J.-A. Fernández-Madrigal

J.-A. Fernández-Madrigal
University of Malaga | UMA · Department of Systems Engineering and Automation

PhD in Computer Science

About

146
Publications
32,459
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2,413
Citations
Introduction
J.-A. Fernández-Madrigal currently works at the Department of Systems Engineering and Automation, University of Malaga. J.-A. does research in Engineering Education, Electrical Engineering and Computer Engineering. '.
Additional affiliations
January 1996 - present
University of Malaga
Position
  • Professor (Associate)

Publications

Publications (146)
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
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Many occupational accidents in construction sites are caused by the intrusion of a worker into a hazardous area. Technological solutions based on RFID, BIM, or UWB can reduce accidents, but they still have some limitations.The aim of the current paper is to design and evaluate a new system of “virtual fences” based on Bluetooth Low-Energy (BLE) to...
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Markov decision processes provide a formal framework for a computer to make decisions autonomously and intelligently when the effects of its actions are not deterministic. This formalism has had tremendous success in many disciplines; however, its implementation on platforms with scarce computing capabilities and power, as it happens in robotics or...
Article
Fall from heights are a cause of concern in the construction sector. An appropriate use of the harness can be the difference between an incident or a critical accident. Monitoring the proper use of harness at workplace using Bluetooth Low Energy devices (BLE) is a recent and effective approach. The aim of the paper is to identify typical limitation...
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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...
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Range sensors are currently present in countless applications related to perception of the environment. In mobile robots, these devices constitute a key part of the sensory apparatus and enable essential operations, that are often addressed by applying methods grounded on probabilistic frameworks such as Bayesian filters. Unfortunately, modern mobi...
Article
For mobile robots to operate in real environments, it is essential that basic tasks such as localization, mapping and navigation are performed properly. These tasks strongly rely on an adequate perception of the environment, which may be challenging in some cases due to the nature of the scene itself, the limited operation of some sensors, or even...
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...
Chapter
For service robots to expand in everyday scenarios they must be able to identify and manage abnormal situations intelligently. In this paper we work at a basic sensor level, by dealing with raw data produced by diverse devices subjected to some negative circumstances such as adverse environmental conditions or difficult to perceive objects. We have...
Article
Value Iteration (VI) is a core method to find optimal policies, allowing a robot to act autonomously in environments where the effects of its actions are not deterministic. Although there are extensive studies on VI’s theoretical properties and computational cost, its energy performance — an essential indicator for its use in the physical world — h...
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...
Conference Paper
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Las implementaciones existentes en la actualidad sobre sensores virtuales no emplean un marco común matemáticamente riguroso. Por ello, en este trabajo tenemos como objetivo homogeneizar el soporte teórico de los sensores virtuales a bajo nivel, es decir, tratando directamente sus datos en bruto, de tal modo que puedan ser empleados en diagnostico...
Article
This paper introduces a novel approach to measure and evaluate the proper use of harnesses at construction sites: we deploy Bluetooth Low Energy (BLE) beacons for delimiting areas where the use of a harness is mandatory and to detect whether the harness is attached to the corresponding lifeline when the worker enter these areas. Our method is based...
Conference Paper
The sensory apparatus of a robot is a key system for its adequate operation. Perception of the environment, localization, etc., are essential tasks for a robot that strongly depend on its sensory data. In this work, we introduce a generic procedure to build an inference architecture based in Bayesian networks that enables for robust detection of se...
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[ 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...
Conference Paper
This paper presents our experience optimizing a decision-making algorithm for navigating an autonomous robotic agent under uncertainty. For the experiment we used CRUMB-a relatively low-cost mobile robot equipped with a heterogeneous computing platform. We have chosen the Value Iteration (VI) algorithm for computing the optimal navigation policy in...
Conference Paper
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Autonomy in robotics can be seen as a continuum in which we can select different levels of collaborative control between humans and robots, ranging from tele-operation (full control by the human) to full autonomy. In many practical applications, the main issues are which intermediate levels of autonomy are available and how to change from one to an...
Article
In this paper we deal with the problem of estimating the most likely values of both the relative offset and rate of two distributed clocks, one in a device that acquires sensor data and the other in a remote computer that receives them. This two-clock synchronization problem is a common issue, for example, when time-stamped sensor data is requested...
Conference Paper
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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,...
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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...
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This paper presents a new approach to matching occupancy grid maps by means of finding correspondences between a set of sparse features detected in the maps. The problem is stated here as a special instance of generic image registration. To cope with the uncertainty and ambiguity that arise from matching grid maps, we introduce a modified RANSAC al...
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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...
Conference Paper
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In this paper we defend the superior scalability of the Relative Bundle Adjustment (RBA) framework for tackling with the SLAM problem. Although such a statement was already done with the introduction of the sliding window (SW) solution to RBA [16], we claim that the map extension that can be maintained locally consistent for some fixed computationa...
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...
Chapter
This chapter is the conclusion of the book. It is devoted to providing an overview of emerging paradigms that are appearing as outstanding the traditional approaches in scalability or efficiency, such as hierarchical sub-mapping, or hybrid metric-topological map models. Other techniques not based on Bayesian filtering, such as iterative sparse leas...
Chapter
This is the third chapter of the first section. It is a compendium of all the concepts and theorems of probability theory that are found in the problems of Bayesian estimation of a robot location and the map of its environment. It presents uncertainty as an intrinsic feature of any mobile robot that develops in a real environment. It is then discus...
Chapter
This is the first chapter of the third section. It describes the kinds of mathematical models usable by a mobile robot to represent its spatial reality, and the reasons by which some of them are more useful than others, depending on the task to be carried out. The most common metric, topological, and hybrid map representations are described from an...
Chapter
