Rosario Aragues

Rosario Aragues
University of Zaragoza | UNIZAR · Departamento de Informatica e Ingenieria de Sistemas

PhD

About

56
Publications
4,618
Reads
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692
Citations
Introduction
Rosario Aragues currently works at the Departamento de Informatica e Ingenieria de Sistemas, University of Zaragoza. Rosario does research in Artificial Intelligence and Distributed Computing.
Additional affiliations
April 2012 - present
Institut Pascal
Position
  • PostDoc Position
April 2012 - October 2013
Institute Pascal
Position
  • PostDoc Position
Education
July 2007 - March 2012
University of Zaragoza
Field of study
  • Robotics, Systems Engineering and Computer Science

Publications

Publications (56)
Preprint
Full-text available
This work addresses the problem of distributed formation tracking for a group of follower holonomic mobile robots around a reference signal. The reference signal is comprised of the geometric center of the positions of multiple leaders. This work's main contribution is a novel Modulated Distributed Virtual Observer (MDVO) for the reference signal....
Preprint
Full-text available
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged high order sliding modes to achieve exact consensus under a constrained set of initial conditions, limiting its applicability to static networks. In this work, we propos...
Article
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged high order sliding modes to achieve exact consensus under a constrained set of initial conditions, limiting its applicability to static networks. In this work, we propos...
Preprint
Full-text available
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been addressed in existing literature by linear schemes, only bounded steady-state errors have been achieved. Other approaches have used first order sliding modes to achieve zero ste...
Article
Full-text available
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been addressed in existing literature by linear schemes, only bounded steady-state errors have been achieved. Other approaches have used first order sliding modes to achieve zero ste...
Article
Many applications require exploring or monitoring a region. This can be achieved by a sensor network, a large team of robots which can cover only a very small fraction each. When the region is convex, small, and static, it suffices to deploy the robots as a Centroidal Voronoi Tessellation (CVT). Instead, we consider that the area to cover is wide,...
Article
In this article, we consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a one-dimensional cycle graph that is traversed by the communicating robots, and we discuss i...
Article
This article presents a novel control strategy based on predictor‐feedback delay compensation for multiagent systems to reach a prescribed target formation under unknown but bounded communication delays and switching communication topology. Both communication delays and network topology can be subjected to arbitrarily‐fast time variations. The key...
Article
This paper investigates new coordinate-free formation control strategies of multi-agent systems to overcome the negative effects of time delays. To this end, we present a single predictor-feedback scheme to compensate the multiple communication delays, assumed to be unknown but bounded and arbitrarily-fast time-varying. Although delays cannot exact...
Article
A key problem in multi-agent systems is the distributed estimation of the localization of agents in a common reference from relative measurements. Estimations can be referred to an anchor node or, as we do here, referred to the weighted centroid of the multi-agent system. We propose a Jacobi Over—Relaxation method for distributed estimation of the...
Article
This article addresses the problem of average consensus by a multi-agent system when the desired consensus quantity is a time varying signal, in particular the average of individual time varying signals localized at the agents. Although this problem has been addresses in existing literature by linear schemes, only bounded steady-state errors has be...
Conference Paper
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a 1D cycle graph that is traversed by the communicating robots, and we discuss intermittent communication stra...
Conference Paper
This paper presents a formation control synthesis method for a multiagent system to reach a prescribed rigid formation under communication delays and time-varying switching communication topology. The proposed control scheme only requires the knowledge of relative measurements of some neighbor agents, expressed in each agent's local frame, to be im...
Article
We propose a new distributed method for coverage of a moving deformable convex region with a team of robots in a communication network. Robots execute a distributed self-deployment strategy based on Centroidal Voronoi Tessellations (CVT) to cover the region evenly while preventing collisions. The main contribution is the addition of a feedforward a...
Article
Volumetric reconstruction of unknown objects is essential in robotic manipulation. Building the 3D model requires a set of views so we consider a multi-camera scenario. We study an effective configuration strategy to address camera constraints such as the limited field of view or self-occlusions.
Article
This paper investigates the convergence of nonholonomic multiagent coordinate‐free formation control to a prescribed target formation subject to communication delays by means of Lyapunov‐Krasovskii approach and smooth state‐feedback control laws. As a result, an iterative algorithm based on linear matrix inequalities is provided to obtain the worst...
Article
Full-text available
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two Lloyd-based tracking strategies to allow the ground robots (agents) follow the aerial ones (targets), keeping the c...
Chapter
In this chapter, we address the association of features observed by the robots in a network with limited communications . At every time instant, each robot can only exchange data with a subset of the robot team that we call its neighbors . Initially, each robot solves a local data association with each of its neighbors. After that, the robots execu...
Chapter
This chapter presents a solution for merging feature-based maps in a robotic network with limited communication . We consider a team of robots exploring an unknown environment. Along its operation, each robot observes the environment and builds and maintains its local stochastic map of the visited region. Simultaneously, the robots communicate and...
Chapter
In this chapter we study the problem of distributed localization, which consists of establishing a common frame and computing the robots’ localization relative to this frame. Each robot is capable of measuring the relative pose of its neighboring robots. However, it does not know the poses of far robots, and it can only exchange data with neighbors...
Chapter
We show some experiments of the methods studied in this book with real data under different communication schemes. We have carried out experiments using a data set from Frese and Kurlbaum, a data set for data association, 2008, [1] with bearing-only information extracted from conventional images. Additionally, we have analyzed the performance of th...
