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Faculty Member: José A. Castellanos
 
Associate Professor (TU)
Area: Systems Engineering and Automatic
Robotics, Perception and Real Time Group (GRTR)
Department of Computer Science and System Engineering (DIIS)
Escuela de Ingeniería y Arquitectura (EINA)
University of Zaragoza (UZ)
c/ María de Luna , 3 50018 Zaragoza , Spain
Tel: (34) 976 762 105
Fax: (+34) 976 76 19 14
Office:D.1.03
E-mail: jacaste@unizar.es
 


Publications Projects Results Personal Page    
ROBOTICS | UNIVERSITY OF ZARAGOZA | BIBTEX REFERENCE

51 Publications Found Printer Friendly Version Show BibTex for All
3 Pages - [1[2] [3



Articles in International Journal
:: J. A. Castellanos, Ruben Martinez-Cantin J. D. Tardós and J. Neira, Robocentric Map Joining: Improving the Consistency of EKF-SLAM, Robotics and Autonomous Systems, 55, 1, 21-29, January, 2007.
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:: K.O. Arras, J.A. Castellanos, M. Schilt and R. Siegwart, "Feature-basedMulti-hypothesis Localization and Tracking using Geometric Constraints", Robotics and Autonomous Systems (Elsevier), Vol. 44, pp.41-53, 2003.
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:: J.A. Castellanos, J. Neira and J.D. Tardós, "Multisensor Fusion for Simultaneous Localization and Map Building", IEEE Transactions on Robotics and Automation, Vol. 17, No. 6, pp. 908 - 914, December, 2001.
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:: J. A. Castellanos, J. M. M. Montiel, J. Neira and J. D. Tardós, "The SPmap: A Probabilistic Framework for Simultaneous Localization and Map Building", IEEE Transactions on Robotics and Automation, 15(5), pp. 948 - 952, October, 1999.
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Books
:: J. A. Castellanos and J. D. Tardós, Mobile Robot Localization and Map Building: A Multisensor Fusion Approach, Boston, MA, 1999.
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PhD Dissertations
:: J. A. Castellanos, "Mobile Robot Localization and Map Building: A Multisensor Fusion Approach", Dpto. de Informática e Ingeniería de Sistemas,University of Zaragoza, Spain, May, 1998.
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International Conferences
:: M.T. Lázaro, Lina María Paz, Pedro Piniés and J. A. Castellanos, Distributed Localization and Submapping for Robot Formations using a prior map, The 2013 IFAC Intelligent Autonomous Vehicles Symposium, Gold Coast, Australia, June 26-28, 2013.
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:: H. Carrillo, Ian Reid and J. A. Castellanos, On the Comparison of Uncertainty Criteria for Active SLAM, IEEE International Conference on Robotics and Automation (ICRA), River Centre, Saint Paul, Minnesota, USA, pp. 2080-2087, May, 2012.
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:: H. Carrillo, Y. Latif, J. Neira and J. A. Castellanos, Fast Minimum Uncertainty Search on a Graph Map Representation, IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, pp. 2504 - 2511, October, 2012.
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:: M. T. Lázaro, P.Urcola, J.A. Castellanos, L. Montano, Position Tracking and Path Planning in Uncertain Maps for Robot Formations, 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, October 3-4, 2012.
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:: A. C. Murillo, A. R. Mosteo, J. A. Castellanos and L. Montano, A Practical Mobile Robotics Engineering Course using LEGO Mindstorms, Communications in Computer and Information Science Volume 161, Eurobot Conference 2011, 221-235, June, 2011.
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:: A.L. Majdik, D. Galvez-Lopez, G. Lazea and J. A. Castellanos, Adaptive Appearance Based Loop-Closing in Heterogeneous Environments, IEEE/RJS International Conference on Intelligent Robots and Systems, IROS, 2011.
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:: M.T. Lázaro and J. A. Castellanos, Localization of Probabilistic Robot Formations in SLAM, 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA, 3179-3184, May 3-8, 2010.
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:: Ruben Martinez-Cantin, Nando de Freitas, Arnaud Doucet and J. A. Castellanos, Active Policy Learning for Robot Planning and Exploration under Uncertainty, Robotics: Science and Systems (RSS), 2007.
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:: Ruben Martinez-Cantin, Nando de Freitas and J. A. Castellanos, Analysis of Particle Methods for Simultaneous Robot Localization and Mapping and a New Algorithm: Marginal-SLAM , IEEE International Conference on Robotics and Automation (ICRA), 2007.
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:: Ruben Martinez-Cantin, Nando de Freitas and J. A. Castellanos, Multi-Robot Marginal-SLAM, International Joint Conference on Artificial Intelligence (IJCAI), Workshop on Multirobotic Systems for Societal Applications, 2007.
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:: Ruben Martinez-Cantin, J. A. Castellanos, J. D. Tardós and J. M. M. Montiel, Adaptive Scale Robust Segmentation of 2D Laser Scanner, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Beijing, China, 796--801, October, 2006.
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:: Ruben Martinez-Cantin and J. A. Castellanos, Unscented SLAM for Large-Scale Outdoor Environments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005.
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:: J. A. Castellanos, J. Neira and J. D. Tardós, Limits to the consistency of EKF-based SLAM, ”, 5th IFAC Symp. on Intelligent Autonomous Vehicles, IAV'04, Lisbon, Portugal, Lisbon, Portugal, 2004.
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:: J. Neira, J. D. Tardós and J. A. Castellanos, Linear time vehicle relocation in SLAM, IEEE Int. Conf. Robotics and Automation, Taipei, Taiwan, 1, 427--433, September, 2003.
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ROBOTICS | UNIVERSITY OF ZARAGOZA

 The objective is the development of robust technologies for localization, mapping and autonomous navigation of mobile robots for good transportation. A real prototype will be built and the experimental validation will be developed in a large Industrial Park, in indoor and outdoor scenarios.



