Miguel Torres-Torriti

Miguel Torres-Torriti
Pontificia Universidad Católica de Chile | UC · Department of Electrical Engineering

BSc, MSc, PhD

About

78
Publications
14,598
Reads
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847
Citations
Additional affiliations
January 2005 - October 2017
Pontificia Universidad Católica de Chile
Position
  • Head of Faculty
January 2005 - October 2017
Pontificia Universidad Católica de Chile
Position
  • Head of Faculty

Publications

Publications (78)
Article
Full-text available
Autonomous navigation in mining tunnels is challenging due to the lack of satellite positioning signals and visible natural landmarks that could be exploited by ranging systems. Solutions requiring stable power feeds for locating beacons and transmitters are not accepted because of accidental damage risks and safety requirements. Hence, this work p...
Article
Several countries are currently leading the challenge of replacing internal combustion engines (ICE) in vehicles by electrically powered ones, mainly motivated by the goal of reducing the dependence on oil and the carbon footprint. However, the autonomy of electric vehicles (EVs) remains significantly lower than their ICE counterpart: it depends on...
Article
Full-text available
Most image restoration methods in astronomy rely upon probabilistic tools that infer the best solution for a deconvolution problem. They achieve good performances when the Point Spread Function (PSF) is spatially invariant in the image plane. However, this condition is not always satisfied in real optical systems. We propose a new method for the re...
Article
Strategies to reduce slippage and disturbing wheel-terrain interactions are essential to improve navigation and motion control of field robots. Thus, this work proposes an integral control architecture based on a distributed tube-based nonlinear Model Predictive Control scheme to regulate tire dynamics and an adaptive model-based control scheme for...
Article
The development of efficient autonomous off-road vehicles for agriculture or mining has still some challenges related with the effects of driving on rough terrain. An accurate modelling, simulation and estimation of the wheel-terrain interaction and its effects on the robot movement plays a key role in control and navigation tasks, specially in con...
Article
Global navigation satellite system (GNSS) is the standard solution for solving the localization problem in outdoor environments, but its signal might be lost when driving in dense urban areas or in the presence of heavy vegetation or overhanging canopies. Hence, there is a need for alternative or complementary localization methods for autonomous dr...
Article
Full-text available
Construction and mining require high levels of planning and productivity. Planning and management of operational targets and performance requires taking into account several variables, among which the amount of moved, loaded and unloaded material is one the main ones. This motivates the development of an approach for the estimation of the volume of...
Article
Full-text available
This work addresses the problem of robust tracking control for skid-steer mobile platforms, using tube-based Nonlinear Model Predictive Control. The strategy seeks to mitigate the impact of disturbances propagated to autonomous vehicles originated by traction losses. To this end, a dynamical model composed by two coupled sub-systems stands for late...
Article
Full-text available
Construction and mining require high levels of planning and productivity. Planning and management of operational targets and performance requires taking into account several variables, among which the amount of moved, loaded and unloaded material is one the main ones. This motivates the development of an approach for the estimation of the volume of...
Article
Full-text available
Debido a la falta de autonomía y a la dificultad en las interacciones sociales, las personas con discapacidades físicas, generalmente sufren de una calidad de vida disminuida. El siguiente documento describe el desarrollo de una plataforma móvil de bajo costo capaz de asistir a las personas con severas discapacidades motoras en diferentes interacci...
Article
Reducing material spillage by robotic mining mobile manipulators, such as front-end loaders, is necessary to improve mining operations. To this end, the present work proposes an approach to reduce disturbances on the endeffector induced by the terrain and propagated through the wheels and arm links of the machine. The proposed approach is based on...
Book
ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in...
Article
Payload estimation is essential to measure productivity, evaluate efficiency in industrial operations and adapting control laws according to the carried weight. One particular problem is to identify how much mass is carried in a mining machine while it is being operated without using strain gauge sensors which require frequent calibration and are p...
Conference Paper
In this work, a collision-free navigation strategy for N-trailer vehicles is proposed. This approach is based on a scalable cascaded control scheme to perform several tasks simultaneously: trajectory tracking control, off-track error reduction, external obstacles avoidance, and inter-vehicle collision avoidance. To validate the proposed strategy, a...
Article
Full-text available
When working in agricultural environments, specially in groves with dense foliage , machinery positioning systems might suffer from loss of GNSS (Global Navigation Satellite System) signal. The latter motivated the development of new localization strategies that use the environment information to localize the machinery and thus fulfil the required...