This is the second chapter of the second section. Analogously to chapter 5, here the authors study probabilistic models of sensors, which is the second fundamental component of the general Bayesian framework for localization. In this chapter, they explain common mathematical models of sensors, stressing their differences and effects in further esti...
Chapter
This is the fourth and last chapter of the first section. As chapter 3 introduced the mathematical tools of probability theory needed to understand all the concepts in the book, chapter 4 does the same concerning statistics. It fills the gap between probability theory and real data coming from stochastic processes, highlighting the great amount of...
Chapter
In this last chapter of the second section, the authors present probabilistic solutions to mobile robot localization that bring together the recursive filters introduced in chapter 4 and all the components and models already discussed in the preceding chapters. It presents the general, Bayesian framework for a probabilistic solution to localization...
Chapter
This is the second chapter of the first section. It presents the mechanical and physical foundations of mobile robots that are needed for a complete understanding of the concepts of further chapters, such as sensor and motion models. It provides a detailed review of the most common electro-mechanical components found in state-of-the-art mobile robo...
Chapter
This is the first chapter of the second section, a section devoted to mobile robot localization. Before presenting the general Bayesian framework for that problem at chapter 7, it is first required to study the different probabilistic models of robot motion. This chapter explores some of the reasons why any real robot cannot move as perfectly as pl...
Chapter
This is the second chapter of the third section. It deals with the situation arising when neither the environment nor the exact localization of a mobile robot are known, that is, when we face the hard problem of SLAM. It reviews the most common solutions to that problem found in literature, especially those based on statistical estimation. Both par...
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...
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The most common criteria to determine data association rely on minimizing the squared Mahalanobis distance (SMD) between observations and predictions. We hold that the SMD is just a heuristic, while the alternative matching likelihood is the optimal statistic to be maximized. Thorough experiments undoubtedly confirm this idea, with false positive r...
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In this work we address the problem of optimal Bayesian filtering for dynamic systems with observation models that cannot be approximated properly as any parameterized distribution. In the context of mobile robots this problem arises in localization and simultaneous localization and mapping (SLAM) with occupancy grid maps. The lack of a parameteriz...
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...
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Applying computer vision feature detectors and descriptors to occupancy grids has important practical applications for the problem of grid map matching in mobile robot localization and mapping, although this approach has received little attention by the community. This review presents a thorough performance evaluation for several combinations of de...
Conference Paper
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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...
Article
Hybrid maps where local metric submaps are kept in the nodes of a graph-based topological structure are gaining relevance as the focus of robot Simultaneous Localization and Mapping (SLAM) shifts towards spatial scalability and long-term operation. In this paper we examine the applicability of spectral graph partitioning techniques to the automatic...
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...
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Obstacle avoidance methods approach the problem of mobile robot autonomous navigation by steering the robot in real-time according to the most recent sensor readings, being suitable to dynamic or unknown environments. However, real-time performance is commonly gained by ignoring the robot shape and some or all of its kinematic restrictions which ma...
Article
Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, such as labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees...
Conference Paper
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This work addresses range-only SLAM (RO-SLAM) as the Bayesian inference problem of sequentially tracking a vehicle while estimating the location of a set of beacons without any prior information. The only assumptions are the availability of odometry and a range sensor able of identifying the different beacons. We propose exploiting the conditional...
Conference Paper
Full-text available
Range-only SLAM (RO-SLAM) represents a difficult problem due to the inherent ambiguity of localizing either the robot or the beacons from distance measurements only. Most previous approaches to this problem employ non-probabilistic batch optimizations or delay the initialization of new beacons within a probabilistic filter until a good estimate is...
Conference Paper
Full-text available
The lack of a parameterized observation model in robot localization using occupancy grids requires the application of sampling-based methods, or particle filters. This work addresses the problem of optimal Bayesian filtering for dynamic systems with observation models that cannot be approximated properly as any parameterized distribution, which inc...
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This paper introduces a new approach to simultaneous localization and mapping (SLAM) that pursues robustness and accuracy in large-scale environments. Like most successful works on SLAM, we use Bayesian filtering to provide a probabilistic estimation that can cope with uncertainty in the measurements, the robot pose, and the map. Our approach is ba...
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El número de personas con problemas de movilidad está creciendo en los últimos años en los países desarrollados, como consecuencia de una mayor esperanza de vida y del gran número de accidentes de tráfico. La posibilidad de transferir y adaptar resultados del campo de la robótica a este colectivo resultaría de enorme interés toda vez que repercuta...
Article
In our society, the number of physically impaired people who need some type of mechanical aid for mobility is quickly increasing over time. Advances in technology have permitted the development of robotic wheelchairs which are able to relieve users from tedious operations, like manually controlling the wheelchair along corridors or crowded areas. T...
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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...
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Rao—Blackwellized particle filters (RBPFs) are an implementation of sequential Bayesian filtering that has been successfully applied to mobile robot simultaneous localization and mapping (SLAM) and exploration. Measuring the uncertainty of the distribution estimated by a RBPF is required for tasks such as information gain-guided exploration or dete...
Conference Paper
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GPS receivers are satellite-based devices widely used for vehicle localization that, given their limitations, are not suitable for performing within indoor or dense urban environments. On the other hand ultra-wide band (UWB), a technology used for efficient wireless communication, has recently being used for vehicle localization in indoor environme...
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The use of a symbolic model of the spatial environment becomes crucial for a mobile robot that is intended to operate optimally and intelligently in indoor scenarios. Constructing such a model involves important problems that are not solved completely at present. One is called anchoring, which implies to maintain a correct dynamic correspondence be...
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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 tool...