var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"jsonp\":\"1\",\"css\":\"css/bibbase.css\",\"host\":\"bibbase.org\"},\n      data: [{\"title\":\"An advanced teleassistance system to improve life quality in the elderly\",\"type\":\"inproceedings\",\"year\":\"2017\",\"pages\":\"533-542\",\"volume\":\"10350 LNCS\",\"id\":\"f1cb5030-45fd-3fa3-b9d3-0c4e0b792065\",\"created\":\"2017-12-15T11:02:08.545Z\",\"file_attached\":false,\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-04-01T08:52:25.110Z\",\"read\":\"true\",\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"private_publication\":false,\"abstract\":\"© Springer International Publishing AG 2017. Over the last decades the population in developed countries is becoming increasingly older, while the life expectancy is growing supported on medical advances. In despite of such progress, how to support older adults to continue living independently and retaining their current lifestyle is becoming a social problem. Through the careful placement of technological support, elders can continue living in their own homes longer and thus, maintaining and enhancing their quality of life. In this paper we present an AI-based system that integrates a (i) Wireless Sensor Network for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance.\",\"bibtype\":\"inproceedings\",\"author\":\"Ropero, Fernando and Vaquerizo, Daniel and Muñoz, Pablo and R-Moreno, María D.\",\"doi\":\"10.1007/978-3-319-60042-0_59\",\"booktitle\":\"Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)\",\"bibtex\":\"@inproceedings{\\n title = {An advanced teleassistance system to improve life quality in the elderly},\\n type = {inproceedings},\\n year = {2017},\\n pages = {533-542},\\n volume = {10350 LNCS},\\n id = {f1cb5030-45fd-3fa3-b9d3-0c4e0b792065},\\n created = {2017-12-15T11:02:08.545Z},\\n file_attached = {false},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-04-01T08:52:25.110Z},\\n read = {true},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n private_publication = {false},\\n abstract = {© Springer International Publishing AG 2017. Over the last decades the population in developed countries is becoming increasingly older, while the life expectancy is growing supported on medical advances. In despite of such progress, how to support older adults to continue living independently and retaining their current lifestyle is becoming a social problem. Through the careful placement of technological support, elders can continue living in their own homes longer and thus, maintaining and enhancing their quality of life. In this paper we present an AI-based system that integrates a (i) Wireless Sensor Network for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance.},\\n bibtype = {inproceedings},\\n author = {Ropero, Fernando and Vaquerizo, Daniel and Muñoz, Pablo and R-Moreno, María D.},\\n doi = {10.1007/978-3-319-60042-0_59},\\n booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Vaquerizo,  D.\",\"Muñoz,  P.\",\"R-Moreno,  M., D.\"],\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-vaquerizo-muoz-rmoreno-anadvancedteleassistancesystemtoimprovelifequalityintheelderly-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"muñoz, p\":\"https://munozp.github.io/\",\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"title\":\"MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture\",\"type\":\"misc\",\"year\":\"2018\",\"source\":\"Journal of Intelligent and Robotic Systems: Theory and Applications\",\"keywords\":\"Autonomous control,Autonomous exploration,Planning & execution,Planning & scheduling,Robotics\",\"pages\":\"1-16\",\"id\":\"5d78d02d-f774-371d-98b0-99fce2f4e75d\",\"created\":\"2018-04-05T14:37:31.066Z\",\"file_attached\":false,\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-03-17T19:30:23.542Z\",\"read\":\"true\",\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"private_publication\":false,\"abstract\":\"© 2018 Springer Science+Business Media B.V., part of Springer Nature Autonomous control in robotics hold promising solutions for a broad number of applications. However, autonomous controllers require highly expertise on heterogeneous technologies, such as Artificial Intelligence Planning & Scheduling, behaviour modelling, intelligent execution and the hardware to control. Connecting these technologies entails several challenges to properly synchronize and verify the robot behaviours to deal with real scenarios. In this article, we present an autonomous controller based on high level modelling to easily enable adaptation of the controller to different robotics platforms and application domains. This controller, called MoBAr, allows on-board planning and replanning for goal oriented autonomy. It