-line video tagging system has been developed. Another contribution has been the use of mobile robots to test the abilities of ethologists SI

Visual attention is a natural tool which allows animals to locate relevant objects or areas in a given scene, discarding the rest of elements present and thus reducing the amount of information to deal with. In this paper we present the design an implementation of a visual attention mechanism based on a saliency map and its implementation in the Nao humanoid. This control mechanism is applied to solve one of the challenges proposed in the RoboCup competition named ”any-ball”. The results obtained are analysed and future works derived from that analysis are presented

The main goal of the project described in this paper is to create a security system using autonomous surveillance robots that use SODAR-like detection system sensors, working with acoustic signals in air environment and navigation base on Geographic Information System and Markov's models. The surveillance system based on SONAR provides great information from the environment, even lets you see behind objects (rebounds effects) whose manipulation offers a great added value to surveillance The guide system will implement in one hand a local navigation module directed to avoid obstacles based on classical techniques and using the new SODAR sensor. On the other hand a global navigation module will be implemented using preset trajectories and gradient techniques and an auto-location system. One of the greatest challenges obtained is the definition of the VIGICOPVar variable that defines, depending on the environment and safety parameters, the probability of intrusion. Surveillance experts of GRUPO NORTE (multinational company with security expertise of more than 38 years) have worked In the definition and validation of the model. The monitoring robots will be controlled in a centralized way from an alarm center from where you can manage all information relating to intrusion detected. VIGICOP is the low cost surveillance robot which provides new/full information interactive surveillance information

Attention mechanism can be used both for reducing the amount of perceptual information to be processed and for restricting all available actions to only those useful for a given scenario. Information reduction improves performance and action restriction allows for a more precise interaction with our environment. In this paper we present the design of an attention control mechanism based on a saliency map and its implementation in the SPL's Nao robot. The results obtained are analysed and future works derived from that analysis are presented

El artículo presenta un sistema de Visión para la detección de objetos mediante el uso de algoritmos genéticos. La principal aportación del mismo consiste en la adaptación al tiempo real de algoritmos generalmente utilizados offline. Para conseguir esto se necesita una ejecución eficiente que reduzca al máximo la complejidad del algoritmo. El ámbito de aplicación del sistema es el campeonato de fútbol robótico RoboCup, en concreto la categoría Standard Platform, y debe permitir detectar y estimar distancias a los objetos relevantes dentro de un estadio de fútbol. Se realizaron diferentes experimentos dentro de un campo oficial RoboCup

El trabajo descrito en esta comunicación ha consistido en la implementación de una serie de comportamientos en un robot humanoide que le capacitan para jugar al fútbol de forma autónoma como portero según las reglas de la Standard League de la RoboCup. Se describe igualmente el procesamiento básico de imágenes que se realiza y la arquitectura modular utilizada para integrarlo con las herramientas de depuración del equipo TeamChaos y los jugadores de campo desarrollados por otros miembros del equipo TeamChaos del que los autores forman parte

El objetivo de este artículo es presentar la aplicación de técnicas desarrolladas en el campo de la robótica móvil al terreno de los vehículos pesados. En concreto, se presenta la aplicación de sensores y algoritmos de origen robótico a un sistema de adelantamiento entre vehículos pesados. Con este sistema se persigue agilizar esta maniobra aumentando la fluidez del tráfico y mejorando la seguridad. El sistema descrito utiliza una serie de sensores distribuidos por el vehículo y un procesador para identificar el inicio y fin del adelantamiento, elevando en esas situaciones el umbral máximo de velocidad permitida al vehículo. En este artículo justificamos la utilidad de este sistema, establecemos los requisitos que debe cumplir, describimos el prototipo realizado y detallamos las pruebas llevadas a cabo con él para verificar su funcionamiento

