Browsing by Author "Valls Miro Jaime"

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Browsing by Author "Valls Miro Jaime"

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  • An Adaptive Manoeuvring Strategy for Mobile Robots in Cluttered Dynamic Environments 
    Valls Miro Jaime; Taha Tarek; Wang Dalong; Dissanayake Gamini (Indescience Publishers, 2008)
    A novel method which combines an optimised global path planner with a real-time sensor-based collision avoidance mechanism to accommodate for dynamic changes in the environment (e.g., people) is presented. The basic concept ...
  • Automatic Fine Motor Control Behaviours for Autonomous Mobile Agents Operating on Uneven Terrains 
    Valls Miro Jaime; Dissanayake Gamini (ACM, 2010)
    A novel mechanism able to produce increasingly stable paths for mobile robotic agents travelling over uneven terrain is proposed in this paper. In doing so, cognitive agents can focus on higher-level goal planning, with ...
  • BS-SLAM: shaping the world 
    Pedraza Luis; Dissanayake Gamini; Valls Miro Jaime; Rodriguez-Losada Diego; Matia Fernando (MIT Press, 2007)
    This paper presents BS-SLAM, a simultaneous localization and mapping algorithm for use in unstructured environments that is effective regardless of whether features correspond to simple geometric primitives such as lines ...
  • Dense 3D Map Construction for Indoor Search and Rescue 
    Ellekilde Lars; Huang Shoudong; Valls Miro Jaime; Dissanayake Gamini (W.B. Saunders Co, 2005)
  • Dynamic Bayesian Networks for Learning Interactions between Assistive Robotic Walker and Human Users 
    Patel Miteshkumar; Valls Miro Jaime; Dissanayake Gamini (Springer-Verlag Berlin Heidelberg, 2010)
    Detection of individuals intentions and actions from a stream of human behaviour is an open problem. Yet for robotic agents to be truly perceived as human-friendly entities they need to respond naturally to the physical ...
  • An efficient path planner for large mobile platforms in cluttered environments 
    Valls Miro Jaime; Taha Tarek; Liu Dikai (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2006)
    This paper presents a one step smooth and efficient path planning algorithm for navigating a large robotic platform in known cluttered environments. The proposed strategy, based on the generation of a novel search space, ...
  • An efficient strategy for robot navigation in cluttered environments in the presence of dynamic obstacles 
    Taha Tarek; Wang Dalong; Valls Miro Jaime; Dissanayake Gamini; Liu Dikai (University of Technology, Sydney, 2007)
    A novel method which combines an optimised global path planner with real-time sensor-based collision avoidance capabilities in order to avoid moving obstacles (e.g. people) in a complex environment is presented. The ...
  • Extending the Limits of Feature-Based SLAM With B-Splines 
    Pedraza Luis; Rodriguez-Losada Diego; Matia Fernando; Dissanayake Gamini; Valls Miro Jaime (IEEE, 2009)
    This paper describes a simultaneous localization and mapping (SLAM) algorithm for use in unstructured environments that is effective regardless of the geometric complexity of the environment. Features are described using ...
  • Fusing range and intensity images for generating dense models of three-dimensional environments 
    Valls Miro Jaime; Ellekilde Lars; Dissanayake Gamini (IET (Institution of Engineering and Technology), 2006)
    This paper presents a novel strategy for the construction of dense three-dimensional environment models by combining images from a conventional camera and a range imager. Robust data association is first accomplished ...
  • Information-Driven 6D SLAM Based on Ranging Vision 
    Zhou Weizhen; Valls Miro Jaime; Dissanayake Gamini (IEEE, 2008)
  • Information-Efficient 3-D Visual SLAM for Unstructured Domains 
    Zhou Weizhen; Valls Miro Jaime; Dissanayake Gamini (IEEE-Inst Electrical Electronics Engineers Inc, 2008)
    This paper presents a novel vision-based sensory package and an information-efficient simultaneous localization and mapping (SLAM) algorithm. Together, we offer a solution for building 3-D dense map in an unknown and ...
  • Information efficient 3D visual SLAM in unstructured domains 
    Valls Miro Jaime; Zhou Weizhen; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2007)
    This paper presents a strategy for increasing the efficiency of simultaneous localisation and mapping (SLAM) in unknown and unstructured environments using a vision-based sensory package. Traditional feature-based SLAM, ...
  • Intention driven assistive wheelchair navigation 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (Technical Report 470, University of Hertfordshire, 2008)
    This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. The system has the ability to predict the users¿ intended destination at a larger scale, that of a ...
  • A kyno-dynamic metric to plan stable paths over uneven terrain 
    Valls Miro Jaime; Dumonteil Gaultier; Beck Christoph; Dissanayake Gamini (IEEE, 2010)
    A generic methodology to plan increasingly stable paths for mobile platforms travelling over uneven terrain is proposed in this paper. This is accomplished by extending the Fast Marching level-set method of propagating ...
  • Modelling an industrial manipulator a case study 
    Valls Miro Jaime; White A. (Elsevier, 2002)
    A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. ...
  • A multi-stage shared control method for an intelligent mobility assistant 
    Arblaster Jaimal; Liu Dikai; Mclachlan Skye; Valls Miro Jaime; Chenoweth Lynnette (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2005)
    This paper presents a multi-stage shared control method (MSSC) which can be used to control the movement of a robotic mobility assistant designed to facilitate safe mobilization for people with unstable gait. The ...
  • POMDP-Based Long-Term User Intention Prediction for Wheelchair Navigation 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (IEEE, 2008)
    This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. Several navigational techniques have been successfully developed in the past to assist with specific ...
  • A POMDP Framework for Modelling Human Interaction with Assistive Robots 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (IEEE, 2011)
    This paper presents a framework for modelling the interaction between a human operator and a robotic device, that enables the robot to collaborate with the human to jointly accomplish tasks. States of the system are captured ...
  • Probabilistic Models versus Discriminate Classifiers for Human Activity Recognition with an Instrumented Mobility-Assistance Aid 
    Patel Miteshkumar; Khushaba Rami N; Valls Miro Jaime; Dissanayake Gamini (Australasian Conference on Robotics and Automation, 2010)
    Detection of individuals' intentions and actions from a stream of human behaviour is an open and complex problem. There is however an intrinsic need to automatically recognise the activities performed by users of mobility ...
  • Quasi-optimal trajectory planning and control of a CRS A251 industrial robot 
    Valls Miro Jaime; White A. (Professional Engineering Publishing (Institute of Mechanical Engineers), 2002)
    A near-optimal solution to the path-unconstrained time-optimal trajectory planning problem is described in this paper. While traditional trajectory planning strategies are entirely based on kinematic considerations, ...