Andres Mora | Arizona State University (original) (raw)
Papers by Andres Mora
TrAC Trends in Analytical Chemistry, 2002
2007 IEEE International Workshop on Safety, Security and Rescue Robotics, 2007
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015
Autonomous Robots, 2013
ABSTRACT A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) ... more ABSTRACT A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) is correctly balancing two issues. First, obtaining an accurate scalar field estimation and second, efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real time and a priori environmental data is available. In this paper we present an analysis of adaptive sampling methodologies for AUVs. In particular, we analyze various sampling path strategies including systematic and stratified random patterns within a wide range of sampling densities and their impact in the energy consumption of the vehicle through a cost-evaluation function. Our study demonstrates that a systematic spiral sampling path strategy is optimal for high-variance scalar fields for all sampling densities and low-variance scalar fields when sampling is sparse. In addition, our results show that the random spiral sampling path strategy is found to be optimal for low-variance scalar fields when sampling is dense.
2nd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT'06), 2006
The unmanned exploration of the Moon has steadily increased in the past years due to the renewed ... more The unmanned exploration of the Moon has steadily increased in the past years due to the renewed interest in creating a permanent human settlement on our natural satellite. After detailed remote sensing from orbiters, the focus is now shifting onto autonomous landing ...
Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas,... more Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas, its complexity is the reason why little attention has been given to close surface analysis. In this paper, the authors present a study on the locomotion of limbed robotic ...
Mobile Robots Navigation, 2010
The unmanned exploration of the Moon has steadily increased in the past years due to the renewed ... more The unmanned exploration of the Moon has steadily increased in the past years due to the renewed interest in creating a permanent human settlement on our natural satellite. After detailed remote sensing from orbiters, the focus is now shifting onto autonomous landing ...
2007 1st Annual IEEE Systems Conference, 2007
2007 1st Annual IEEE Systems Conference Waikiki Beach, Honolulu, Hawaii, USA April 9-12, 2007 ...... more 2007 1st Annual IEEE Systems Conference Waikiki Beach, Honolulu, Hawaii, USA April 9-12, 2007 ... ASSISTED TELEOPERATED NAVIGATION SYSTEM BASED ON 3D MAPPING ... Andres Mora, David G. Axelson, Marco Chacin, Keiji Nagatani and Kazuya Yoshida ...
mindspages.net
Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas,... more Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas, its complexity is the reason why little attention has been given to close surface analysis. In this paper, the authors present a study on the locomotion of limbed robotic ...
ABSTRACT The teleoperation of mobile social robots requires operators to understand facial gestur... more ABSTRACT The teleoperation of mobile social robots requires operators to understand facial gestures and other nonverbal communication from a person interacting with the robot. It is also critical for the operator to comprehend the surrounding environment in order to facilitate both navigation and human-robot interaction. Allowing the operator to control the robot's gaze direction can help the operator observe a person's nonverbal communication; however, manually actuating a gaze increases the operator's workload and conflicts with the use of the robot's camera for navigation. To address these problems, the authors developed a teleoperation system that combines automatic control of the robot's gaze and a 3-D graphical representation of the surrounding environment, such as location of items and configuration of a shop. A study where a robot plays the role of a shopkeeper was conducted to validate the effectiveness of the proposed gaze-control technique and control interface. It was demonstrated that the combination of automatic gaze control and representations of spatial relationships improved the quality of the robot's interaction with the customer.
IEEE Oceans Conference 2013
IEEE Transactions in Systems, Man, and Cybernetics. Part A: Systems and Humans, May 2012
Autonomous Robots
A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) is correc... more A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) is correctly balancing two issues. First, obtaining an accurate scalar field estimation and second, efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real time and a priori environmental data is available. In this paper we present an analysis of adaptive sampling methodologies for AUVs. In particular, we analyze various sampling path strategies including systematic and stratified random patterns within a wide range of sampling densities and their impact in the energy consumption of the vehicle through a cost-evaluation function. Our study demonstrates that a systematic spiral sampling path strategy is optimal for high-variance scalar fields for all sampling densities and low-variance scalar fields when sampling is sparse. In addition, our results show that the random spiral sampling path strategy is found to be optimal for low-variance scalar fields when sampling is dense.
In this paper, the authors present a path planing system for autonomous navigation of lunar/plane... more In this paper, the authors present a path planing system for autonomous navigation of lunar/planetary rover. In the path planner, candidate paths are generated and evaluated by multiple criteria including occlusion index, terrain roughness/inclination indices. The proposed system considers the occlusion effect produced by obstacles present in the inspected environment and the features of the environment itself. An algorithm that computes the next sensing position within the map is introduced as part of the system presented. The different components of the system and their interactions are explained thoroughly. Simulation and experimental results where the proposed system is implemented are presented.