relies on technologies such as PLEXIL to model the execution behaviours, or the action oriented planning language PDDL for the domain definition and the planning process. Based on these technologies MoBAr enables an easier deployment of the autonomous controller for different robotics platforms. Moreover, MoBAr enables researching in planning systems applied to robotics domains, as it is possible to replace the PDDL planner and/or domain used without much effort. This fact is demonstrated in the experimental section, in which we demonstrate the adaptability and effectiveness of the controller in three different scenarios, i.e., a robotic arm, an office surveillance robot and an exploration rover while exploiting different planning systems.\",\"bibtype\":\"misc\",\"author\":\"Muñoz, Pablo and R-Moreno, María D. and Barrero, David F. and Ropero, Fernando\",\"doi\":\"10.1007/s10846-018-0810-z\",\"bibtex\":\"@misc{\\n title = {MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture},\\n type = {misc},\\n year = {2018},\\n source = {Journal of Intelligent and Robotic Systems: Theory and Applications},\\n keywords = {Autonomous control,Autonomous exploration,Planning & execution,Planning & scheduling,Robotics},\\n pages = {1-16},\\n id = {5d78d02d-f774-371d-98b0-99fce2f4e75d},\\n created = {2018-04-05T14:37:31.066Z},\\n file_attached = {false},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-03-17T19:30:23.542Z},\\n read = {true},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n private_publication = {false},\\n abstract = {© 2018 Springer Science+Business Media B.V., part of Springer Nature Autonomous control in robotics hold promising solutions for a broad number of applications. However, autonomous controllers require highly expertise on heterogeneous technologies, such as Artificial Intelligence Planning & Scheduling, behaviour modelling, intelligent execution and the hardware to control. Connecting these technologies entails several challenges to properly synchronize and verify the robot behaviours to deal with real scenarios. In this article, we present an autonomous controller based on high level modelling to easily enable adaptation of the controller to different robotics platforms and application domains. This controller, called MoBAr, allows on-board planning and replanning for goal oriented autonomy. It relies on technologies such as PLEXIL to model the execution behaviours, or the action oriented planning language PDDL for the domain definition and the planning process. Based on these technologies MoBAr enables an easier deployment of the autonomous controller for different robotics platforms. Moreover, MoBAr enables researching in planning systems applied to robotics domains, as it is possible to replace the PDDL planner and/or domain used without much effort. This fact is demonstrated in the experimental section, in which we demonstrate the adaptability and effectiveness of the controller in three different scenarios, i.e., a robotic arm, an office surveillance robot and an exploration rover while exploiting different planning systems.},\\n bibtype = {misc},\\n author = {Muñoz, Pablo and R-Moreno, María D. and Barrero, David F. and Ropero, Fernando},\\n doi = {10.1007/s10846-018-0810-z}\\n}\",\"author_short\":[\"Muñoz,  P.\",\"R-Moreno,  M., D.\",\"Barrero,  D., F.\",\"Ropero,  F.\"],\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"muoz-rmoreno-barrero-ropero-mobarahierarchicalactionorientedautonomouscontrolarchitecture-2018\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Autonomous control\",\"Autonomous exploration\",\"Planning & execution\",\"Planning & scheduling\",\"Robotics\"],\"metadata\":{\"authorlinks\":{\"muñoz, p\":\"https://munozp.github.io/\",\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"title\":\"A Virtual Reality Mission Planner for Mars Rovers\",\"type\":\"inproceedings\",\"year\":\"2017\",\"keywords\":\"AR,VR,path-planning,planning,rover operations\",\"pages\":\"142-146\",\"volume\":\"2017-Decem\",\"websites\":\"http://ieeexplore.ieee.org/document/8227555/\",\"id\":\"5429d89a-86da-36d9-aad0-5344a74df82c\",\"created\":\"2018-07-12T16:39:21.697Z\",\"file_attached\":false,\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-04-01T08:52:25.117Z\",\"read\":\"true\",\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"private_publication\":false,\"abstract\":\"—For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the cost map it is possible to obtain (sub)optimal solutions to safely drive the rover through different waypoints. As well, the paths obtained can be assessed using simulators and handmade improved by means of Virtual Reality techniques. In this paper we present an integrated planner for the mission planning and its evaluation using the recent technological advances in Virtual Reality. We have developed a low cost application to provide a three-dimensional view of the path generated exploiting real Mars surfaces with the aim of helping operators in deciding the best paths to follow.