 The goal of this project aims to extending the mathematical understanding, practicality and applicability of SLAM algorithms in key open problems, including large-scale (up to thousands of meters) / long-term (days, weeks of operation) mapping, active SLAM (planning and exploration under uncertainty), consistent sensor cooperation / multivehicle SLAM, and high-level map representations. Special attention will be given to the development of robust real-time demonstrations in heterogeneous (natural / artificial features, static / dynamic objects, …) large-scale experiments for sensors with up to six degrees of freedom. Opportunities for technology transfer will be analyzed in cooperation with our industrial partner.



 The HYPER Project intends to represent a breakthrough in the research of neurorobotic (NR) and motor neuroprosthetic (MNP) devices in close cooperation with the human body, both for rehabilitation and functional compensation of motor disorders in activities of daily living. The project will focus its activities on new wearable NR-MNP systems that will combine biological and artificial structures in order to overcome the major limitations of current rehabilitation solutions for the particular case of Cerebrovascular Accident (CVA), Cerebral Palsy (CP) and Spinal Cord Injury (SCI). The main objectives of the project are to restore motor function in SCI patients through functional compensation and to promote motor control re-learning in patients suffering from CVA and CP by means of an integrated use of neurorobotics and neuroprosthetics. The project will both functionally and clinically validate the concept of developing hybrid NR-MNP systems for rehabilitation and functional compensation of motor disorders, under the assist-as-needed paradigm. In the HYPER view, we assume that the improvement of physical rehabilitation therapies depends on achieving a more interrelated and transparent communication between the human system and the machines, and therefore, different levels of human neural activity are explored. The project addresses key questions at the frontier of knowledge in various scientific and technological disciplines. These questions are investigated in six research tracks (biomechanics, neuromotor control, control technologies, actuator sensors and powering technologies, multimodal brain machine interfaces, adaptations of hybrid systems to application scenarios) with horizontal interrelationships: - The systems will deal with variability in the human neuromuscular structures, with dynamical adaptations according to the latent motor capabilities of the users. - The proposed approach will promote both sensory and motor control re-training and brain plasticity. This will lead to potential rehabilitation solutions for stroke and cerebral palsy patients and to functional compensation solutions for spinal cord injury patients. HYPER proposes a multimodal BMI which main goal is to explore different levels of neural activity, characterize the required support and the user involvement, and modify the intervention at the periphery with hybrid NR-NP systems. HYPER proposes as well a framework for training highly specialised scientist and technologists in a variety of disciplines. The project aims at achieving scientific knowledge of the highest standard and, at the same time, exploit technologies being developed. As a consequence, a team of key industrial partners in the different domains have shown their commitment towards our project and will be involved in monitoring and exploration of potential outcomes.



 The last years have seen spectacular advances in the solution to the simultaneous localization and mapping (SLAM) problem for indoor environments of considerable size, and to some extent, also for outdoor environments. However, current SLAM systems either build 2D models of the environment, or rely on the use of mobile robots that up to this day are mostly limited to motions in 2D with three degrees of freedom. These technological limitations preclude the use of such techniques in more complex indoor and outdoor environments, and in applications in which determining the motion of people rather than vehicles is required.



 European cities are becoming difficult places to live due to noise, pollution and security. Moreover, the average age of people living European cities is growing and in a short period of time there will be an important community of elderly people. City Halls are becoming conscious of this problem and are studying solutions, for example by reducing the free car circulation areas . Free car areas imply a revolution in the planning of urban settings, for example, by imposing new means for transportation of goods, security issues, etc. In this project we want to analyse and test the idea of incorporating a network of robots (robots, intelligent sensors, devices and communications) in order to improve life quality in such urban areas.



 The aim of the RAWSEEDS project is to stimulate and support progress in autonomous robotics by providing a comprehensive, high-quality benchmarking toolkit for SLAM.



 The main project objective is the research in exploration strategies: a set of perception-action techniques that allow to obtain environment information, to plan motions for refining and completing this information (active perception), and to perform safe robot motions in non-structured scenarios. In recent years, these techniques have been greatly improved and have been applied in indoor environments with very good results. The goal of this project is to further develop these techniques to apply them to novel problems and more difficult scenarios, like rescue operations.



 We have developed a wheelchair prototype with a system to help to handicapped persons for driving it, based on the information provided by the perception systems. The system allows to drive the wheelchair in supervising mode and autonomously, depending on the chosen functions and without modifying the environment.


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ROBOTICS | UNIVERSITY OF ZARAGOZA