TrAC Trends in Analytical Chemistry, 2002
2007 IEEE International Workshop on Safety, Security and Rescue Robotics, 2007
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015
Autonomous Robots, 2013
ABSTRACT A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) ... more ABSTRACT A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) is correctly balancing two issues. First, obtaining an accurate scalar field estimation and second, efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real time and a priori environmental data is available. In this paper we present an analysis of adaptive sampling methodologies for AUVs. In particular, we analyze various sampling path strategies including systematic and stratified random patterns within a wide range of sampling densities and their impact in the energy consumption of the vehicle through a cost-evaluation function. Our study demonstrates that a systematic spiral sampling path strategy is optimal for high-variance scalar fields for all sampling densities and low-variance scalar fields when sampling is sparse. In addition, our results show that the random spiral sampling path strategy is found to be optimal for low-variance scalar fields when sampling is dense.
2nd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT'06), 2006
The unmanned exploration of the Moon has steadily increased in the past years due to the renewed ... more The unmanned exploration of the Moon has steadily increased in the past years due to the renewed interest in creating a permanent human settlement on our natural satellite. After detailed remote sensing from orbiters, the focus is now shifting onto autonomous landing ...
Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas,... more Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas, its complexity is the reason why little attention has been given to close surface analysis. In this paper, the authors present a study on the locomotion of limbed robotic ...
Mobile Robots Navigation, 2010
The unmanned exploration of the Moon has steadily increased in the past years due to the renewed ... more The unmanned exploration of the Moon has steadily increased in the past years due to the renewed interest in creating a permanent human settlement on our natural satellite. After detailed remote sensing from orbiters, the focus is now shifting onto autonomous landing ...
2007 1st Annual IEEE Systems Conference, 2007
2007 1st Annual IEEE Systems Conference Waikiki Beach, Honolulu, Hawaii, USA April 9-12, 2007 ...... more 2007 1st Annual IEEE Systems Conference Waikiki Beach, Honolulu, Hawaii, USA April 9-12, 2007 ... ASSISTED TELEOPERATED NAVIGATION SYSTEM BASED ON 3D MAPPING ... Andres Mora, David G. Axelson, Marco Chacin, Keiji Nagatani and Kazuya Yoshida ...
mindspages.net
Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas,... more Due to the success of recent missions, the scientific in-terest in asteroids has increased. Alas, its complexity is the reason why little attention has been given to close surface analysis. In this paper, the authors present a study on the locomotion of limbed robotic ...
ABSTRACT The teleoperation of mobile social robots requires operators to understand facial gestur... more ABSTRACT The teleoperation of mobile social robots requires operators to understand facial gestures and other nonverbal communication from a person interacting with the robot. It is also critical for the operator to comprehend the surrounding environment in order to facilitate both navigation and human-robot interaction. Allowing the operator to control the robot's gaze direction can help the operator observe a person's nonverbal communication; however, manually actuating a gaze increases the operator's workload and conflicts with the use of the robot's camera for navigation. To address these problems, the authors developed a teleoperation system that combines automatic control of the robot's gaze and a 3-D graphical representation of the surrounding environment, such as location of items and configuration of a shop. A study where a robot plays the role of a shopkeeper was conducted to validate the effectiveness of the proposed gaze-control technique and control interface. It was demonstrated that the combination of automatic gaze control and representations of spatial relationships improved the quality of the robot's interaction with the customer.
IEEE Oceans Conference 2013
IEEE Transactions in Systems, Man, and Cybernetics. Part A: Systems and Humans, May 2012
Autonomous Robots
A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) is correc... more A critical problem in planning sampling paths for autonomous underwater vehicles (AUVs) is correctly balancing two issues. First, obtaining an accurate scalar field estimation and second, efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real time and a priori environmental data is available. In this paper we present an analysis of adaptive sampling methodologies for AUVs. In particular, we analyze various sampling path strategies including systematic and stratified random patterns within a wide range of sampling densities and their impact in the energy consumption of the vehicle through a cost-evaluation function. Our study demonstrates that a systematic spiral sampling path strategy is optimal for high-variance scalar fields for all sampling densities and low-variance scalar fields when sampling is sparse. In addition, our results show that the random spiral sampling path strategy is found to be optimal for low-variance scalar fields when sampling is dense.
In this paper, the authors present a path planing system for autonomous navigation of lunar/plane... more In this paper, the authors present a path planing system for autonomous navigation of lunar/planetary rover. In the path planner, candidate paths are generated and evaluated by multiple criteria including occlusion index, terrain roughness/inclination indices. The proposed system considers the occlusion effect produced by obstacles present in the inspected environment and the features of the environment itself. An algorithm that computes the next sensing position within the map is introduced as part of the system presented. The different components of the system and their interactions are explained thoroughly. Simulation and experimental results where the proposed system is implemented are presented.