Robótica autónoma

Descripción

Dentro de esta sub-línea podemos diferenciar los proyectos más centrados en el desarrollo de controladores de los enfocados hacia el diseño y fabricación de estructuras robóticas con capacidades singulares. En relación con los primeros, debemos destacar una de las principales líneas de investigación del GII en las dos últimas décadas, la Robótica Evolutiva. Dada la alta complejidad del control de sistemas autónomos, el enfoque seguido en el GII ha sido el de automatizar su diseño mediante técnicas computacionales avanzadas, en este caso, algoritmos evolutivos.

En esta línea de investigación se ha desarrollado una arquitectura modular e incremental para la creación de controladores, basada en la evolución de comportamientos creados con redes neuronales, y que ha sido probada con éxito en diferentes robots reales. También se ha venido desarrollando la arquitectura cognitiva MDB, que utiliza algoritmos evolutivos para la obtención de modelos y comportamientos. Asimismo, se han aplicado algoritmos evolutivos en el proceso de diseño de robots modulares, dando lugar al sistema EDHMoR (Evolutionary Designer of Heterogenous Modular Robots) que ha sido aplicado con éxito sobre módulos reales fabricados en el GII.

Por otro lado, se ha comenzado un línea de investigación en sistemas multi-robot, en la que se ha desarrollado el algoritmo ASiCo (Asynchronous Situated Coevolution), que se basa en evolución natural para optimizar el control de un equipo de robots de forma permanente. Este sistema se ha aplicado con éxito en robots simulados y en robots rodados tipo e-puck.

Respecto a los proyectos de diseño y fabricación de robots dentro del GII, creados como demanda a los problemas reales de muchas empresas, el GII ha desarrollado ya una serie de estructuras robóticas destinadas a la realización de tareas de naturaleza radicalmente distinta: un sistema robótico para el granallado de superficies metálicas de los cascos de barcos, un sistema robótico subacuático para la limpieza de los cascos de barcos, un sistema robótico para el apriete por par de los pernos de las uniones bridadas "virola-virola" y "eje-reductora" en los aerogeneradores y un segmento de apriete automático mediante tensionado en uniones bridadas.

La heterogeneidad de las diferentes líneas de investigación llevadas a cabo en el GII permite disponer de un mayor número de recursos susceptibles de ser utilizados en el desarrollo de las nuevas soluciones robóticas para aplicaciones reales.

Proyectos asociados

Entidades colaboradoras

2IIS A-Ruiz
Centro Tecnolóxico do Naval Galego
Chorro Naval SL
CPI A Xunqueira
IES David Bujan
Innovación Logística Cargo-Xpress S.L.
Joensuun yhteiskoulun lukio
Ministerio de Economía y Competitividad
Navantia S.A.
Solski center Velenje
Texas Controls S.L
Universidad de Vigo
Universidade da Coruña
Viesoji istaiga Panevezio profesinio rengimo centras

