Luis Moreno

Universidad Carlos III de Madrid, Department of Systems Engineering and Automation, Faculty Member

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Papers by Luis Moreno

SMA-Based Soft Exo-Glove

IEEE Robotics and Automation Letters

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Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

Sensors, 2021

Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and... more Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square—for the planning phase—and a simple priority-based speed control—as the method for conflict resolution—is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles ...

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Multi UAV Coverage Path Planning in Urban Environments

Sensors, 2021

Coverage path planning (CPP) is a field of study which objective is to find a path that covers ev... more Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural disaster tracking, transport, and others. The aim of this paper is to design efficient coverage path planning collision-avoidance capable algorithms for single or multi UAV systems in cluttered urban environments. Two algorithms are developed and explored: one of them plans paths to cover a target zone delimited by a given perimeter with predefined coverage height and bandwidth, using a boustrophedon flight pattern, while the other proposed algorithm follows a set of predefined viewpoints, calculating a smooth path that ensures that the UAVs pass over the objectives. Both algorithms have been developed for a scalable number of UAVs, which fly in a triangular deformable leader-follower form...

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Marine Applications of the Fast Marching Method

Frontiers in Robotics and AI, 2020

Path planning is general problem of mobile robots, which has special characteristics when applied... more Path planning is general problem of mobile robots, which has special characteristics when applied to marine applications. In addition to avoid colliding with obstacles, in marine scenarios, environment conditions such as water currents or wind need to be taken into account in the path planning process. In this paper, several solutions based on the Fast Marching Method are proposed. The basic method focus on collision avoidance and optimal planning and, later on, using the same underlying method, the influence of marine currents in the optimal path planning is detailed. Finally, the application of these methods to consider marine robot formations is presented.

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Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application

Actuators, 2019

New robotic applications, among others, in medical and related fields, have in recent years boost... more New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development...

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Fast Methods for Eikonal Equations: An Experimental Survey

IEEE Access, 2019

and cofunded by Structural Funds of the EU,'' and ''Investigación para la mejora competitiva del ... more and cofunded by Structural Funds of the EU,'' and ''Investigación para la mejora competitiva del ciclo de perforación y voladura en minerıaı y obras subterráneas, mediante la concepción de nuevas técnicas de ingenierıaı , explosivos, prototipos y herramientas avanzadas (TUÑEL).'' ABSTRACT Fast methods are very popular algorithms to compute time-of-arrival maps (distance maps measured in time units) solving the Eikonal equation. Since fast marching was proposed in 1995, it has been applied to many different applications, such as robotics, medical computer vision, fluid simulation, and so on. From then on, many alternatives to the original method have been proposed with two main objectives: reducing its computational time and improving its accuracy. In this paper, we collect the main single-threaded approaches, which improve the computational time of the standard fast marching method and study them within a common mathematical framework. Then, they are evaluated using isotropic environments, which are representative of their possible applications. The studied methods are the fast marching method with the binary heap, the fast marching method with Fibonacci heap, the simplified fast marching method, the untidy fast marching method, the fast iterative method, the group marching method, the fast sweeping method, the locking sweeping method, and the double dynamic queue method. INDEX TERMS Eikonal equation, fast methods, fast marching method, fast sweeping method.

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Simulation Platform for Anti-Swinging Control of Automatic Overhead Cranes

The Remote Handling Laboratory (RHL) of Technofusión house as part of its permanent facilities, a... more The Remote Handling Laboratory (RHL) of Technofusión house as part of its permanent facilities, at least one large crane that will be dedicated to the handling of heavy and large parts (components weighing several tons). In general this type of cranes must incorporate anti-swaying systems, precise positioning control, anti-vibration systems, RoboticsLab of Carlos III University, given its experience in developing control systems for cranes, collaborates in this task by designing a simulation platform to validate the operation of cranes and control algorithms in a virtual reality environment that can incorporate all elements of real working environment.