Article
This paper considers the noisy range-only network localization problem in which measurements of relative distances between agents are used to estimate their positions in networked systems. When distance information is noisy, existence and uniqueness of location solution are usually not guaranteed. It is well known that in presence of distance measu...
Article
This work examines the challenges of distributed map merging and localization in multi-robot systems, which enables robots to acquire the knowledge of their surroundings needed to carry out coordinated tasks. After identifying the main issues associated with this problem, each chapter introduces a different distributed strategy for solving them. In...
Article
The algebraic connectivity of the graph Laplacian plays an essential role in various multi-agent control systems. In many cases a lower bound of this algebraic connectivity is necessary in order to achieve a certain performance. Lately, several methods based on distributed Power Iteration have been proposed for computing the algebraic connectivity...
Conference Paper
We study the problem of distributed coverage with connectivity maintenance for robot networks with range-limited communication and sensing.We let the robots perform coverage while keeping a set of communication links. The structure that ensures that the network does not get disconnected, and that provides the highest freedom of robot motions is the...
Article
Full-text available
This work investigates the pose graph optimization problem, which arises in maximum likelihood approaches to simultaneous localization and mapping (SLAM). State-of-the-art approaches have been demonstrated to be very efficient in medium- and large-sized scenarios; however, their convergence to the maximum likelihood estimate heavily relies on the q...
Article
We address the data association problem of features that are observed by a robotic network. Every robot in the network has limited communication capabilities and can only exchange local matches with its neighbors. We propose a distributed algorithm that takes these local matches and, by their propagation in the network, computes global corresponden...
Conference Paper
Sensor fusion methods combine noisy measurements of common variables observed by several sensors, typically by averaging information matrices and vectors of the measurements. Some sensors may have also observed exclusive variables on their own. Examples include robots exploring different areas or cameras observing different parts of the scene in ma...
Conference Paper
We study the feature-based map merging problem in robot networks. Each robot observes the environment and builds a local map. Simultaneously, robots communicate and compute the global map of the environment; this communication is range-limited. We propose a dynamic strategy based on consensus algorithms that is fully distributed and does not rely o...
Article
In this paper we present a method to make every robot of a team to compute a global 3D map of the scenarios explored by all the members, obtaining also the trajectories of the team. Every robot has a RGB-D device on board which gives RGB and depth data simultaneously and uses this information to build its own local map in real time. Once all robots...
Article
Full-text available
In this paper, we study the feature-based map merging problem in robot networks. While in operation, each robot observes the environment and builds and maintains a local map. Simultaneously, each robot communicates and computes the global map of the environment. Communication between robots is range-limited. We propose a dynamic strategy, based on...
Article
We propose an anchorless distributed technique for estimating the centroid of a network of agents from noisy relative measurements. The positions of the agents are then obtained relative to the estimated centroid. The usual approach to multi-agent localization assumes instead that one anchor agent exists in the network, and the other agents’ positi...
Conference Paper
Full-text available
In several multi agent control problems, the convergence properties and speed of the system depend on the algebraic connectivity of the graph. We discuss a particular event-triggered consensus scenario, and show that the availability of an estimate of the algebraic connectivity could be used for adapting the behavior of the average consensus algori...
Article
We address the problem of distributed matching of features in networks with vision systems. Every camera in the network has limited communication capabilities and can only exchange local matches with its neighbors. We propose a distributed algorithm that takes these local matches and computes global correspondences by a proper propagation in the ne...
Conference Paper
Full-text available
In this paper we address the problem of estimating the poses of a team of agents when they do not share any common reference frame. Each agent is capable of measuring the relative position and orientation of its neighboring agents, however these measurements are not exact but they are cor- rupted with noises. The goal is to compute the pose of each...
Conference Paper
In this work we investigate the problem of Simultaneous Localization And Mapping (SLAM) for the case in which the information acquired by the robot is modeled as a network of constraints in a graphical model. Analyzing the resulting formulation we propose a closed-form approach to tackle the problem, which is proved to retrieve a first-order approx...
Article
In this paper we present a solution for merging feature-based maps in a robotic network with limited communication. We consider a team of robots that explore an unknown environment and build local stochastic maps of the explored region. After the exploration has taken place, the robots communicate and build a global map of the environment. This pro...
Conference Paper
Full-text available
In this paper we present an algorithm for merging visual maps in a robot network. Along the operation, each robot observes the environment and builds and maintains its local map. Simultaneously, the robots communicate and build a global map of the environment. The communication between the robots is limited, and, at every time instant, each robot c...
Conference Paper
Full-text available
This paper describes a strategy to select optimal motions of multi robot systems equipped with cameras in such a way that they can successively improve the observation of the environment. We present a solution designed for omnidirectional cameras, although the results can be extended to conventional cameras. The key idea is the selection of a finit...
Conference Paper
Full-text available
In this paper we discuss feature parameterization and initialization for bearing-only data obtained from vision sensors. The interest of this work refers to the comparison of the bearing-only data representation and ini-tialization techniques. The behavior of the algorithm is analyzed for different robot motions and depth of the features. The resul...

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