Article
Motion controllers usually require a tuning stage to ensure an acceptable performance of the vehicle during operation in challenging scenarios. However, such tuning stage is a time consuming process for the programmer and often is based on intuition or heuristic approaches. In addition, once tuned, the vehicle performance varies according to the na...
Article
Automating grapevine growth monitoring, spraying, leaf thinning and harvesting tasks, as well as improving yield estimation and plant phenotyping, requires reliable methods for detecting grape bunches across different vineyard environmental and plant variety conditions, in which illumination, occlusions, colors and contrast are the main challenges...
Article
Full-text available
Performance in autonomous driven vehicles is susceptible of degradation when traversing different terrains, thus needing motion controllers to be tuned for different terrain profiles. Such tuning stage is a time consuming process for the programmer or operator, and it is often based on intuition or heuristic approaches, and once tuned, the performa...
Article
The goal of this Focused Section is to present the recent advancements in mechatronics to solve complex tasks, such as harvesting, pruning, thinning, mowing, spraying, weed removal, and phytochemical treatments, which are very challenging because of the dynamic and uncertain nature of agricultural environments, unlike the more structured and determ...
Article
The cameras of a close-range photogrammetry system must be calibrated to find their positions and optical properties. This is a crucial step in ensuring the performance of the complete system, especially if micrometric precision over a large field of view and long-term reproducibility is required. The target positions within the images for camera c...
Article
Full-text available
p>Los accidentes de tráfico son un problema de salud pública a escala mundial, por el alto número de víctimas humanas y los elevados costos económicos y sociales que generan. En este contexto, los peatones se encuentran entre los elementos más importantes y vulnerables de la escena vial que necesitan ser protegidos. Es así que en este trabajo se pr...
Article
Ground properties influence various aspects of mobile machinery navigation including localization, mobility status or task execution. Excessive slipping, skidding or trapping situations can compromise the vehicle itself or other elements in the workspace. Thus, detecting the soil surface characteristics is an important issue for performing differen...
Article
Full-text available
Agricultural production must double by 2050 in order to meet the expected food demand due to population growth. Precision agriculture is the key to improve productivity and efficiency in the use of resources, thus helping to achieve this goal under the diverse challenges currently faced by agriculture mainly due to climate changes, land degradation...
Article
Full-text available
Most of the existing harvesting strategies rely on traditional path planners that only minimize the length of the path or energy consumption, ignoring the state of the crops and production process. Furthermore, the existing approaches use simplified kinematic models that neglect the robots' dynamics and their interaction with the terrain. To addres...
Article
Full-text available
This paper presents a traffic sign detection method for signs close to road intersections and roundabouts, such as stop and yield (give way) signs. The proposed method relies on statistical templates built using color information for both segmentation and classification. The segmentation method uses the RGB-normalized (ErEgEb) color space for ROIs...
Article
Full-text available
En este trabajo se presenta un sistema de detección de señales de tráfico aledañas a intersecciones viales y rotondas, y un análisis para conocer su capacidad de detección en función de la distancia. El método propuesto está basado en la segmentación por color sobre el espacio RGB-normalizado (ErEgEb) para la generación de regiones de interés (ROIs...
Article
The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators working in agricultural , construction or mining environments requires accurate physical models capable of correctly representing disturbances caused by changes in terrain slope, loss of tract...
Article
The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators working in agricultural , construction or mining environments requires accurate physical models capable of correctly representing disturbances caused by changes in terrain slope, loss of tract...
Article
The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators working in agricultural , construction or mining environments requires accurate physical models capable of correctly representing disturbances caused by changes in terrain slope, loss of tract...
Article
Full-text available
The thermal behaviour of an orchard is intrinsically related to the plant physiological status and it is commonly observed using thermal imagery, in most cases, provided by a drone or by a satellite. Such remote sensing methods are currently popular since they allow to analyse large amounts of land data with few sensor readings. However, they are r...
Conference Paper
The Multi-Object Optical and Near-infrared Spectrograph (MOONS) will cover the Very Large Telescope's (VLT) field of view with 1000 fibres. The fibres will be mounted on fibre positioning units (FPU) implemented as two-DOF robot arms to ensure a homogeneous coverage of the 500 square arcmin field of view. To accurately and fast determine the positi...