State estimation for nonlinear systems using restricted genetic optimization

Lecture Notes in Computer Science, 1998

In this paper we describe a new nonlinear estimator for filtering systems with nonlinear process ... more In this paper we describe a new nonlinear estimator for filtering systems with nonlinear process and observation models, based on the optimization with RGO (Restricted Genetic Optimization). Simulation results are used to compare the performance of this method with EKF (Extended Kalman Filter), IEKF (Iterated Extended Kalman Filter), SNF (Second-order Nonlinear Filter), SIF (Single-stage Iterated Filter) and MSF (Monte-Carlo Simulation Filter) in the presence of diferents levels of noise.

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Adaptive Evolutionary Strategy for Robotic Manipulation

Herramienta De Simulacion Para El Desarrollo De Exoesqueletos Basada en Matlab-Simulink

Traversable regions model for outdoor robots

ABSTRACT One of the new challenges in robotics is the au-tonomous navigation in outdoor environme... more ABSTRACT One of the new challenges in robotics is the au-tonomous navigation in outdoor environments. To-days applications, like civil security, mining, scientific exploration and field service robotics, are increasing the interest in robots which are able to navigate in unstructured and changing environments, without hu-man supervision. A methodology for outdoor environ-ments modelling is presented in this paper. The re-sult will be a traversable regions model, based on the Voronoi Diagram technic, which is simple to use and to obtain. The model can be calculated in real-time and it is adapted not only to the environment&#39;s type, where the robot evolves, but also to the robot&#39;s phys-ical constraints. Experimental results carried out in a real outdoor environment, with an outdoor mobile robot, named GOLIAT , are presented.

Materiales inteligentes: aleaciones con memoria de forma (SMA)

ABSTRACT En los últimos años han aparecido un conjunto de materiales cuyas propiedades, sustancia... more ABSTRACT En los últimos años han aparecido un conjunto de materiales cuyas propiedades, sustancialmente distintas de los materiales utilizados tradicionalmente en los diferentes campos de la ingeniería han hecho que nos refiramos a ellos como materiales inteligentes. Existen diversos materiales que podrían incluirse en esta categoría, de todos ellos, aquí se describirán solamente las aleaciones con memoria de forma, sus características, las posibilidades que presentan en el desarrollo de nuevos sensores y actuadores, así como las di¯cultades que sus singulares propiedades acarrean a la hora de su utilización practica.

Robot navigation using tube skeletons and fast marching

To navigate in complex environments, a robot needs to reach a compromise between the need for hav... more To navigate in complex environments, a robot needs to reach a compromise between the need for having efficient and optimized trajectories and the need for reacting to unexpected events. This paper presents a new sensor based non-holonomic Path Planner which integrates the global motion planning and local obstacle avoidance capabilities. In the first step the safest areas in the environment

FM2: A real-time sensor-based feedback controller for mobile robots

The Fast Marching based algorithm proposed here solves the problem of finding Feedback Control La... more The Fast Marching based algorithm proposed here solves the problem of finding Feedback Control Laws for mobile robots, including nonholonomic vehicles. It integrates in a single Real Time Controller the global motion planning tasks and the collision avoidance capabilities required to efficiently move a mobile robot in a dynamic environment. The solution proposed is fast enough to be used in real-time and to operate with a laser scanner system at the sensor rate frequency. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. The method works in two steps: In the first, it uses a Fast Marching technique to propagate a wave from the walls and obstacles to determine a potential of slowness for the robot. In the second step, this slowness map is used as refractive index, to calculate the potential of the propagation of a wave from the robot pose to the goal with time as the last axis. The generated trajectory corresponds to the path of the light ray through a medium with non-homogeneous refraction index. The robot trajectory is calculated on the vector field associated to the potential surface. The computational efficiency of the method allows the planner to operate at high rate sensor frequencies. For small and medium scale environments, the proposed method avoids the need for a collision avoidance algorithms plus a global motion planner. Since the method works over a smooth vector field, it allows the simple introduction of nonholonomic constraints. This way, the method can be used directly to develop a control scheme for nonholonomic vehicles, for example for car like robots. This enables simplification of the mobile robot architectures, while maintaining good time response, smooth and safe planned trajectories with continuous curvature. The trajectory generated by the planner is the fastest possible to reach the goal position, considering the best path according to the maximum acceptable velocity at each point in the trajectory (path plus velocity).

