Vicente Matellán

Universidad de León | UNILEON · Department of Mechanic Engineering, Computer and Aerospacial Sciences

Cyber-attacks are a major problem for users, businesses, and institutions. Classical anomaly detection techniques can detect malicious traffic generated in a cyber-attack by analyzing individual network packets. However, routers that manage large traffic loads can only examine some packets. These devices often use lightweight flow-based protocols t...

Technology is developing at a dizzying pace to make our lives easier. Among other innovations, quantum computing, which is based on quantum mechanics, is evolving with the aim of solving all the problems that traditional computing is unable to solve. Quantum computing, unlike traditional computing, relies on qubits (quantum bits) that can be in sup...

Developing secure systems is particularly important in autonomous systems, where testing and debugging robotic platforms are very complex. This paper presents a novel HPC pipeline for fuzzing robotic software systems that control robots. Speeding up the fuzz process allows more testing to be performed in less time. By using parallel processing, HPC...

Using mobile robots in environments with humans has become increasingly common, raising concerns over security and safety. The lack of capabilities to justify their decisions and behaviours to non-expert users poses a significant challenge in gaining their trust, especially in safety-critical situations. Therefore, explaining why a robot carries ou...

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society f...

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society f...

Social robotics research requires the replicability of the experiments used to validate new technical or scientific claims. However, humans behavior is difficult to replicate. We have designed and implemented a system to simulate interactive agents that can be perceived by a robot in a robotic simulator. These agents can exhibit social behaviour in...

State machines are a common mechanism for defining behaviors in robots where each behavior is based on identifiable stages. There are several libraries available for easing the implementation of state machines in ROS 1, however, the community was focused on SMACH or SMACC. Although these tools are still predominant, there are fewer alternatives for...

IP address reputation lists are a collection of IP addresses that have been associated with malicious practices. Therefore, it is essential to evaluate the addresses’ reliability in this list to avoid false positives, regardless of the metrics that have been classified as malicious. Reliability is defined as the probability that such IP addresses a...

Self-localization is a fundamental capability that mobile robot navigation systems integrate to move from one point to another using a map. Thus, any enhancement in localization accuracy is crucial to perform delicate dexterity tasks. This paper describes a new location that maintains several populations of particles using the Monte Carlo Localizat...

The use of people recognition techniques has become critical in some areas. For instance, social or assistive robots carry out collaborative tasks in the robotics field. A robot must know who to work with to deal with such tasks. Using biometric patterns may replace identification cards or codes on access control to critical infrastructures. The us...

State machines are a common mechanism for defining behaviors in robots, defining them based on identifiable stages. There are several libraries available for easing the implementation of state machines in ROS 1, as SMACH or SMACC, but there are fewer alternatives for ROS 2. YASMIN is yet another library specifically designed for ROS 2 for easing th...

The roboticist community divides the knowledge representation and decision-making in the symbolic and sub-symbolic fields. Thus, real-world robotics grounded representation requires specific software techniques for landing continuous and discrete state variables in both fields. This research designs and develops an Open Source tool called KANT (Kno...

Understanding why a robot's behaviour was triggered is a growing concern to get human‐acceptable social robots. Every action, expected and unexpected, should be able to be explained and audited. The formal model proposed here deals with different information levels, from low‐level data, such as sensors' data logging; to high‐level data that provide...

The intelligent robotics community usually organizes knowledge into symbolic and sub-symbolic levels. These two levels establish the set of symbols and rules for manipulating knowledge based on their (symbol system - dictionary). Thus, the correspondences -- Grounding or knowledge representation -- require specific software techniques for anchoring...

Facing human activity-aware navigation with a cognitive architecture raises several difficulties integrating the components and orchestrating behaviors and skills to perform social tasks. In a real-world scenario, the navigation system should not only consider individuals like obstacles. It is necessary to offer particular and dynamic people repres...

Malicious traffic detection allows for preventing cybersecurity-related threats. Machine learning algorithms are commonly used to detect such traffic in computer networks by analyzing packets. In wide-area networks, such as RedCAYLE (Red de Ciencia y Tecnología de Castilla y León), it is not possible to analyze every packet routed. So we pose that...

Convolutional Neural Networks are usually fitted with manually labelled data. The labelling process is very time-consuming since large datasets are required. The use of external hardware may help in some cases, but it also introduces noise to the labelled data. In this paper, we pose a new data labelling approach by using bootstrapping to increase...