Article
Service units used in precision agriculture are able to improve processes such as harvesting, sowing, agrochemical application, and manure spreading. This two-part work presents, a path tracking controller based on an algebraic approach for an articulated service unit, suitable for embedded applications, and its implementation to a hierarchical nav...
Article
The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators (SSMMs) working in agricultural, construction, or mining environments requires accurate physical models capable of correctly representing disturbances caused by changes in terrain slope, loss...
Article
Efficient information management in orchard characterization leads to more efficient agricultural processes. In this brief, a set of computational geometry methods are presented and evaluated for orchard characterization; in particular, for the estimation of canopy volume and shape in groves and orchards using a LiDAR (Light Detection And Ranging)...
Conference Paper
Currently, Chile and Argentina experience serious challenges that affect their agricultural productivity. For example, in Chile, the loss of farmable field due to recent earthquakes, and volcanic eruptions as well as the loss of water reserves due to climate changes are affecting the agriculture. Additionally, both countries are facing a same probl...
Article
The present work models the dynamics of general skid-steer mobile manipulators using the formalism and tools of the spatial vectors algebra introduced by Featherstone. The model built is validated using inertial measurements obtained during field tests with a compact skid-steer loader. The paper demonstrates the benefits of using the spatial vector...
Conference Paper
The Multi-Object Optical and Near-infrared Spectrograph (MOONS) is a new fiber-fed spectrograph for the VLT. MOONS will exploit the full 500 square arcmin field of view offered by the Nasmyth focus of VLT and will be equipped with two dual-arm spectrographs covering the wavelength range 0.8 µm-1.8 μm, with a possible extension down to 0.5 μm. Each...
Article
Full-text available
In robotics, simulation has become an essential tool for research, education, and design purposes. Various software tools for mobile robot simulation have been developed and have reached different levels of maturity in recent years. This paper presents a general survey of mobile robot simulation tools and discusses qualitative and quantitative aspe...
Article
Full-text available
Road accident statistics from different countries show that a significant number of accidents occur due to driver's fatigue and lack of awareness to traffic conditions. In particular, about 60% of the accidents in which long haul truck and bus drivers are involved are attributed to drowsiness and fatigue. It is thus fundamental to improve non-invas...
Article
Full-text available
A prerequisite for any system that enhances drivers' awareness of road conditions and threatening situations is the correct sensing of the road geometry and the vehicle's relative pose with respect to the lane despite shadows and occlusions. In this paper we propose an approach for lane segmentation and tracking that is robust to varying shadows an...
Article
Full-text available
Measuring a driver's level of attention and drowsiness is fundamental to reducing the number of traffic accidents that often involve bus and truck drivers, who must work for long periods of time under monotonous road conditions. Determining a driver's state of alert in a noninvasive way can be achieved using computer vision techniques. However, two...
Article
Automated bus fleet scheduling and dispatch require an accurate measurements of current passenger demand. This study presents an effective holistic approach for estimating the number of people waiting at regular open bus stops by means of image processing. This is a non-trivial problem because of several varying conditions that complicate the detec...
Conference Paper
Full-text available
We describe a biologically inspired memory in a multi-agent based robotic architecture. In this approach, memory and pattern recognition are intertwined to form a cognitive memory that is used for recognition of objects in a robotics environment. This memory is implemented in a multiple agent behavior based blackboard architecture as an object reco...
Conference Paper
Full-text available
Mobile robot simulation is a valuable tool for education, research and design purposes. The last decade has seen a considerable increase in the development of new software tools for mobile robot simulation, all of which have reached different levels of maturity. This paper presents a survey of the existing tools and discusses their strengths and dr...
Article
Full-text available
Automated passenger tracking in public transportation systems can be used to estimate the short-term demand and, thereby, to optimize the fleet schedule in real time. It can also be used to determine the origin-destination matrix and to maintain statistics of each passenger's transportation habits over time, thus enabling enhancements in long-term...
Conference Paper
Accurate lane detection in real-time is a critical task in autonomous vehicle guidance and lane departure warning for driver assistance. Existing vision-based approaches rely mostly on some analysis of the spatial gradient of the image. However, if the road structure is not regular and well delimited, edges may not be easy to extract and other feat...
Conference Paper
Accurately counting people waiting at bus stops is essential for automated bus fleet scheduling and dispatch. Estimating the passenger demand in regular open bus stops is a nontrivial problem because of the varying conditions, such as illumination, crowdedness, people poses, to name a few. This paper presents a simple, but very effective approach t...
