Jose Guivant

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Mahmoud Farag

American University in Cairo

David Seamon

Kansas State University

Armando Marques-Guedes

UNL - New University of Lisbon

Fabio Cuzzolin

Oxford Brookes University

naveen noronha

Visvesvaraya Technological University

Chiara Maria Mauro

Universidad Complutense de Madrid

Emilia Mataix Ferrándiz

Universitat Internacional de Catalunya

Florentin Smarandache

University of New Mexico

A. Z. Hafez

University of Nottingham

Yucel Kadioglu

Ataturk University

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Papers by Jose Guivant

A 2D Bayesian approach for damage detection in plate-type structures

Insight - Non-Destructive Testing and Condition Monitoring, 2015

ABSTRACT This study investigates the two-dimensional (2D) Bayesian approach, which was developed ... more ABSTRACT This study investigates the two-dimensional (2D) Bayesian approach, which was developed for damage detection in beam-type structures, and extends it to plate-type structures. A response-based damage detection algorithm, ie the 2D gapped smoothing method (GSM), is employed, which relies on data from only the damaged structure. The major limitation with this method, like most other damage detection algorithms, is noise in the measurement data, which reduces the efficiency of the GSM. As the GSM works on the curvatures of the mode shapes, even a small noise in the mode shapes becomes significant in the curvatures as they are obtained by taking the second derivative of the mode shapes. A Bayesian data fusion approach developed to highlight the information about damage, by reducing noise in the measurement data, has been successfully applied on beam-type structures. In this paper, the effectiveness and viability of the developed Bayesian data fusion approach with the 2D GSM is investigated by its application to the numerical vibration modes of a free-free plate with different types of damage. The results from simulated mode shapes are examined for different noise levels in the data, which are then compared with the previously published findings. The mode shapes are extracted from a simulated model in ANSYS. This paper also presents an investigation into the effect of using different kernel configurations on the quality of damage detection by means of the Bayesian approach. A comparison is made and, surprisingly, a very slight difference was noticed for damage indices of a small number of samples and no difference was detected for all other samples.

Terrain Classification using Depth Texture Features

ABSTRACT For Autonomous Ground Vehicles, modelling of the terrain is important for predicting fut... more ABSTRACT For Autonomous Ground Vehicles, modelling of the terrain is important for predicting future behaviours and control options. Current terrain modelling is able to identify geometric hazards but has a limited ability to identify complex terrain characteristics. This paper presents a method for segmenting and classifying terrain types based on range data to establish a geometric model of the terrain that maps terrain types to friction coefficients. Segmentation of the depth data is performed by a Piece-Wise Multi-Linear surface approximation, this enables the separation of the dominant surface geometry from the surface material characteristics. Depth texture features that are extracted in this process are used to classify the terrain types, specifically grass, road, dirt, rocks, gravel and sand. Using a Weighted Majority Voting with Dominance classifier, a depth texture only classification accuracy rate of 94.2% was achieved for the different terrain types, with 98.9% for depth and colour descriptors and 92.3% for colour only descriptors.

The hybrid metric map: a solution for precision farming

by Jose Guivant and Juan Nieto

Latin American applied research, Apr 1, 2005

This work presents a specific application of a novel map representation, the Hybrid Metric Map. T... more This work presents a specific application of a novel map representation, the Hybrid Metric Map. This representation allows a consistent autonomous localization and simultaneously the synthesis of a detailed description of the environment where the robot or vehicle operates. There are many applications where an autonomous vehicle senses environment properties that are not necessarily used for the localization process. Precision agriculture is a special case of this. The proposed algorithm is able to fuse a large amount of ...

Autonomous Navigation using a Real-Time 3D Point Cloud

This paper presents a system for autonomous navigation of a mobile robot in an unknown environmen... more This paper presents a system for autonomous navigation of a mobile robot in an unknown environment based on the fusion of a continu-ously updated point cloud with proprioceptive sensors (IMU and encoders). A SICK LMS100 series laser is used to generate a wide field of view point cloud which is transmitted to a ground control station for visualisation during teleoperation. The point cloud is also used to generate an occupancy grid on which an effi-cient path planning algorithm is run in real-time. The advantages of this system are its ef-ficiency, flexibility and quick coverage of a large unknown environment. Experiments show the ability of the system to map out a large area while navigating autonomously to a target po-sition.

