Cipriano Galindo

Cipriano Galindo
University of Malaga | UMA · Department of System Engineering and Automatics

PhD. in Computer Sciences

About

137
Publications
59,757
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2,190
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Introduction
I received the M.Sc (2002) and PhD degree (2006) in Computer Science from the University of Malaga, Spain. Since 2009 I am full time associate professor at the same University. In 2004-2005 I was at the Applied Autonomous Sensor Systems, Örebro University (Sweden), working on semantic maps, and intelligent systems. My research focuses on service robotics, telepresence, and Quality of Life Technologies (QoLT), being (co)author of 20 JCR papers, 38 international conferences and 2 books.
Additional affiliations
January 2002 - present
University of Malaga
Position
  • Professor (Associate)

Publications

Publications (137)
Article
italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Contribution: There exist software tools designed for professional or research purposes that may serve for grounding the learning of real-time scheduling within introductory courses. This article contributes with a hardware and software infrastructure...
Article
The Industry 4.0 paradigm is being increasingly adopted in the production, distribution and commercialization chains worldwide. The integration of the cutting-edge techniques behind it entails a deep and complex revolution – changing from scheduled-based processes to smart, reactive ones – that has to be thoroughly applied at different levels. Aimi...
Article
Full-text available
In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass through, it may not see enough clearance to navigate, hence limiting its operational space. An approach to facing this is to inser...
Article
Full-text available
Olfaction is a valuable source of information about the environment that has not been sufficiently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g., vision, to accomplish high-level robot activities, such as task planning or execution in human environments. This paper organizes and puts...
Article
Object recognition is a cornerstone task in autonomous and/or assistance systems like robots, autonomous vehicles, or those assisting to visually impaired, aiming to achieve a certain level of understanding of their surroundings. Probabilistic models, such as Conditional Random Fields (CRFs), have been successfully applied to this end given their a...
Conference Paper
This paper presents an interactive game system integrated in a mobile robot. Our proposal enables assistant robots to provide cognitive and entertainment games to elders with the aim of improving skills like memory, reflexes, or hand-eye coordination, which are jeopardised in aged people. To gain in user acceptance, the game is virtually recreated...
Article
A world model representing the elements in a robot's environment needs to maintain a correspondence between the objects being observed and their internal representations, which is known as the anchoring problem. Anchoring is a key aspect for an intelligent robot operation, since it enables high-level functions such as task planning and execution. T...
Article
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This paper addresses the localization of a gas emission source within a real-world human environment with a mobile robot. Our approach is based on an efficient and coherent system that fuses different sensor modalities (i.e., vision and chemical sensing) to exploit, for the first time, the semantic relationships among the detected gases and the obj...
Chapter
This work addresses the problem of efficiently and coherently locating a gas source in a domestic environment with a mobile robot, meaning efficiently the coverage of the shortest distance as possible and coherently the consideration of different gas sources explaining the gas presence. The main contribution is the exploitation, for the first time,...
Article
Full-text available
Robotic telepresence is an emerging technology with a great potential in applications such as elder assistance, telework, and surveillance. It relies on a combination of information and communication technologies and mobile robotics to provide a person with autonomy to move and interact in a remote environment. The application environments range fr...
Article
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This paper presents the Robot-at-Home dataset (Robot@Home), a collection of raw and processed sensory data from domestic settings aimed at serving as a benchmark for semantic mapping algorithms through the categorization of objects and/or rooms. The dataset contains 87,000+ time-stamped observations gathered by a mobile robot endowed with a rig of...
Article
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Semantic maps augment metric-topological maps with meta-information, i.e. l semantic knowledge aimed at the planning and execution of high-level robotic tasks. Semantic knowledge typically encodes human-like concepts, like types of objects and rooms, which are connected to sensory data when symbolic representations of percepts from the robot worksp...
Article
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This article reports on the EU project ExCITE with specific focus on the technical development of the telepresence platform over a period of 42 months. The aim of the project was to assess the robustness and validity of the mobile robotic telepresence (MRP) system Giraff as a means to support elderly people and to foster their social interaction an...
Conference Paper
Telepresence robots have emerged as a new means of interaction in remote environments. However, the use of such robots is still limited due to safety and usability issues when operating in human-like environments. This work addresses these issues by enhancing the robot navigation through a collaborative control method that assists the user to negot...