\",\"bibtype\":\"inproceedings\",\"author\":\"Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D. and Barrero, David F.\",\"doi\":\"10.1109/SMC-IT.2017.32\",\"booktitle\":\"2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT)\",\"bibtex\":\"@inproceedings{\\n title = {A Virtual Reality Mission Planner for Mars Rovers},\\n type = {inproceedings},\\n year = {2017},\\n keywords = {AR,VR,path-planning,planning,rover operations},\\n pages = {142-146},\\n volume = {2017-Decem},\\n websites = {http://ieeexplore.ieee.org/document/8227555/},\\n id = {5429d89a-86da-36d9-aad0-5344a74df82c},\\n created = {2018-07-12T16:39:21.697Z},\\n file_attached = {false},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-04-01T08:52:25.117Z},\\n read = {true},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n private_publication = {false},\\n abstract = {—For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the cost map it is possible to obtain (sub)optimal solutions to safely drive the rover through different waypoints. As well, the paths obtained can be assessed using simulators and handmade improved by means of Virtual Reality techniques. In this paper we present an integrated planner for the mission planning and its evaluation using the recent technological advances in Virtual Reality. We have developed a low cost application to provide a three-dimensional view of the path generated exploiting real Mars surfaces with the aim of helping operators in deciding the best paths to follow.},\\n bibtype = {inproceedings},\\n author = {Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D. and Barrero, David F.},\\n doi = {10.1109/SMC-IT.2017.32},\\n booktitle = {2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT)}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Munoz,  P.\",\"R-Moreno,  M., D.\",\"Barrero,  D., F.\"],\"urls\":{\"Website\":\"http://ieeexplore.ieee.org/document/8227555/\"},\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017\",\"role\":\"author\",\"keyword\":[\"AR\",\"VR\",\"path-planning\",\"planning\",\"rover operations\"],\"metadata\":{\"authorlinks\":{\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"title\":\"A strategical path planner for UGV-UAV cooperation in Mars Terrains\",\"type\":\"book\",\"year\":\"2018\",\"source\":\"Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)\",\"keywords\":\"Distributed AI algorithms,Intelligent agents,Planning and scheduling,Systems and applications\",\"pages\":\"106-118\",\"volume\":\"11311 LNAI\",\"websites\":\"http://link.springer.com/10.1007/978-3-030-04191-5_8\",\"id\":\"279d5de6-835d-3068-bab3-4be7f3618030\",\"created\":\"2019-01-14T11:17:41.300Z\",\"file_attached\":false,\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-04-01T08:52:25.051Z\",\"read\":\"true\",\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"private_publication\":false,\"abstract\":\"© Springer Nature Switzerland AG 2018. Mars exploration is an ongoing researching topic mainly due to the technological breakthroughs in robotic platforms. Space agencies as NASA, are considering future Mars explorations where multi-robot teams cooperate to maximize the scientific return. In this regard, we present a cooperative team formed by a Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) to autonomously perform a Mars exploration. We develop a strategical path planner to compute a route plan for the UGV-UAV team to reach all the target points of the exploration. The key problems that we have considered in Mars explorations for the UGV-UAV team are: the UAV energy constraints and the UGV functionality constraints. Our strategical path planner models the UGV as a moving charging station which will carry the UAV through secure locations close to the target points locations, and the UAV will visit the target points using the UGV as a recharging station. Our solution has been tested in several scenarios and the results demonstrate that our approach is able to carry out a coordinated plan in a local optimal mission time on a real Mars terrain.\",\"bibtype\":\"book\",\"author\":\"Ropero, Fernando and Muñoz, Pablo and R-Moreno, M.D.