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A GPU-Based Concurrent Motion Planning Algorithm for 3D Euclidean Configuration Spaces

PWL Approximation for Dense Mapping and Associated Dijkstra Processes for the Concurrent Synthesis of Multiple Full Cost-to-Go Functions

A Semantic-Based Method for Point Cloud Angular Consistency in Urban Environments

PWL Approximation for Dense Mapping and Associated Hybrid PSO-Dijkstra Processes for Path Planning

An optimised GPU-based robot motion planner

2D Path Planning Based on Dijkstra's Algorithm and Pseudo Priority Queues

Path Planning with Maximum Expected Map Deformation

On the effect of using heading information during in-flight alignment of a low-cost IMU/GPS integrated system,“

ACFR, experimental outdoor dataset

Real time synthesis of 3D images based on low cost laser scanner on a moving vehicle

This paper describes the integration of multiple acquisition, fusion and control processes for th... more This paper describes the integration of multiple acquisition, fusion and control processes for the real time synthesis of 3D images based on measurements from a low cost laser scanner . These 3D images are usually applied for making a 3D representation of the outdoor environment where the autonomous vehicle needs to operate. The system is composed by many critical processes such as the high accuracy estimation of the vehicle's pose and its accurate synchronization with the 2D measurements that are provided by a standard laser scanner. The 3D synthesis is performed when the vehicle moves even in rough terrains.

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DenseSLAM: The unidirectional information flow (UIF)

Autonomous navigation using a real-time 3D point cloud

This paper presents a system for autonomous navigation of a mobile robot in an unknown environmen... more This paper presents a system for autonomous navigation of a mobile robot in an unknown environment based on the fusion of a continuously updated point cloud with proprioceptive sensors (IMU and encoders). A SICK LMS100 series laser is used to generate a wide field of view point cloud which is transmitted to a ground control station for visualisation during teleoperation. The point cloud is also used to generate an occupancy grid on which an efficient path planning algorithm is run in realtime. The advantages of this system are its efficiency, flexibility and quick coverage of a large unknown environment. Experiments show the ability of the system to map out a large area while navigating autonomously to a target position.

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Efficient simultaneous localization and mapping in large environments

Virtual network system

Haul Truck Travel Path Alignment, Proximity and Fleet Monitoring System

Mapa M��trico H��brido para aplicaciones de Navegaci��n Aut��noma

by Jose Guivant and Juan Nieto

A 2D Bayesian approach for damage detection in plate-type structures

Insight - Non-Destructive Testing and Condition Monitoring, 2015

Terrain Classification using Depth Texture Features

The hybrid metric map: a solution for precision farming

by Jose Guivant and Juan Nieto

Latin American applied research, Apr 1, 2005

Autonomous Navigation using a Real-Time 3D Point Cloud

Download

A GPU-Based Concurrent Motion Planning Algorithm for 3D Euclidean Configuration Spaces

PWL Approximation for Dense Mapping and Associated Dijkstra Processes for the Concurrent Synthesis of Multiple Full Cost-to-Go Functions

A Semantic-Based Method for Point Cloud Angular Consistency in Urban Environments

PWL Approximation for Dense Mapping and Associated Hybrid PSO-Dijkstra Processes for Path Planning

An optimised GPU-based robot motion planner

2D Path Planning Based on Dijkstra's Algorithm and Pseudo Priority Queues

Path Planning with Maximum Expected Map Deformation

On the effect of using heading information during in-flight alignment of a low-cost IMU/GPS integrated system,“

ACFR, experimental outdoor dataset

Real time synthesis of 3D images based on low cost laser scanner on a moving vehicle

Download

DenseSLAM: The unidirectional information flow (UIF)

Autonomous navigation using a real-time 3D point cloud

This paper presents a system for autonomous navigation of a mobile robot in an unknown environmen... more This paper presents a system for autonomous navigation of a mobile robot in an unknown environment based on the fusion of a continuously updated point cloud with proprioceptive sensors (IMU and encoders). A SICK LMS100 series laser is used to generate a wide field of view point cloud which is transmitted to a ground control station for visualisation during teleoperation. The point cloud is also used to generate an occupancy grid on which an efficient path planning algorithm is run in realtime. The advantages of this system are its efficiency, flexibility and quick coverage of a large unknown environment. Experiments show the ability of the system to map out a large area while navigating autonomously to a target position.

Download

Efficient simultaneous localization and mapping in large environments

Virtual network system

Haul Truck Travel Path Alignment, Proximity and Fleet Monitoring System

Mapa M��trico H��brido para aplicaciones de Navegaci��n Aut��noma

by Jose Guivant and Juan Nieto

Jose Guivant

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