Conference Paper
Sensor networks are becoming popular nowadays in the development of smart environments. Heavily relying on static sensor and actuators, though, such environments usually lacks of versatility regarding the provided services and interaction capabilities. Here we present a framework for smart environments where a service robot is included within the s...
Chapter
Full-text available
The suitable operation of mobile robots when providing Ambient Assisted Living (AAL) services calls for robust object recognition capabilities. Probabilistic Graphical Models (PGMs) have become the de-facto choice in recognition systems aiming to efficiently exploit contextual relations among objects, also dealing with the uncertainty inherent to t...
Article
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Probabilistic Graphical Models (PGMs) in general, and Undirected Graphical Models (UGMs) in particular, become suitable frameworks to capture and conveniently model the uncertainty inherent in a variety of problems. When applied to real world applications, such as scene object recognition, they turn into a reliable and widespread resorted tool. The...
Conference Paper
Full-text available
In general, the problems of objects' and rooms' categorizations for robotic applications have been addressed separately. The current trend is, however, towards a joint modelling of both issues in order to leverage their mutual contextual relations: object → room (e.g. the detection of a microwave indicates that the room is likely to be a kitchen),...
Conference Paper
Full-text available
Object recognition is a cornerstone task towards the scene understanding problem. Recent works in the �field boost their performance by incorporating contextual information to the traditional use of the objects' geometry and/or appearance. These contextual cues are usually modeled through Conditional Random Fields (CRFs), a particular type of undir...
Conference Paper
Full-text available
In this work we present the Object Labeling Toolkit (OLT), a set of software components publicly available for helping in the management and labeling of sequential RGB-D observations collected by a mobile robot. Such a robot can be equipped with an arbitrary number of RGB-D devices, possibly integrating other sensors (e.g. odometry, 2D laser scanne...
Research
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Despite Kinect has been quickly integrated into a variety of robotic systems and applications in substitution to traditional sensors like range scanner lasers, not too much attention has been paid to its characterization for typical mobile robots’ environments. This characterization is basic to understand how the sensor behaviour depends on the nat...
Article
Full-text available
Scene object recognition is an essential requirement for intelligent mobile robots. In addition to geometric or appearance features, modern recognition systems strive to incorporate contextual information, normally modelled through Probabilistic Graphical Models (PGMs) or Semantic Knowledge (SK). However, these approaches, separately, show some wea...
Article
Setting-out is a crucial and frequently repeated process in construction and civil engineering. It is carried out by qualified operators who, making use of surveying stations, identify reference points to guide workers in their tasks. In this paper, we focus on the particular case of setting-out road/train tunnels and propose a system that automati...
Article
Full-text available
This paper presents a novel approach that exploits semantic knowledge to enhance the object recognition capability of autonomous robots. Semantic knowledge is a rich source of information, naturally gathered from humans (elicitation), which can encode both objects’ geometrical/appearance properties and contextual relations. This kind of information...
Technical Report
Full-text available
This document reports on the final version of the sensor network and the GiraffPlus integrated system. The final version delivered at month 36 incorporates the input from the last evaluation phase leading to a refined system. The final version of the middleware infrastructure integrates a more complete set of sensors and functionalities. Indeed, th...
Article
The eight papers in this special section focus on computer-based intelligent technologies for improving the quality of life.
Technical Report
Full-text available
This document reports on the third prototype of the system that is currently deployed in all test sites. The third prototype at month 30 provides the final version of the network system and the second and final version of the Giraff platform. A middleware solution helps to integrate the software components developed by the WP3 and WP4 and enhanced...
Chapter
Full-text available
This chapter presents a telehealth system called GiraffPlus supporting independent living of elderly in their own home. GiraffPlus system is a complex system which monitors activities and physiological parameters in the home using a network of sensors. The elaborated information is presented to the primary user, the elderly, and to secondary users...
Article
A growing body of literature shows that endowing a mobile robot with semantic knowledge and with the ability to reason from this knowledge can greatly increase its capabilities. In this paper, we present a novel use of semantic knowledge, to encode information about how things should be, i.e. norms, and to enable the robot to infer deviations from...
Conference Paper
Full-text available
Most successful mobile robots rely on 2D radial laser scanners for perceiving the environment. The use of these sensors for reactive navigation has a serious limitation: the robot can only detect obstacles in the plane scanned by the sensor, with the consequent risk of collision with objects out of this plane. The recent commercialization of RGB-D...