142 p. Los paises de nuestro entorno han detectado con antelación un problema que ahora se empieza a producir en España. el descenso de matrícula en las carreras técnicas, en especial en las ingenierías. El motivo es la percepción social de la dureza de estas carreras y su supuestamente aburrido desarrollo, a lo que se añade una proyección social en decadencia. Muchas iniciativas para promocionar estas carreras han decidido utilizar los robots como medio para acercar las disciplinas técnicas a los alumnos de educación secundaria. Además de la componente tecnológica, la robótica tiene una componente académica muy importante. En el marco de la Enseñanza Secundaria, tanto la ESO como el bachillerato, los robots sencillos suponen una herramiente idónea para aplicar los conceptos teóricos de asignaturas como Tecnología, Informática, Física, etc.. Conceptos centrales de la asignatura de Tecnología, como mecánica, electricidad y programación encuentran en los robots una plataforma para ponerlos en práctica y aprender de modo experimental.

This paper addresses the problem of determining the current 3D location of a moving object and robustly tracking it from a sequence of camera images. The approach presented here uses a particle filter and does not perform any explicit triangulation. Only the color of the object to be tracked is required, but not any precisemotion model. The observation model we have developed avoids the color filtering of the entire image. That and the Monte Carlotechniques inside the particle filter provide real time performance.Experiments with two real cameras are presented and lessons learned are commented. The approach scales easily to more than two cameras and new sensor cues., {"references":["D. Gorodnichy, S. Malik and G. Roth, Affordable 3D face tracking using\nprojective vision, Proc. of Int. Conf. on Vision Interface, pp. 383-390,\nCalgary (Canada) May 2002.","A.J. Davison, Y. Gonzalez-Cid and N. Kita, Real-time 3D SLAM\nwith wide-angle vision, 5th IFAC/EURON Symposium on Intelligent\nAutonomous Vehicles, July 2004.","D. Margaritis and S. Thrun, Learning to locate an object in 3D space\nfrom a sequence of images. Proc. of Int. Conf. on Machine Learning, pp.\n332-340, 1998.","D. Fox, W. Burgard, F. Dellaert and S. Thrun, Monte Carlo localization:\nefficient position estimation for mobile robots, In Proc. of 16th. AAAI\nNat. Conf. on Artificial Intelligenge, pp. 343-349, Orlando (USA), July\n1999","S. Arulampalam, S. Maskell, N. Gordon and T. Clapp, A tutorial on\nparticle filters for on-line non-linear/non-gaussian bayesian tracking,\nIEEE Transactions on Signal Processing, vol. 50, no. 2, pp. 174-188,\n2002.","A.M. Boumaza and J. Louchet, Mobile robot sensor fusion using flies\nIn G├╝nter Raidl et.al. editors, Applications of Evolutionary Computing,\nEvo Workshops 2003, Lecture Notes in Computer Science, vol. 2611, pp.\n357-367, Springer, 2003.","Jean Louchet, Using an individual evolution strategy for stereovision,\nGenetic Programming and Evolvable Machines, vol. 2, pp. 101-109, 2001","M. Isard and A. Blake, CONDENSATION- conditional density propagation\nfor visual tracking, Int. Journal of Computer Vision, vol. 20, no. 1,\npp. 5-28, 1998.","P. Perez, J. Vermaak and A. Blake, Data fusion for visual tracking with\nparticles, Proceedings of IEEE, vol. 92, no. 3, pp. 495-513, March 2004.\n[10] D. Mackay, Introduction to Monte Carlo methods, In M. Jordan editor,\nLearning in graphical models, pp. 175-204, MIT Press, 1999\n[11] A. J. Davison, Real-time simultaneous localisation and mapping with\na single camera, IEEE Int. Conf. on Computer Vision, ICCV-2003, pp.\n1403-1410, Nice (France), October 2003.\n[12] R.T. Collins, Multi-image focus of attention for rapid site model construction,\nIEEE Int. Conf. on Computer Vision and Pattern Recognition,\n1997, pp. 575-581, San Juan, Puerto Rico, June 1007."]}