Publicaciones relacionadas

Álvaro Deibe Díaz, José Augusto Antón Nacimiento, Jesús Cardenal Carro y Fernando López Peña, A Kalman Filter for Nonlinear Attitude Estimation Using Time Variable Matrices and Quaternions, Sensors, pp 1 - 16, 2020
A. Romero, F. Bellas, A. Prieto and R.J. Duro, Utility Model Re-description within a Motivational System for Cognitive Robotics, Proceedings IROS 2018, pp 2324 - 2329, 2018
Jose A. Becerra, Richard J. Duro, Juan Monroy, Francisco Bellas, A Dreaming Approach to Perceptual Class Delimitation within the DREAM Architecture, Proceedings of 2018 IEEE International Work Conference on Bioinspired Intelligence00, 2018
A. Romero, F. Bellas, A. Prieto, R. J. Duro, A Re-description Based Developmental Approach to the Generation of Value Functions for Cognitive Robots, Proceedings of International Conference on Hybrid Artificial Intelligent Systems, pp 671 - 683, 2018
Rodrigo Salgado, Abraham Prieto, Francisco Bellas, Richard J. Duro, Motivational Engine for Cognitive Robotics in Non-Static Tasks, Proceedings of IWINAC 2017, pp 32 - 42, 2017
Richard J. Duro, Jose A. Becerra, Juan Monroy, and Luis Calvo, Multilevel Darwinist Brain: Context Nodes in a Network Memory Inspired Long Term Memory, Lecture Notes in Computer Science, pp 22 - 31, 2017
Rodrigo Salgado, Abraham Prieto, Francisco Bellas and Richard J. Duro, Improving Extrinsically Motivated Developmental Robots through Intrinsic Motivations, Proceedings ICDL 2016, pp 1 - 1, 2016
Rodrigo Salgado, Abraham Prieto, Pilar Caamaño, Francisco Bellas, and Richard J. Duro, MotivEn: Motivational Engine with Sub-goal Identification for Autonomous Robots, Proceedings CEC 2016, pp 4887 - 4894, 2016
P. Caamaño, R. Salgado, F. Bellas, R. J. Duro, Introducing Synaptic Delays in the NEAT Algorithm to Improve Modelling in Cognitive Robotics, Neural Processing Letters, pp 479 - 504, 2016
R. Salgado, F.Bellas, R.J. Duro, Autonomous Learning of Procedural Knowledge in an Evolutionary Cognitive Architecture for Robots, Proceedings of 18th European Conference on the Applications of Evolutionary Computation, pp 807 - 818, 2015
L. Calvo-Varela, C. V. Regueiro, D. S. Canzobre, and R. Iglesias, Development of a Nao humanoid robot able to play Tic-Tac-Toe game on a tactile tablet, Robot 2015: Second Iberian Robotics Conference, pp 203 - 215, 2015
D. S. Canzobre, C. V. Regueiro, L. Calvo-Varela, and R. Iglesias, Integration of 3-D perception and autonomous computation on a Nao humanoid robot, Robot 2015: Second Iberian Robotics Conference, pp 161 - 173, 2015
F. López Peña, A. Deibe Díaz, M. Míguez González, B. Priego Torres, An automatic track control for an autonomous model for towing tank tests, Proceedings of the 16th International Congress of the International Maritime, pp 93 - 98, 2015
Fernando Lopez Peña, Alvaro Deibe, Marcos Miguez Gonzalez, Felix Orjales, Daniel Pena, Using an Autonomous Scale Ship Model for Resistance and Parametric Roll Tests, Sensors & Transducers, pp 68 - 74, 2015
A. Faiña, F. Bellas, F. Orjales, D. Souto, R.J. Duro, An Evolution Friendly Modular Architecture to Produce Feasible Robots, Robotics and Autonomous Systems, pp 195 - 205, 2015
A. Faíña, D. Souto, F. Orjales, F. Bellas, R.J. Duro, Towards feasible virtual creatures by using modular robots, Proceedings of International Conference on Intelligent Robots and Systems (IROS 2014), 2014
Francisco Bellas, Pilar Caamaño, Andres Faiña, Richard J. Duro, Dynamic Learning in Cognitive Robotics through a Procedural Long Term Memory, Evolving Systems, pp 49 - 63, 2014