This paper proposes a novel system for managing visual attention in social robots. This system is based on a client/server approach that allows integration with a cognitive architecture controlling the robot. The core of this architecture is a distributed knowledge graph, in which the perceptual needs are expressed by the presence of arcs to stimul...

Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state machines are not enough. This paper contains a description of the ROS2 Planning System (PlanSys2 in short), a framew...

The use of technology is key in the performance in a lot of fields, helping in the improvement of results in a wide variety of organizations. Currently, Supercomputers are considered as one of the most relevant and powerful technological infrastructures, because of this, the analysis of the availability and the training needs, in relation to techno...

Researchers in every knowledge field are moving towards the use of supercomputing facilities because the computing power they can provide is not achievable by individual research groups. The use of supercomputing centers would allow them to reduce costs and time. Additionally, there is a growing trend towards the use of GPUs clusters in HPC centers...

Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way. PDDL (Planning Domain Definition Language) has become the standard description language for most planners. In t...

The ability to understand why a particular robot behavior was triggered is a cornerstone for having human-acceptable social robots. Every robot action should be able to be explained and audited, expected and unexpected robot behaviors should generate a fingerprint showing the components and events that produce them. This research proposes a three-d...

Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just objects, theses days it is necessary to offer particular and dynamic representation in the scenario in order to enhance the HRI experience. In this paper, we use the proxemic t...

Autor(es): Asunción Roldán Zamarrón, Marta Lerner Cuzzi, Belén Fierro García, Felipe Aguirre Briones, Víctor Gonzalvo Morales, Ramón Baiget Llompart, Felipe Bravo Oviedo, Cristobal Ordóñez Alonso, Guillermo Vega-Gorgojo, José Miguel Giménez-García, Alexandra Fonseca, Ana Luísa Gomes, Álvaro Fanego Lobo, Jesús Lorenzana Campillo, Vicente Matellán Ol...

Robots have been proposed as teaching assistants for children, but few studies have measured their effectiveness. This paper describes an experiment using the Baxter robot for teaching basic computational principles. We compare acquired abilities in students with a control group lectured by a human teacher in a traditional way. These abilities are...

Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just objects, theses days it is necessary to offer particular and dynamic representation in the scenario in order to enhance the HRI experience. In this paper, we use the proxemic t...

This paper presents the evolution of a robotic architecture intended for controlling autonomous social robots. The first instance of this architecture was originally designed according to behavior-based principles. The building blocks of this architecture were behaviors designed as a finite state machine and organized in an ethological inspired way...

Facing long-term autonomy with a cognitive architecture raises several difficulties for processing symbolic and sub-symbolic information under different levels of uncertainty, and deals with complex decision-making scenarios. For reducing environment uncertainty and simplify decision-making process, this paper establishes a method for translating r...

Automatic public malware analysis services (PMAS, e.g. VirusTotal, Jotti or ClamAV, to name a few) provide controlled, isolated and virtual environments to analyse malicious software (malware) samples. Unfortunately, malware is currently incorporating techniques to recognize execution onto a virtual or sandbox environment; when an analysis environm...

Socially assistive robots have been used in the care of elderly or dependent people, particularly with patients suffering from neurological diseases, like autism and dementia. There are some proposals, but there are no standardized mechanisms for assessing a particular robot’s suitability for specific therapy. This paper reports the evaluation of a...

Understanding why a particular robot behavior was triggered is a cornerstone for having human-acceptable social robots. Thus, every robot action should be explained in order to audit, recognize, and control expected and unexpected behaviors using usual sources of information provided by robot software components. Enabling intelligibility goes throu...

The collaboration between humans and machines, where humans can share the same work environment without safety equipment due to the collision avoidance characteristic is one of the research topics for the Industry 4.0. This work proposes a system that acquires the space of the environment through an RGB-Depth sensor, verifies the free spaces in the...

Context awareness in ambient assisted living programmes for the elderly is a cornerstone in the current scenario of noncustomized service robots distributed around the world. This research proposes a context‐awareness system for a human–robot scene interpretation based on seven primary contexts and the American Occupational Therapy Association. The...

Robots have begun to populate the everyday environments of human beings. These social robots must perform their tasks without disturbing the people with whom they share their environment. This paper proposes a navigation algorithm for robots that is acceptable to people. Robots will detect the personal areas of humans, to carry out their tasks, gen...

Machine Learning and Deep Learning algorithms have become a great revolution in many research fields such as Robotics and Artificial Intelligence. They have applications in such different areas as Meteorology, Cybersecurity, Biology, etc.; though their use in these areas is not so extended. High-performance Computing (HPC) is the most powerful solu...