Conference Paper
Full-text available
Robotic telepresence is a promising tool for enhancing remote communications in a variety of applications. It enables a person to embody a robot and interact within a remote place in a direct and natural way. A particular scenario where robotic telepresence demonstrates its advantages is in elder telecare applications in which a caregiver regularly...
Conference Paper
Full-text available
This paper copes with the evaluation of a robotic telepresence application for the elderly. It presents the experiences on using the Giraff telepresence robot within three real testsites in Spain for more than a year. Results from this evaluation are the basis for future improvements of this technology which very likely will find a field of applica...
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...
Conference Paper
This paper deals with the use of semantic knowledge to improve the intelligence and autonomous behavior of a mobile robot. A robot can exploit the semantics of its environment to infer new, implicit information. Another interesting possibility is to use semantics for detecting deviations between the real world and what is supposed to be ``normal''....
Conference Paper
Full-text available
Telepresence robots are teleoperated robotic systems that allow users to virtually visit a remote place and interact with the environment through their sensorial and motor capabilities. This technology has a great potential to facilitate remote interaction and social communication with people, in particular with the elderly. This paper presents som...
Conference Paper
Full-text available
Este artículo presenta la utilización de cámaras basadas en Tiempo de Vuelo (TOF) para detectar la presencia de personas mediante búsqueda de caras. La ventaja principal de este tipo de cámaras es que proporcionan información de la escena tanto de intensidad como de rango (distancia). El algoritmo propuesto utiliza el método de Viola-Jones para det...
Conference Paper
Full-text available
One of the cornerstones of ambient intelligence technology is the need of sensory systems to reliably notice the presence of people. Several approaches for detecting humans within a non-controlled scenario can be found in the literature but they exhibit not enough effectiveness, i.e. a high rate of false positive or true negative detections. This b...
Chapter
In the preceding chapters, we addressed the problem of solving the dynamical equations in the form of differential equations that describe the linear system behavior. However, most of the relationships that define a dynamic system are nonlinear, and moreover, the most of the linear systems treated are a particular case of non-linear systems in limi...
Chapter
This chapter deals with the description of continuous-time systems, in particular, the external and internal description of linear and time invariant (LTI) type, and introduces the linearization technique employed for approximating nonlinear system behavior. The Laplace transform method to find the analytical response of LTI systems to different in...
Chapter
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This chapter analyzes the output of systems, also known as response, given a particular input. The utility of this study comes from the necessity of foreseeing how a physical system, e.g. the electromechanical steering system of a vehicle, reacts against an input stimulus, e.g. a sudden swerve. In this manner we can redesign the system at hand, pro...
Chapter
System modeling is rather a difficult task, since it requires experience, practice, and intuition to be a good system modeler. The bases for the building of mathematical models are the fundamental physical laws, such as the laws of conservation of mass, energy, and momentum.
Chapter
System Engineering refers to a discipline that aims to model, analyze, describe, and simulate physical systems. The term system, which comes from the Greek word systema, can be defined as a collection of inter-related elements pursuing a particular objective.
Chapter
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Control systems are aimed to modify the behavior of an existing system to perform in a desired way. Several examples can be found in the real life in which certain control actions are needed to achieve the wanted results. For example the temperature of a room may change due to external and unexpected perturbations, e.g. somebody opens/closes a wind...
Article
Small computers used for assisting drivers (mostly in finding routes) have been growing in popularity in the past years. These systems are inherently interactive, but up to now this interaction is tackled under rather simple approaches. For example, current routing computer assistants consider only the shortest or the quickest route to a destinatio...
Conference Paper
Full-text available
This paper presents a procedure to robustly distribute control point (CP) pairs in high-resolution satellite images as a preliminary step for accurate image registration. The proper distribution of the CPs is achieved by means of a quadtree decomposition of a coarse digital terrain model (DTM) of the sensed region. This technique parcels up the ima...
Conference Paper
Full-text available
This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant, for instance as a fair or congress host. This robot has been constructed upon a commercial platform on which a number of sensors and devices have been integrated. A software control architecture has been implemented and adapted to this particular robo...
Article
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications, that is recently receiving increasing attention for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixe...