Ana Cruz-Martín

Ana Cruz-Martín
University of Malaga | UMA · Department of System Engineering and Automatics

PhD in Computer Science

About

47
Publications
11,549
Reads
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234
Citations
Citations since 2016
16 Research Items
129 Citations
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Introduction
She was born in 1972. She got her MS Degree in Computer Science in 1997 and her PhD in Computer Science in 2004, both at University of Málaga. Currently, she is with Systems Engineering and Automation Department at University of Málaga. Her teaching is related to Control Engineering, Robotics and Automation. Her research lines involve Educational Robotics and Networked Robots; she has also an interest in Archaeology and History.
Additional affiliations
February 2002 - present
University of Malaga
Position
  • Professor (Associate)

Publications

Publications (47)
Conference Paper
This paper addresses the problem of online planning and solving decision-making problems under uncertainty modelled as POMDPs in time, energy, and memory constrained use cases. For this purpose, we have designed a memory mechanism based on Bloom filters that efficiently represents and recalls previous experiences from simulation and interactions of...
Article
Full-text available
Time synchronization among sensor devices connected through non-deterministic media is a fundamental requirement for sensor fusion and other distributed tasks that need a common time reference. In many of the time synchronization methods existing in literature, the estimation of the relation between pairs of clocks is a core concept; moreover, in a...
Article
Numerous time synchronization methods have been proposed during the last decades targeted at devices transmitting in general-topology networks, e.g. wireless sensor networks. Interestingly enough, there are still sensorics applications that, from the data flow point of view, just consist of pairs of devices –typically, being one of them a central c...
Conference Paper
Dentro de los procedimientos de respuesta a emergencias, la Primera Intervención consiste en la toma de contacto con la zona de crisis mediante la recogida de información relevante que permita decidir y organizar la entrada de los equipos de rescate. Las labores de primera intervención constituyen una aplicación significativa de la robótica de resc...
Article
Preparing students for dealing with a world more and more densely populated with physical machines that possess learning capabilities, e.g. intelligent robots, is of the utmost importance in engineering. In this paper, we describe and analyse a design of interactive sessions devoted to the application of some machine learning (ML) methods within a...
Article
Full-text available
[ https://arxiv.org/abs/1702.06329 ] Mobile robots are increasingly being employed for performing complex tasks in dynamic environments. Reinforcement learning (RL) methods are recognized to be promising for specifying such tasks in a relatively simple manner. However, the strong dependency between the learning method and the task to learn is a wel...
Technical Report
Full-text available
Technical Report
Full-text available
Aviso de exención de responsabilidad: los procedimientos y opiniones aquí expresados son reflejo de la experiencia de la autora, no están exentos de error, y no son en absoluto un manual oficial ni del robot ni del brazo; por tanto, no se ofrece ningún tipo de garantía. Este documento resume los pasos iniciales básicos necesarios para usar el robot...
Conference Paper
Full-text available
Robotics has become a common subject in many engineering degrees and postgraduate programs. Although at undergraduate levels the students are introduced to basic theoretical concepts and tools, at postgraduate courses there is a need to enlarge the vision of the robotics field, and therefore more complex topics have to be covered. One of those adva...
Conference Paper
Networked telerobots carry sensors that send data, with stochastic transmission times, to a remote human operator, who must execute some real-time control task (e.g., navigation). In this paper we propose to regulate the sensory information being transmitted in order to guarantee soft real-time requirements and also optimize the quality of control,...
Article
Full-text available
Networked telerobots are remotely controlled through general purpose networks and components, which are highly heterogeneous and exhibit stochastic response times; however their correct teleoperation requires a timely flow of information from sensors to remote stations. In order to guarantee these time requirements, a good on-line probabilistic est...
Article
Full-text available
This paper deals with the modeling of the delays in the transmission of sensory data coming from a networked telerobot, which would allow us to predict future times of arrival and provide guarantees on the time requirements of these systems. Considering these delay sequences as an uni-dimensional temporal signal, they easily exhibit rich stochastic...
Article
This paper presents H, a minimalistic specification language for designing heterogeneous software applications, particularly in the realms of robotics and industria, which takes advantage of a Component-Based Software Engineering (CBSE) approach. H copes with some of the most outstanding characteristics of these systems, like diversity at different...
Article
LEGO Mindstorms NXT robots are being increasingly used in undergraduate courses, mostly in robotics-related subjects. But other engineering topics, like the ones found in data acquisition, control and real-time subjects, also have difficult concepts that can be well understood only with good lab exercises. Such exercises require physical educationa...