The use of Supercomputers is wide spreading, constituting an essential component in many fields of science. The interest in the use of High Performance Computing (HPC) facilities is also increasing in a growing percentage of undergraduates because the use of these infrastructures allows them to improve their skills and the results of their training...

The present paper analyzes the question of how important is the implementation of a supercomputer in the educational process, mainly in universities, as an active actor in the training of future professionals in a great variety of fields, that allow them to improve their technological skills, very appreciated in the labor market and in the research...

Version Control Systems are commonly used by Information and communication technology professionals. They allow monitoring the single activity of different people working in the same project through all the project's lifetime. Thus, Version Control Systems are also used by educational institutions. The aim of this work is to demonstrate that the ac...

Background and purpose: The recent literature established that human resource development (HRD) is significantly related to organizational effectiveness (OE). In rapidly changing environments, the organizations should strive to address the shifts in the environment and cope with markets conditions through developing dynamic capabilities, in return,...

The tracking of people is an indispensable capacity in almost any robotic application. A relevant case is the @home robotic competitions, where the service robots have to demonstrate that they possess certain skills that allow them to interact with the environment and the people who occupy it; for example, receiving the people who knock at the door...

When a Social Robot is deployed in a service environment it has to manage a highly dynamic scenarios that provide a set of unknown circumstances: objects in different places and humans walking around. These conditions are challenging for an autonomous robot that needs to accomplish assistive tasks. These partially known scenarios has negative effec...

Tracking people has many applications, such as security or safe use of robots. Many onboard systems are based on Laser Imaging Detection and Ranging (LIDAR) sensors. Tracking peoples' legs using only information from a 2D LIDAR scanner in a mobile robot is a challenging problem because many legs can be present in an indoor environment, there are fr...

Mobile robots need to know their position in the environment to perform complex tasks. Self-localization methods for indoor environments usually reduce sensory information to two dimensions in order to accelerate calculations, instead of taking advantage of the three-dimensional (3D) features. This paper proposes a computationally affordable probab...

Software architectures in robotics organize perception and action to solve a problem. In this paper we present a description of the software architecture applied by our team in the Social Standard Platform League (SSPL) of the @home category of RoboCup. This league simulates a domestic scenario where the robot must interact with the dependent peopl...

Service robots sometimes behave in unexpected ways and may put economic interests or human safety in risk. This can be accepted in research environments, but it is not going to be tolerated in everyday use of robots. In addition, regulations for the deployment of autonomous robots (from home assistants to autonomous cars) are increasing. These regu...

Version Control Systems are commonly used by Information and Communication Technology professionals. These systems allow monitoring programmers activity working in a project. Thus, Version Control Systems are also used by educational institutions. The aim of this work is to demonstrate that the academic success of students may be predicted by monit...

EU-Bank is an Erasmus+ Jean Monnet project to provide basic knowledge on key issues about EU financial system. One of the basic components of the project, available from the web site financialculture.org, is the web application. The application offers the functionality of a financial calculator and a new service called the financial advisor. This s...

The use of Supercomputers is currently very widespread, constituting an essential component in many fields of science. The interest in the use of high performance computation is increasing in a wider and more diverse population of higher education students, mainly senior undergraduates and postgraduates, because the use of these infrastructures all...

Using Context-Awareness information in human-robot shared environments enhances the characterization of the interaction scenario, improving the experience of human collaboration with the robot. Aspects such as environmental location and human-robot dialog have traditionally been used to infer the current situation, which can be helpful in the decis...

In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines), personal, and safety information (i.e., images of children, home habits, alarm codes, etc.). Howe...

Generation of autonomous behavior for robots is a general unsolved problem. Users perceive robots as repetitive tools that do not respond to dynamic situations. This research deals with the generation of natural behaviors in assistive service robots for dynamic domestic environments, particularly, a motivational-oriented cognitive architecture to g...

Cybersecurity in autonomous systems is a growing concern. Currently most research robotic systems are built using ROS framework, along with other commercial software. The goal of this paper is to improve ROS security features by using encrypted communications and semantic rules to ensure a correct behavior. To encrypt communications, Advanced Encry...

The use of maps allows mobile robots to navigate between known points in an environment. Using maps allows to calculate routes avoiding obstacles and not being stuck in dead ends. This paper shows how to integrate 3D perceptions on a map to obtain obstacle-free paths when obstacles are not at the level of 2D sensors, but elevated. Chairs and tables...