Andrés Faíña, Francisco Bellas, Fernando López-Peña, Richard J. Duro, EDHMoR: Evolutionary designer of heterogeneous modular robots, Engineering Applications of Artificial Intelligence, pp 2408 - 2423, 2013
F. Lopez Peña, M. Miguez Gonzalez, A. Deibe, D. Pena, F. Orjales, An Autonomous Scale Ship Model for Towing Tank Testing, Proceedings of The 7th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, pp 25 - 29, 2013
Andrés Faíña, Félix Orjales, Daniel Souto, Francisco Bellas and Richard J. Duro, Designing a Modular Robotic Architecture for Industrial Applications, Proceedings of the 7th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, pp 874 - 879, 2013
P. Trueba, A. Prieto, F. Bellas, P. Caamaño, R.J. Duro, Specialization analysis of embodied evolution for robotic collective tasks, Robotics and Autonomous Systems, pp 682 - 693, 2013
Andrés Faíña, Felix Orjales, Francisco Bellas, and Richard J. Duro, Implicit and Robust Evaluation Methodology for the Evolutionary Design of Feasible Robots, LNCS, pp 102 - 111, 2013
Pilar Caamaño, Andrés Faiña, Francisco Bellas, and Richard J. Duro, Multiscale Dynamic Learning in Cognitive Robotics, Natural and Artificial Computation in Engineering and Medical Applications Lecture Notes in Computer Science, pp 56 - 65, 2013
D. Souto, A. Faiña, F. López-Peña and R. J. Duro, Lappa: A new type of robot for underwater non-magnetic and complex hull cleaning*, Proceedings of 2013 IEEE International Conference on Robotics and Automation, pp 3394 - 3399, 2013
Daniel Souto, Andres Faiña, Alvaro Deibe, Fernando Lopez-Peña and Richard J. Duro, A Robot for the Unsupervised Grit-Blasting of Ship Hulls, International Journal of Advanced Robotic Systems, pp 1 - 16, 2012
Rodrigo Salgado, Francisco Bellas, Borja Santos-Diez, Pilar Caamaño, Richard Duro, A Procedural Long Term Memory for Cognitive Robotics. Optimizing Adaptive Learning in Dynamic Environments (Best paper award), Proceedings of the 2012 IEEE Conference on Evolving and Adaptive Intelligent Systems (EAIS 2012), pp 57 - 62, 2012
Abraham Prieto, Francisco Bellas, Pilar Caamaño, Richard J. Duro, Automatic Neural-based Pattern Classification of Motion Behaviors in Autonomous Robots, Neurocomputing, pp 146 - 155, 2012
Abraham Prieto García, Gervasio Varela Fernández, Blanca María Priego Torres, Fernando López-Peña, Mixed reality educational environment for robotics, 2011 IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems Proceedings, pp 119 - 124, 2011
A. Faiña, F. Orjales, F. Bellas and R.J. Duro, First Steps towards a Heterogeneous Modular Robotic Architecture for Intelligent Industrial Operation, Workshop Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo-Hybrid Systems, IROS, pp 06, 2011
R. J. Duro, F. Bellas, A. Prieto, A. Paz-Lopez, Social Learning for Collaboration through ASiCo based Neuroevolution, Journal of Intelligent and Fuzzy Systems, pp 125 - 139, 2011
P. Trueba, A. Prieto, P. Caamaño, F. Bellas and R. J. Duro, Task-Driven Species in Evolutionary Robotic Teams, Foundations on Natural and Artificial Computation Lecture Notes in Computer Science, pp 138 - 147, 2011
Andrés Faíña, Francisco Bellas, Daniel Souto and Richard J. Duro, Towards an Evolutionary Design of Modular Robots for Industry, Proceedings of the 4th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2011, pp 50 - 59, 2011