Article
Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of devel...
Article
One of the most evident characteristics of robotic applications is heterogeneity: large robotic projects involve many different researchers with very different programming needs and areas of research, using a variety of hardware and software that must be integrated efficiently (i.e.: with a low development cost) to construct applications that satis...
Article
Full-text available
Purpose The CIM framework pursues the integration of components in a manufacturing enterprise by means of computer systems. This, however, may be obstructed due to heterogeneity in the field: programmable controllers, robots, sensors and actuators, etc. in communications: different kinds of networks and/or field buses; and in the programming tools...
Conference Paper
Full-text available
The use of the World Wide Web for robot teleoperation is growing in the last years due mainly to the pervasiveness of Internet and Web browsers, although Web interfaces usually use Ethernet networks that exhibit time unpredictability. Most recent research in the area has been focused on improving time predictability of the network under delays, jit...
Article
Full-text available
Assistant robots like robotic wheelchairs can perform an effective and valuable work in our daily lives. However, they eventually may need external help from humans in the robot environment (particularly, the driver in the case of a wheelchair) to accomplish safely and efficiently some tricky tasks for the current technology, i.e. opening a locked...
Article
Full-text available
Assistant robots like robotic wheelchairs can perform an effective and valuable work in our daily lives. However, they eventually may need external help from humans in the robot environment (particularly, the driver in the case of a wheelchair) to accomplish safely and efficiently some tricky tasks for the current technology, i.e. opening a locked...
Conference Paper
Full-text available
Most research in networked robots that use Web interfaces for robot control has been focused recently on the network part, since Ethernet involves poor (unpredictable) time performance. However, we believe that the problem to be addressed is more general and should not be restricted only to communication engineering: the interfaced system as a whol...
Article
Full-text available
En esta tesis se aborda el problema de la planificación de trayectorias en sistemas robóticos compuestos por múltiples elementos. Como punto de partida, se toma un algoritmo de planificación de velocidades para un único robot que genera trayectoria cuyos perfiles de velocidad tienen en cuenta las limitaciones de velocidad, tanto físicas como operac...
Conference Paper
This paper presents a methodology for planning trajectories in a multirobot system. The planner takes into account the speed constraints acting on the vehicles, so it provides a safe speed profile for every robot in the system. As the planner is decoupled and prioritized, it is necessary to set up some priority assignment that defines the order in...
Conference Paper
A significant advantage of multirobot simulation lays on the fact that their physical features and environment can be simulated, and hence, difficulties that spring when managing them are avoided. This paper shows a flexible method for simulating multirobot systems. It provides a simple and non proprietary structure of classes, that can be used as...
Article
Full-text available
This work presents a new procedure for planning mobile robot trajectories by considering kinematic and dynamic constraints on the vehicle motion. This approach divides the above problem into two stages: first, a spatial planning of a collision-free path, which proves the non-holonomic motion constraint; and secondly, a temporal planning of a speed...
Chapter
This paper presents a moving obstacle avoidance algorithm for mobile robots that work under some kind of speed limitations. The proposed method takes the information about these speed constraints and the moving obstacles in its environment, and provides a safe speed profile which allows to build a trajectory that bypasses such obstacles. The algori...

Questions

Questions (2)
Question
I have checked "Archaeological Computing" by H. Eiteljorg, as well as some of his web entries, but I do not know if there is any other well known reference about this subject, and specifically, about database design for an archaeological site. Thanks in advance.
Question
I would like to use an open source GIS for an archaeology project. My goals are to relate some artifacts included in a Postgres DB with maps and geographic information, and then, apply statistical analysis; I would also like to do some webmapping. I have been using gvSIG, and up to this moment I find it useful and easy. Is this a good option, or another solutions like GRASS or QGIS are a better choice? Thanks in advance for your help

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Projects

Projects (4)
Project
Desarrollo de un prototipo de laboratorio remoto construido a partir de componentes hardware de bajo coste y software open-source. El sistema propuesto tiene como objeto rebajar los costes necesarios para llevar a cabo prácticas de laboratorio en diversas asignaturas impartidas en el Dpto. de Ingeniería de Sistemas y Automática de la Universidad de Málaga.
Archived project
Machine Learning in Robotics Reinforcement Learning for multiple tasks Software Framework RL-ROBOT https://arxiv.org/abs/1702.06329 https://github.com/angelmtenor/RL-ROBOT
Archived project
MSc robotics students learn reinforcement learning advantages and limitations when applied to a real robots.