P. 307-320 Mobile robots need to be able to communicate among themselves, as well as with hosts participating in the task that they are all involved in. Wired networks are obviously not suitable for mobile robots. Current wireless networks based on a fixed infrastructure (GSM, WiFi, etc.) to route packets may not be suitable because this infrastructure does not cover every place and the requirements of its resources. The best choice for mobile robots are Ad-Hoc networks, which are wireless and do not need a fixed infrastructure. This article describes PERA, a complete communications library including link, net, and transport layers for mobile robots with reduced communications capacity. The network layer is based on a well-known ad-hoc routing protocol adapted to limited devices. This protocol has been implemented and tested on EyeBot mobile robots. Robots using PERA can send messages to other robots or hosts that are not directly reachable through their radio antenna range, by routing messages through intermediate mobile robots also running PERA. The design, implementation, testing and lessons learned in the development of PERA are presented in this article SI

P. 125-132 Manual systems require the user/programmer to directly enter the desired behaviour of the robot, usually using a graphical or text-based programming language, as shown in Fig. 1. Text-based systems are either controller-specific languages, generic procedural languages, or behavioural languages, which typically differ by the flexibility and method of expression of the system. Graphical languages [BKS02, BI01] use a graph, flow-chart or diagram based graphical interface to programming, sacrificing some flexibility and expressiveness for ease of use. The user/programmer has little or no direct control over the robot code in an automatic programming system, which may acquire the program by learning, programming by demonstration (PbD), or by instruction, as indicated in Fig. 2. Often automatic systems are used “online,” with a running robot, although a simulation can also be used. In this sidebar we will focus on the characteristics of commercial programming environments. Simple robots can be programmed directly using their own operating systems. More sophisticated robots include SDKs to simplify the programming of their robots. Mobile robots programming environments vs. industrial manipulators are also presented

El objetivo de la arquitectura MOSAIC (MOdular System for AIbo Control) es disponer de un entorno modular y con un interfaz lo suficientemente general, como para servir de soporte para el diseño y desarrollo de comportamientos en grupos de robots aiBo. Los comportamientos habituales en este tipo de plataformas incluyen tareas de navegación, localización, cooperación en entornos multi-agente, etc. La arquitectura de control presentada consta de tres modulos debilmente acoplados: MOSAIC High (tareas de alto nivel), MOSAIC Low (tareas de bajo nivel) y MOSAIC Tcm (tareas relacionadas con las comunicaciones). El módulo MOSAIC Low se encarga de resolver los aspectos relativos a la locomoción, el acceso a lo sensores/actuadores y pretende ofrecer mayor grado de abstracción que el ofrecido por una imagen sin procesar. Típicamente realiza tareas de filtrado, segmentación e identificación de objetos. El módulo MOSAIC High se encarga de la gestión de todos los comportamientos o conductas de alto nivel. Por ultimo, el módulo MOSAIC Tcm es el responsable de gestionar las comunicaciones entrantes y/o salientes.

Communications are the basis for the collaborative activities in the TeamChaos 4-legged team. In this paper we present the communications architecture developed both to let teammates communicate, and to easy the debugging of robot behaviors from external computers. Details of its implementation on the aiBo robots are also given. Using this infrastructure we describe a protocol for role exchange named Switch! that we have created. We also describe the use of both the communication architecture, and the Switch! protocol in the passing challenge of the 2006 edition of the RoboCup

Por localización se entienden las técnicas que se encargan de solucionar el problema de determinar la posición de un robot en su entorno usando sus propios sensores. En este trabajo se presentará una técnica de localización que pretende aportar una nueva manera de localizar un robot equipado con una cámara en un entorno topológicamente estructurado mediante técnicas probabilísticas. Se mostraría su aplicación en entornos tan diferentes como espacios de oficinas o el campo de la Robocup, y se comprobará como esta técnica es capaz de adaptarse a las tareas que el robot ha de realizar en estos entornos