P. Caamaño, J.A. Becerra, F. Bellas, A. Prieto and R.J. Duro, Evolutionary Procedure for the Progressive Design of Controllers for Collective Behaviors, Lecture Notes in Computer Science, pp 471 - 478, 2011
F. Bellas, R. J. Duro, A. Faiña, D. Souto, MDB: Artificial Evolution in a Cognitive Architecture for Real Robots, IEEE Transactions on Autonomous Mental Development, pp 340 - 354, 2010
Abraham Prieto, Francisco Bellas, Jose A. Becerra, Blanca Priego, and Richard J. Duro, Self-organizing Robot Teams Using Asynchronous Situated Co-evolution, Lecture Notes in Artificial Intelligence, pp 565 - 574, 2010
F. Bellas, A. Faiña, G. Varela, R. J. Duro, A Cognitive Developmental Robotics Architecture for Lifelong Learning by Evolution in Real Robots, Proceedings IEEE WCCI 2010, pp 47 - 54, 2010
Abraham Prieto, Francisco Bellas, Pilar Caamaño and Richard J. Duro, Automatic Behavior Pattern Classification for Social Robots, Lecture Notes in Artificial Intelligence, pp 88 - 95, 2010
B. Santos-Diez, F. Bellas, A. Faiña, R.J. Duro, Lifelong Learning by Evolution in Robotics: Bridging the Gap from Theory to Reality, Proceedings of the International Symposium on Evolving Intelligent Systems, pp 48 - 53, 2010
Abraham Prieto, Francisco Bellas, and Richard J. Duro, Adaptively Coordinating Heterogeneous Robot Teams through Asynchronous Situated Coevolution, Lecture Notes in Computer Science, pp 75 - 82, 2009
Abraham Prieto, Francisco Bellas, Andres Faiña, Richard J. Duro, Asynchronous Situated Coevolution and Embryonic Reproduction as a Means to Autonomously Coordinate Robot Teams, Lecture Notes in Computer Science, pp 351 - 359, 2009
Paula Garcia, Pilar Caamaño, Francisco Bellas and Richard J. Duro, A Behavior Based Architecture with Auction-Based Task Assignment for Multi-robot Industrial Applications, Bioinspired Applications in Artificial and Natural Computation Lecture Notes in Computer Science, pp 372 - 381, 2009
A. Faíña, D. Souto, A. Deibe, F. López-Peña, R. J. Duro, X. Fernández, Development of a Climbing Robot for Grit Blasting Operations in Shipyards, Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp 200 - 205, 2009
R.J. Duro, M. Graña, and J. de Lope, On the Need of Hybrid Intelligent Systems in Modular and Multi Robotics, Lecture Notes in Artificial Intelligence, pp 641 - 648, 2008
Andrés Faíña, Francisco Bellas and Richard J. Duro, Initial development of HABLA (Hardware Abstraction Layer). A middleware software tool., Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics, pp 53 - 58, 2007
P. Caamaño, A. Prieto, F. Bellas, J. A. Becerra, R. Duro, BDesigner: Una Herramienta Evolutiva para la Creación de Comportamientos Colaborativos, Actas MAEB 2007, pp 331 - 338, 2007
J. Monroy, J. A. Becerra, F. Bellas, R. J. Duro, F. López Peña, Automatic Profiling and Behavior Prediction of Computer system Users, Proceedings of the 2006 Workshop on Measurement Systems for Homeland Security, Contraband Detection and Personal Safety, pp 62 - 66, 2006
F. Bellas, A. Faiña, A. Prieto, and R.J. Duro, Adaptive Learning Application of the MDB Evolutionary Cognitive Architecture in Physical Agents, Lecture Notes in Artificial Intelligence, pp 434 - 445, 2006
J. A. Becerra, F. Bellas, R. J. Duro, J. de Lope, Snake-Like Behaviors Using Macroevolutionary Algorithms and Modulation based Architectures, Proceedings of the 7th International FLINS Conference, pp 725 - 730, 2006
J. A. Becerra, F. Bellas, R. J. Duro, Arquitectura cognitiva para robots autónomos basada en la integración de mecanismos deliberativos y reactivos, Actas del Campus Multidisciplinar en Percepción e Inteligencia, pp 345 - 356, 2006