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Sensor-based Global Planning for Mobile Manipulators Navigation Using Voronoi Diagram and Fast Marching

Mobile Robots: Perception & Navigation, 2007

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3D robot formations planning with Fast Marching Square

2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2014

This research presents a novel approach for 3D robot formation motion planning. The methodology p... more This research presents a novel approach for 3D robot formation motion planning. The methodology presented is based on the standard Fast Marching Square (FM 2 ) path planning method and its application to robot formations motion planning. For the formation coordination, a leader-followers scheme is used, which means that the reference pose for the follower robots is defined by geometric equations that place the goal pose of each follower as a function of the leader's pose. The use of the Frenet-Serret frame in order to control the orientation of the formation is introduced. Thanks to the combination of these methods, the configuration of the formation is able to adapt its shape depending on the environment conditions. This adaptation is based on the velocities map calculated in the first step of the FM 2 algorithm. Also, robot priorities within the formations are introduced. This is an important contribution since it provides different behaviours to the formation members in special situations. Using this information, simulations show that the method is able to achieve good performance in difficult environments.

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Fast Marching in motion planning for rhombic like vehicles operating in ITER

2013 IEEE International Conference on Robotics and Automation, 2013

Rhombic like vehicles are characterized for high maneuverability in cluttered environments. This ... more Rhombic like vehicles are characterized for high maneuverability in cluttered environments. This type of vehicles will be used on remote handling operations of maintenance in the International Thermonuclear Experimental Reactor (ITER). Previous work was done in motion planning using Constrained Delaunay Triangulation for rhombic like vehicles operating in ITER. This paper shows that the integration of Fast Marching Square improves the motion planning methodology, decreasing also the computational effort, which can be applied not only in ITER but also in other complex and cluttered environments. Simulated results are presented comparing the initial and the improved motion planning.

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Predesign of an Anthropomorphic Lightweight Manipulator

Climbing and Walking Robots, 2006

Page 1. C. Castejón1 D. Blanco2 SH Kadhim2 L. Moreno2 1 Mechanical Dept.; 2 System Engineering an... more

Ultrasonic Motor Based Actuator for Elbow Joint Functional Compensation

Advances in Intelligent Systems and Computing, 2014

ABSTRACT Robotic rehabilitation has become very popular in recent years. Nevertheless it still fa... more ABSTRACT Robotic rehabilitation has become very popular in recent years. Nevertheless it still faces various problems related to the system actuation devices. Some classic actuator features, like the noise, weight, size-force relationship, and the e�ciency, make them little suitable for such applications. For this reason, piezoelectrically driven ultrasonic mo- tors have become the alternative actuators to the conventional electro- magnetic motors. This is due to their light weight, compact size and soundless performance characteristics. The aim of this article is to present a new actuator based on an ultrasonic motor (USM) and a magnetorhe- ological clutch is integrated into a device used in robotic rehabilitation for the elbow joint. At the end, a control strategy algorithm for the USM and its �rst preliminary results will be presented.

Improving RRT motion trajectories using VFM

2009 IEEE International Conference on Mechatronics, 2009

ABSTRACT This paper presents a new method to improve the trajectories based in the Voronoi fast m... more ABSTRACT This paper presents a new method to improve the trajectories based in the Voronoi fast marching method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the good properties of VFM method. This method is very fast and reliable and the trajectories are similar to the human trajectories: smooth and not very close to obstacles and walls.

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