\",\"doi\":\"10.1007/978-3-030-04191-5_8\",\"bibtex\":\"@book{\\n title = {A strategical path planner for UGV-UAV cooperation in Mars Terrains},\\n type = {book},\\n year = {2018},\\n source = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},\\n keywords = {Distributed AI algorithms,Intelligent agents,Planning and scheduling,Systems and applications},\\n pages = {106-118},\\n volume = {11311 LNAI},\\n websites = {http://link.springer.com/10.1007/978-3-030-04191-5_8},\\n id = {279d5de6-835d-3068-bab3-4be7f3618030},\\n created = {2019-01-14T11:17:41.300Z},\\n file_attached = {false},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-04-01T08:52:25.051Z},\\n read = {true},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n private_publication = {false},\\n abstract = {© Springer Nature Switzerland AG 2018. Mars exploration is an ongoing researching topic mainly due to the technological breakthroughs in robotic platforms. Space agencies as NASA, are considering future Mars explorations where multi-robot teams cooperate to maximize the scientific return. In this regard, we present a cooperative team formed by a Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) to autonomously perform a Mars exploration. We develop a strategical path planner to compute a route plan for the UGV-UAV team to reach all the target points of the exploration. The key problems that we have considered in Mars explorations for the UGV-UAV team are: the UAV energy constraints and the UGV functionality constraints. Our strategical path planner models the UGV as a moving charging station which will carry the UAV through secure locations close to the target points locations, and the UAV will visit the target points using the UGV as a recharging station. Our solution has been tested in several scenarios and the results demonstrate that our approach is able to carry out a coordinated plan in a local optimal mission time on a real Mars terrain.},\\n bibtype = {book},\\n author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, M.D.},\\n doi = {10.1007/978-3-030-04191-5_8}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Muñoz,  P.\",\"R-Moreno,  M.\"],\"urls\":{\"Website\":\"http://link.springer.com/10.1007/978-3-030-04191-5_8\"},\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018\",\"role\":\"author\",\"keyword\":[\"Distributed AI algorithms\",\"Intelligent agents\",\"Planning and scheduling\",\"Systems and applications\"],\"metadata\":{\"authorlinks\":{\"muñoz, p\":\"https://munozp.github.io/\",\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":2,\"html\":\"\"},{\"title\":\"A versatile executive based on T-REX for any robotic domain\",\"type\":\"inproceedings\",\"year\":\"2018\",\"keywords\":\"Distributed AI algorithms,Intelligent agents,Planning and scheduling\",\"pages\":\"79-91\",\"volume\":\"11311 LNAI\",\"websites\":\"http://link.springer.com/10.1007/978-3-030-04191-5_6\",\"id\":\"e5de5392-e8a6-3ac1-ad9d-9e4912893e47\",\"created\":\"2019-01-14T11:18:00.787Z\",\"file_attached\":false,\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-04-01T08:52:25.050Z\",\"read\":\"true\",\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"private_publication\":false,\"abstract\":\"© Springer Nature Switzerland AG 2018. Autonomous controllers are highly expertise entities that integrate the sensing-planning-act cycle to operate robotic platforms in unaffordable environments. Its complexity usually makes them to be focused on a single robotic platform which is ostensibly inefficient. The Teleo-Reactive EXecutive (T-REX) is an autonomous controller envisaged as a multi-agent architecture where sensing, planning and execution are interleaved on a single agent. In this paper, we present a T-REX executive module to manage the execution cycle of actions during the planning phase. Our executive module, called GER, aims to state generic execution policies which make a T-REX controller turns into a heterogeneous entity able to operate over any robotic domain. The experimental section demonstrates that GER allows current T-REX architectures, such as GOAC, to manage different robotic domains as Unmanned Aerial Vehicles (UAV) or Unmanned Ground Vehicles (UGV).\",\"bibtype\":\"inproceedings\",\"author\":\"Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.\",\"doi\":\"10.1007/978-3-030-04191-5_6\",\"booktitle\":\"Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)\",\"bibtex\":\"@inproceedings{\\n title = {A versatile executive based on T-REX for any robotic domain},\\n type = {inproceedings},\\n year = {2018},\\n keywords = {Distributed AI algorithms,Intelligent agents,Planning and scheduling},\\n pages = {79-91},\\n volume = {11311 LNAI},\\n websites = {http://link.springer.com/10.1007/978-3-030-04191-5_6},\\n id = {e5de5392-e8a6-3ac1-ad9d-9e4912893e47},\\n created = {2019-01-14T11:18:00.787Z},\\n file_attached = {false},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-04-01T08:52:25.050Z},\\n read = {true},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n private_publication = {false},\\n abstract = {© Springer Nature Switzerland AG 2018. Autonomous controllers are highly expertise entities that integrate the sensing-planning-act cycle to operate robotic platforms in unaffordable environments. Its complexity usually makes them to be focused on a single robotic platform which is ostensibly inefficient. The Teleo-Reactive EXecutive (T-REX) is an autonomous controller envisaged as a multi-agent architecture where sensing, planning and execution are interleaved on a single agent. In this paper, we present a T-REX executive module to manage the execution cycle of actions during the planning phase. Our executive module, called GER, aims to state generic execution policies which make a T-REX controller turns into a heterogeneous entity able to operate over any robotic domain. The experimental section demonstrates that GER allows current T-REX architectures, such as GOAC, to manage different robotic domains as Unmanned Aerial Vehicles (UAV) or Unmanned Ground Vehicles (UGV).},\\n bibtype = {inproceedings},\\n author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.},\\n doi = {10.1007/978-3-030-04191-5_6},\\n booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Muñoz,  P.\",\"R-Moreno,  M., D.\"],\"urls\":{\"Website\":\"http://link.springer.com/10.1007/978-3-030-04191-5_6\"},\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018\",\"role\":\"author\",\"keyword\":[\"Distributed AI algorithms\",\"Intelligent agents\",\"Planning and scheduling\"],\"metadata\":{\"authorlinks\":{\"muñoz, p\":\"https://munozp.github.io/\",\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"title\":\"TERRA: A path planning algorithm for cooperative UGV–UAV exploration\",\"type\":\"article\",\"year\":\"2019\",\"keywords\":\"Cooperation,Exploration,Heterogeneous robots,Routing\",\"pages\":\"260-272\",\"volume\":\"78\",\"websites\":\"https://www.sciencedirect.com/science/article/pii/S095219761830246X\",\"month\":\"2\",\"publisher\":\"Pergamon\",\"day\":\"1\",\"id\":\"4afdc1b6-35cd-3da0-abdd-29d97c166a2f\",\"created\":\"2019-02-20T14:57:36.575Z\",\"accessed\":\"2019-02-20\",\"file_attached\":\"true\",\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-04-01T08:52:25.067Z\",\"read\":\"true\",\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"folder_uuids\":\"cd70f9ba-e985-4c3e-a437-5fa65abd5780\",\"private_publication\":false,\"abstract\":\"In this paper, we consider the scenario of exploring a planetary surface with a system formed by an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). The goal is to reach a set of target points minimizing the travelling distance. Some expected key problems in planetary explorations are the UGVs functionality constraints to reach some target points as a single robot system and the UAVs energy constraints to reach all the target points on its own. We present an approach based on the coordination of a hybrid UGV–UAV system, in which both robots work together for reaching all the target points. Our strategy proposes the UGV as a moving charging station to solve the UAV energy constraint problem, and the UAV as the robotic system in charge of reaching the target points to solve the UGV functionality constraints. To overcome this problem, we formulate a strategy merging combinatorial classic techniques and modern evolutionary approaches aiming to optimize the travelling distance. Our solution has been tested in several simulation runs with different target points distributions. The results demonstrate that our approach is able to generate a coordinated plan for optimizing the hybrid UGV–UAV system in the exploration scenario.\",\"bibtype\":\"article\",\"author\":\"Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.\",\"doi\":\"10.1016/j.engappai.2018.11.008\",\"journal\":\"Engineering Applications of Artificial Intelligence\",\"bibtex\":\"@article{\\n title = {TERRA: A path planning algorithm for cooperative UGV–UAV exploration},\\n type = {article},\\n year = {2019},\\n keywords = {Cooperation,Exploration,Heterogeneous robots,Routing},\\n pages = {260-272},\\n volume = {78},\\n websites = {https://www.sciencedirect.com/science/article/pii/S095219761830246X},\\n month = {2},\\n publisher = {Pergamon},\\n day = {1},\\n id = {4afdc1b6-35cd-3da0-abdd-29d97c166a2f},\\n created = {2019-02-20T14:57:36.575Z},\\n accessed = {2019-02-20},\\n file_attached = {true},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-04-01T08:52:25.067Z},\\n read = {true},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n folder_uuids = {cd70f9ba-e985-4c3e-a437-5fa65abd5780},\\n private_publication = {false},\\n abstract = {In this paper, we consider the scenario of exploring a planetary surface with a system formed by