F. Bellas, J.A. Becerra, R. Duro, Some experimental results with a two level memory management system in the multilevel darwinist brain, Proceedings ESANN 2006, pp 113 - 118, 2006
F. Bellas, J.A. Becerra, R. Duro, Construction of a Memory Management System in an On-line Learning Mechanism, Proceedings ESANN 2006, pp 95 - 100, 2006
A. Lamas, R.J. Duro, Automatic 3D Morphological Design through Evolution, Proceedings of IDAACS2005, pp 564 - 569, 2005
J.A. Becerra, F. Bellas, J. Santos, R.J. Duro, Complex Behaviours through modulation in Autonomous Robot Control, Lecture Notes in Computer Science, pp 717 - 723, 2005
F. Bellas, J.A. Becerra, R.J. Duro, Induced behaviour in a Real Agent using the Multilevel Darwinist Brain, Lecture Notes in Computer Science, pp 425 - 434, 2005
J. Santos y R. J. Duro, Evolución artificial y robótica autónoma, 2005
J. A. Becerra, J. Santos and R.J. Duro, Robot Controller Evolution with Macroevolutionary Algorithms, Information Processing with Evolutionary Algorithms From Industrial Applications to Academic Speculations, pp 117 - 128, 2005
F. Bellas, R. J. Duro, Multilevel Darwinist Brain in Robots, Initial Implementation, Proceedings 1st Internacional Conference on Informatics in Control, Automation and Robotics, pp 25 - 32, 2004
F. Bellas, R. J. Duro, Some Thoughts on the use of Sampled Fitness Functions for the Multilevel Darwinist Brain, Information Sciences, pp 159 - 179, 2004
J. A. Becerra, J. Santos, R. J. Duro, Optimización de recursos sensoriales y de procesado en la obtención de comportamientos para robots autónomos, Actas del MAEB04, pp 456 - 463, 2004
F. Bellas, R. J. Duro, Introducing Long Term Memory in an ANN based Multilevel Darwinist Brain, Lecture Notes in Computer Science, pp 590 - 598, 2003
J. A. Becerra, J. Santos, R. J. Duro, Multimodule Artificial Neural Network Architectures for Autonomous Robot Control Through Behavior Modulation, Lecture Notes in Computer Science, pp 169 - 176, 2003
F. Bellas, R. J. Duro, Generación automática de modelos de mundo mediante algoritmos genéticos basados en genes promotores, Actas del segundo congreso español sobre Metaheurísticas, Algoritmos Evolutivos y Bioinspirados, pp 101 - 108, 2003
R.J. Duro, J. Santos and M. Graña, Biologically Inspired Robot Behavior Engineering, 2003
F. Bellas, R. J. Duro, Modelling the world with statiscally neutral PBGAs. Enhancement and real applications, Proc. 9th Internacional Conference on Neural Information Processing, pp 2093 - 2098, 2002
J. A. Becerra, Richard J. Duro, José Santos Reyes, Self Pruning Gaussian Synapse Networks for Behavior Based Robots, Lecture Notes in Computer Science, pp 837 - 843, 2002
F. Bellas, A. Lamas, R. J. Duro, Multilevel Darwinist Brain and Autonomously Learning to Walk, Proceedings of the International Conference on Computational Intelligence, Robotics and Autonomus Systems, pp 392 - 398, 2001
A. Lamas, R. J. Duro, ADEUS: Integrating Advanced Simulators, Evolution and Cluster Computing for Autonomous Robot Design, Proceedings of the International Conference on Computational Intelligence, Robotics and Autonomous Systems, pp 398 - 404, 2001
F. Bellas, A. Lamas, R. J. Duro, Adaptive Behavior through a Darwinist Machine, Lecture Notes in Artificial Intelligence, pp 86 - 89, 2001
F. Bellas, A. Lamas, R. J. Duro, Evolutionary Cognition for Autonomously Obtaining Primal Behaviors, Advances in Signal Processing, Robotics and Communications, pp 398 - 403, 2001
