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April 12, 2018 (v1)PublicationUploaded on: December 4, 2022
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November 9, 2022 (v1)Publication
A shared control method, called Shared Control Dynamic Window Approach, is presented. It is inspired in the Dynamic Window Approach (DWA) for autonomous mobile robots. It takes user commands by means of the control interface and provide the most suitable and kinodinamically feasible trajectory that guarantees obstacle avoidance. It provides...
Uploaded on: March 24, 2023 -
February 14, 2018 (v1)Publication
Problem-based learning (PBL) has proved to be a highly successful pedagogical model in many fields, although it is not that common in computer engineering. PBL goes beyond the typical teaching methodology by promoting student interaction. This paper presents a PBL trial applied to a course in a computer engineering degree at the University of...
Uploaded on: December 4, 2022 -
February 8, 2018 (v1)Publication
A design and implementation of a parallel algorithm for computing the Region-Adjacency Tree of a given segmentation of a 2D digital image is given. The technique is based on a suitable distributed use of the algorithm for computing a Homological Spanning Forest (HSF) structure for each connected region of the segmentation and a classical...
Uploaded on: March 27, 2023 -
June 18, 2021 (v1)Publication
In this paper we develop a new computational technique called boundary scale-space theory. This tech- nique is based on the topol1 ogical paradigm consisting of representing a geometric subdivided object K using a one-parameter family of geometric objects { Ki }i ≥ 1 all of them having the same number of closed pieces than K. Each piece of Ki (...
Uploaded on: March 25, 2023 -
February 21, 2018 (v1)Publication
An appropriate generalization of the classical notion of abstract cell complex, called primal-dual abstract cell complex (pACC for short) is the combinatorial notion used here for modeling and analyzing the topology of nD digital objects and images. Let D ⊂ I be a set of n-xels (ROI) and I be a n-dimensional digital image.We design a...
Uploaded on: March 27, 2023 -
February 25, 2020 (v1)Publication
Connected component labeling (CCL) of binary images is one of the fundamental operations in real time applications. The adjacency tree (AdjT) of the connected components offers a region-based representation where each node represents a region which is surrounded by another region of the opposite color. In this paper, a fully parallel algorithm...
Uploaded on: December 5, 2022 -
February 7, 2018 (v1)Publication
In [14], a topologically consistent framework to support parallel topological analysis and recognition for2 D digital objects was introduced. Based on this theoretical work, we focus on the problem of findingefficient algorithmic solutions for topological interrogation of a 2 D digital object of interest D of a pre- segmented digital image I ,...
Uploaded on: March 27, 2023 -
February 15, 2018 (v1)Publication
A design of a parallel algorithm for labeling color flat zones (precisely, 4-connected components) of a gray-level or color 2D digital image is given. The technique is based in the construction of a particular Homological Spanning Forest (HSF) structure for encoding topological information of any image.HSFis a pair of rooted trees connecting...
Uploaded on: March 27, 2023 -
November 9, 2022 (v1)Publication
TetraNauta is an electric wheelchair guidance system intended for people with heavy motion impairments (such as persons with tetraplegia). It is specially useful when impairments also affect wheelchair steering as it is able to automatically guide wheelchairs between different points in a known environment (a hospital, a school, etc),...
Uploaded on: December 4, 2022 -
February 20, 2018 (v1)Publication
Robotics is an area of research in which the paradigm of Multi-Agent Systems (MAS) can prove to be highly useful. Multi-Agent Systems come in the form of cooperative robots in a team, sensor networks based on mobile robots, and robots in Intelligent Environments, to name but a few. However, the development of Multi-Agent Robotic Systems (MARS)...
Uploaded on: December 2, 2022 -
February 15, 2018 (v1)Publication
By extending Amdahl's law, software developers can weigh the pros and cons of moving their applications to the cloud.
Uploaded on: March 27, 2023 -
February 8, 2018 (v1)Publication
In this work we present a new path following control for unicycle robots that is applicable for almost all the possible desired paths and whose analysis is very straightforward. First we select the path following method that consists of two steps: choosing a ''projection'' that relates the actual posture to the desired path and imposing a...
Uploaded on: March 27, 2023 -
February 7, 2018 (v1)Publication
Several authors have proposed some methods for applying path following in specific cases to mobile robots. When we try to extend the path following approach to the general problem several difficulties arise. We present a generalized technique to apply path following to a mobile robot with nonholonomic constraints. As an application example, we...
Uploaded on: March 27, 2023 -
November 9, 2022 (v1)Publication
The TetraNauta project is a low cost, fully open steering system to allow people with heavy motor impairments to move in a known environments (hospitals, schools, home, etc.). It minimizes the steering effort, especially in long paths, while caring for user safety. Every TetraNauta wheelchair has a general map of the environment wherein it...
Uploaded on: December 2, 2022 -
May 28, 2018 (v1)Publication
En esta ponencia-demo se presenta una práctica donde se analiza la influencia en el tiempo de ejecución de algunas optimizaciones sobre el código máquina para procesadores reales (familia Intel Pentium). Se propone el estudio del efecto del emparejamiento de instrucciones y de las dependencias entre registros, la aceleración obtenida con el...
Uploaded on: March 27, 2023 -
March 3, 2023 (v1)Publication
We propose a simpler and latency-reduced instruction scheduler, called chronoscheduling algorithm, which avoids large and difficult instruction wake-up in order to reduce power consumption and latencies. The key idea of this scheduler is to extract and record all possible information about the future execution of an instruction during its...
Uploaded on: March 25, 2023 -
November 8, 2022 (v1)Publication
A novel, flexible (non-unique) and topologically consistent representation called CRIT (Contour-Region incidence Tree) for a color 2D digital image I is defined here. The CRIT is a tree containing all the inter and intra connectivity information of the constant-color regions. Considering I as an abstract cell complex (ACC), its topological...
Uploaded on: December 4, 2022 -
February 26, 2020 (v1)Publication
Given a 3D binary digital image I, we define and compute an edge-weighted tree, called Homological Region Tree (or Hom-Tree, for short). It coincides, as unweighted graph, with the classical Region Adjacency Tree of black 6-connected components (CCs) and white 26- connected components of I. In addition, we define the weight of an edge (R, S) as...
Uploaded on: March 27, 2023 -
June 18, 2021 (v1)Publication
Taking advantage of the topological and isotopic properties of binary digital images, we present here anew algorithm for connected component labeling (CLL). A local-to-global treatment of the topologicalinformation within the image, allows us to develop an inherent parallel approach. The time complexityorder for an image of m ×n pixels, under...
Uploaded on: December 4, 2022 -
February 26, 2020 (v1)Publication
In this paper we design a new family of relations between (co)homology classes, working with coefficients in a field and starting from an AT-model (Algebraic Topological Model) AT(C) of a finite cell complex C These relations are induced by elementary relations of type "to be in the (co)boundary of" between cells. This high-order...
Uploaded on: December 4, 2022