Conference Paper
Assessing a driver's state of awarness and fatigue is especially important to reduce the number of traffic accidents often involving bus and truck drivers, who must work during several hours under monotonous road conditions. Two main challenges arise in resolving the state of alert: first, the system must be capable of detecting the driver's face l...
Article
Panoramic distance maps can provide valuable information for mobile robot navigation. An approach to obtain such distance maps is to implement a stereoscopic system using two hyperboloidal catadioptric sensors. This paper analyzes the effects over distance estimation of two typical arrangements of the mirrors. In one of the arrangements the mirrors...
Conference Paper
Full-text available
This paper presents a novel approach for real-time mobile robot localization in structured indoor environments. The proposed method takes advantage of the available structural information by implementing a Monte Carlo Localization strategy over a map of line segments rather than a grid-based map, thus allowing for speed improvements. Another novel...
Conference Paper
This paper presents a simple approach to detect people using an 8times1 thermopile array sensor. The performance of the sensor is evaluated in terms of detection rates and false positives obtained in the application of the sensor to people counting at doorways and pedestrian detection from a mobile robot in a real environment. To ensure that people...
Article
This paper presents two approaches for pedestrian detection and counting at bus stops, whose purpose is to provide accurate demand estimates for an automated fleet scheduling and dispatching system. The approaches are general and can also be applied to people counting in public buildings or pedestrian detection from robotic platforms with minor mod...
Conference Paper
Full-text available
This paper presents a robust method for localization of mobile robots in environments that may be cluttered and that not necessarily have a polygonal structure. The estimation of the position and orientation of the robot relies on the minimization of the modified Hausdorff distance between ladar range measurements and a map of the environment. The...
Article
Full-text available
This paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Ka...
Preprint
Full-text available
This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques com...
Conference Paper
Full-text available
This paper describes a novel technique to obtain radar biases estimates that can effectively reduce mismatches in track association algorithms. This is accomplished by matching ship-borne radar images to geo-referenced satellite images. The matching is performed through the minimization of the averaged partial Hausdorff distance between data points...
Conference Paper
Full-text available
The paper describes a technique to match satellite and radar images using the Hausdorff distance (HD). Minimization of the average of a truncated array of sorted Hausdorff distances is used to get estimates for the radar location, together with sensor bias errors and its platform speed vector. The technique is applied to maritime navigation, where...
Article
Full-text available
This paper presents an assessment of different estimation and prediction techniques applied to the tracking of multiple robots under RoboCup F-180 environment. The main assessment criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method under non-Gaussian noise. Among the different...
Article
Full-text available
The scope of this paper is to analyze and compare three path planning methods for omni-directional robots, which are based on a) the bug algorithm, b) the potential fields algorithm, and c) the A* algorithm for minimum cost path with multiresolution grids. The approaches are compared in terms of computational costs and the resulting path lengths. R...
Conference Paper
This paper presents an assessment of different estimation and prediction techniques applied to the tracking of multiple robots. The main assessment criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method under non-Gaussian noise. Among the different techniques compared are the wel...
Article
Full-text available
The paper presents a computer algebra package that facilitates Lie algebraic symbolic computations required in the solution of a variety of problems, such as the solution of right-invariant differential equations evolving on Lie groups. Lie theory is a powerful tool, helpful in the analysis and design of modern nonlinear control laws, nonlinear fil...
Article
Full-text available
This paper presents an approach to the construction of stabilizing feedback for strongly non-linear systems. The class of systems of interest includes systems with drift which are affine in the controls and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov function, but requires the...
Conference Paper
Full-text available
This paper presents an approach for the asymptotic stabilization of strongly nonlinear systems that are affine in control and which cannot be stabilized by continuous state feedback. The approach only requires that along trajectories of the closed-loop system a chosen Lyapunov type function is decreased periodically (as opposed to monotonically) by...
Conference Paper
The paper presents an approach to the construction of stabilizing feedback controls for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov type function, but requir...
Article
Full-text available
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov type function, but requires the so...
Conference Paper
A simple and computationally feasible approach to feedback stabilization of a class of bilinear systems with unstable drift is presented. Stabilization is achieved in two stages: a reaching phase, in which the control drives the trajectories to a stable manifold; and a sliding phase, in which states are steered to the origin along an ensemble of st...
Conference Paper
Full-text available