Vicente Matellán

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

PhD Computer Science
Visiting LAAS-CNRS

About

204
Publications
63,438
Reads
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1,034
Citations
Introduction
- Working on generation of autonomous behavior for mobile robots - Cyber-security of autonomous systems - Haptic interaction - Learning analytics
Additional affiliations
August 2021 - August 2022
Laboratoire d’Analyse et d’Architecture des Systèmes (LAAS)
Position
  • Visiting researcher
July 2017 - March 2020
Fundación Centro de Supercomputación de Castilla y León
Position
  • Managing Director
Description
  • www.scayle.es
August 2014 - August 2015
Carnegie Mellon University
Position
  • Visiting Researcher
Education
October 1993 - June 1998
Universidad Politécnica de Madrid
Field of study
  • Computer Science
September 1987 - June 1993
Universidad Politécnica de Madrid
Field of study
  • Computer Science

Publications

Publications (204)
Preprint
Full-text available
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...
Chapter
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...
Preprint
Full-text available
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...
Article
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...
Chapter
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...
Article
Full-text available
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...
Article
Full-text available
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...
Article
Full-text available
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...
Preprint
Full-text available
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...
Chapter
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...
Chapter
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...
Preprint
Full-text available
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...
Chapter
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...
Chapter
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...
Article
Full-text available
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...
Preprint
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...
Article
Full-text available
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...
Article
Full-text available
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...
Article
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...
Article
Full-text available
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...
Article
Full-text available
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...
Chapter
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...
Chapter
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...
Article
Full-text available
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...
Conference Paper
Full-text available
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...
Conference Paper
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...
Conference Paper
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...
Conference Paper
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...
Article
Full-text available
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...
Chapter
Full-text available
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...
Article
Full-text available
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...
Article
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...
Chapter
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...
Chapter
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...
Conference Paper
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...
Conference Paper
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...
Article
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...
Article
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...
Article
Full-text available
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...
Article
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...
Chapter
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...
Chapter
Full-text available
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...
Conference Paper
Nowadays students live in the digital age and they do not only should learn to speak, write or develop specific skills. Students needs to be successful in their context and a possible way to achieve this is by developing the computational thinking. In the last few years there are several initiatives to promote computational thinking and to define a...
Conference Paper
Full-text available
The use of ICT tools can help to improve financial culture of EU citizens. The financial crisis has highlighted the opportunistic conduct of some banks, which have taken advantage of the trust relationship with their clients to place them unsuitable products. We have detected the need of a higher level of financial knowledge and skills in the avera...
Article
Cyber-security for robotic systems is a growing concern. Many mobile robots rely heavily on Real Time Location Systems to operate safely in different environments. As a result, Real Time Location Systems have become a vector of attack for robots and autonomous systems, a situation which has not been studied well. This article shows that cyber-attac...
Conference Paper
The evolution of malicious software (malware) analysis tools provided controlled, isolated, and virtual environments to analyze malware samples. Several services are found on the Internet that provide to users automatic system to analyze malware samples, as VirusTotal, Jotti, or ClamAV, to name a few. Unfortunately, malware is currently incorporati...
Article
Real Time Location Systems (RTLSs) are critical components of many mobile robots that rely on them to safely operate in different environments, and their cyber-security is a growing concern. The goal of this paper is to demonstrate that there are statistically meaningful differences in the data provided by beacon-based RTLSs between the case when t...
Article
Full-text available
Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called "uncanny valley hypothesis" can be solved by applying the "niche" concept to social robots, and relying on the natural behavior of huma...
Conference Paper
Context awareness in autonomous robots is usually performed combining localization information, objects identification, human interaction and time of the day. We think that gathering environmental sounds we can improve context recognition. With that purpose, we have designed, developed and tested an Environment Recognition Component (ERC) that prov...
Conference Paper
Full-text available
Navigating is one of the most basic capabilities of mobile robots. For this task, robots usually represent the environment through maps. This paper reports on first results of a work focused on mapping dynamic environments to achieve a robust navigation for long-term operation. This approach builds a static map starting from the construction plans...
Article
Improving students' involvement in universities classes is a challenging problem. This problem is particularly relevant in technical studies, even worst in computer related subjects where students tend to be very independent. In this paper, we propose the use of peer review as a methodology that can help students toget more involved and to develop...
Conference Paper
Most workplace task and processes involve collaborative work between peers. This makes teamwork competence acquisition a key issue for educational institutions. This type of competence uses to be associated to project-based learning activities. In these activities students’ assessment is something complex and mostly based on the outcome developed b...