A. Lamas, R. Duro, Integrating Advanced Simulators for the Automatic design of Controllers for Underwater Vehicles, Advances in Signal Processing Robotics and Communications, pp 404 - 408, 2001
J. Santos, R.J. Duro, J.A. Becerra, J.L. Crespo and F. Bellas, Considerations in the Application of Evolution to the Generation of Robot Controllers, Information Sciences, pp 127 - 148, 2001
F, Bellas, J. A. Becerra and Duro, R. J., Using Evolution for Thinking and Deciding, Advances in Fuzzy Systems and Evolutionary Computation, Artificial Intelligence, pp 242 - 247, 2001
R.J. Duro, J. A. Becerra and J. Santos, Behavior Reuse and Virtual Sensors in the Evolution of Complex Behavior Architectures, Theory In Biosciences, pp 188 - 206, 2001
Duro, R. J. , Becerra, J. A., Santos, J., Improving Reusability of Behavior Based Robot Cognitive Architectures Obtained Through Evolution, Proc. of 6th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2000), pp 3-3-8-1 - 3-3-8-5, 2000
R. J. Duro, J. Santos, F. Bellas, A. Lamas, On line Darwinist Cognitive Mechanism for an Artificial Organism, SAB 2000 Proceedings Supplement Book, pp 215 - 224, 2000
J.A. Becerra, J. Santos, Evolución Distribuída en la Obtención de Controladores para Robots Autónomos, Actas del Congreso SEID 2000, pp 219 - 226, 2000
F. Bellas, J. A. Becerra, J. Santos, R. J. Duro, Applying Synaptic Delays for Virtual Sensing and Actuation in Mobile Robots, Proc. of International Joint Conference on Neural Networks (IJCNN'2000), pp 144 - 149, 2000
R.J. Duro, J. Santos, J.A. Becerra, F. Bellas, J.L. Crespo, Using Higher order Synapses and Nodes to Improve the Sensing Capabilities of Mobile Robots, Proc. of European Symposium on Artificial Neural Networks (ESANN 2000), pp 81 - 88, 2000
J. Santos , R.J. Duro , J.A. Becerra, J.L. Crespo, F. Bellas, Aspects of Evolution for Obtaining Real Robot Controllers, Proceedings of Frontiers in Evolutionary Algorithms (FEA 2000), pp 1023 - 1027, 2000
R.J. Duro, J. Santos and J.A. Becerra, Evolving ANN Controllers for Smart Mobile Robots, Future Directions for Intelligent Systems and Information Sciences, pp 34 - 64, 2000
Duro, R.J., Santos J., Becerra, J. A., Evolving ANN Controllers for Smart Mobile Robots, Proceedings of the ICONIP99, pp 4 - 6, 1999
Becerra, J.A., Santos, J., Duro, R.J., Progressive Construction of Compound Behavior Controllers for Autonomous Robots using Temporal Information, Lecture Notes in Artificial Intelligence, pp 324 - 328, 1999
Becerra, J.A., Santos, J., Duro, R.J, Using Temporal Information in ANNs for the Implementation of Autonomous Robot Controllers, Lecture Notes in Computer Science, pp 540 - 547, 1999
Crespo J. L, Becerra, J.A. Duro, R.J., Santos, Visual tracking in a Real Robot through Higher Order Synapses, Wiener´s Cybernetics, 50 Years of Evolution, pp 167 - 169, 1999
Becerra, J. A., Crespo, J.L., Santos J., .Duro, R.J, Incremental Design of Neuronal Controllers for Infrasensonized Autonomous Robots, Wiener´s Cybernetics, 50 Years of Evolution, pp 163 - 166, 1999
J. Santos, R. J. Duro, Evolving Neural Controllers for Temporally Dependent Behaviors in Autonomous Robots, Lecture Notes in Artificial Intelligence, pp 319 - 328, 1998

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El Grupo Integrado de Ingeniería agradece el apoyo de la Xunta de Galicia y el Fondo Europeo de Desarrollo Regional bajo el proyecto GRC 2013-050