an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). The goal is to reach a set of target points minimizing the travelling distance. Some expected key problems in planetary explorations are the UGVs functionality constraints to reach some target points as a single robot system and the UAVs energy constraints to reach all the target points on its own. We present an approach based on the coordination of a hybrid UGV–UAV system, in which both robots work together for reaching all the target points. Our strategy proposes the UGV as a moving charging station to solve the UAV energy constraint problem, and the UAV as the robotic system in charge of reaching the target points to solve the UGV functionality constraints. To overcome this problem, we formulate a strategy merging combinatorial classic techniques and modern evolutionary approaches aiming to optimize the travelling distance. Our solution has been tested in several simulation runs with different target points distributions. The results demonstrate that our approach is able to generate a coordinated plan for optimizing the hybrid UGV–UAV system in the exploration scenario.},\\n bibtype = {article},\\n author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.},\\n doi = {10.1016/j.engappai.2018.11.008},\\n journal = {Engineering Applications of Artificial Intelligence}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Muñoz,  P.\",\"R-Moreno,  M., D.\"],\"urls\":{\"Paper\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/6d06acc7-3db8-26b3-13d9-b69201a739d6/full_text.pdf.pdf\",\"Website\":\"https://www.sciencedirect.com/science/article/pii/S095219761830246X\"},\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019\",\"role\":\"author\",\"keyword\":[\"Cooperation\",\"Exploration\",\"Heterogeneous robots\",\"Routing\"],\"metadata\":{\"authorlinks\":{\"muñoz, p\":\"https://munozp.github.io/\",\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":5,\"html\":\"\"},{\"title\":\"LARES: An AI-based teleassistance system for emergency home monitoring\",\"type\":\"article\",\"year\":\"2019\",\"pages\":\"213-222\",\"volume\":\"56\",\"websites\":\"https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870\",\"month\":\"4\",\"publisher\":\"Elsevier\",\"day\":\"6\",\"id\":\"bea51ef8-9830-3ba8-b195-4d2d4cdeb24e\",\"created\":\"2019-04-12T12:03:14.174Z\",\"accessed\":\"2019-04-12\",\"file_attached\":\"true\",\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-04-27T20:18:05.745Z\",\"read\":false,\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"private_publication\":false,\"abstract\":\"The latest progresses in medicine are helping people live longer and better. An ageing population is a sign of a developed society with an advanced health care system. Improved life expectancy should be welcomed as a major achievement, but it should not cause a financial or social burden. In this scenario, it is critical to support older and handicap adults to continue living independently and retaining their current lifestyle. New technological advances in Wireless Sensors Networks (WSN) and Artificial Intelligence (AI) can facilitate this task. In this direction we present lares, an AI-based system that integrates a (i) WSN for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance. lares has been tried in two dependent elderly home environments during several weeks, and the experiments show that is able to detect anomalies and generate alarms in abnormal situations.\",\"bibtype\":\"article\",\"author\":\"Ropero, Fernando and Vaquerizo-Hdez, Daniel and Muñoz, Pablo and Barrero, David F. and R-Moreno, Maria D.\",\"doi\":\"10.1016/j.cogsys.2019.03.019\",\"journal\":\"Cognitive Systems Research\",\"bibtex\":\"@article{\\n title = {LARES: An AI-based teleassistance system for emergency home monitoring},\\n type = {article},\\n year = {2019},\\n pages = {213-222},\\n volume = {56},\\n websites = {https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870},\\n month = {4},\\n publisher = {Elsevier},\\n day = {6},\\n id = {bea51ef8-9830-3ba8-b195-4d2d4cdeb24e},\\n created = {2019-04-12T12:03:14.174Z},\\n accessed = {2019-04-12},\\n file_attached = {true},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-04-27T20:18:05.745Z},\\n read = {false},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n private_publication = {false},\\n abstract = {The latest progresses in medicine are helping people live longer and better. An ageing population is a sign of a developed society with an advanced health care system. Improved life expectancy should be welcomed as a major achievement, but it should not cause a financial or social burden. In this scenario, it is critical to support older and handicap adults to continue living independently and retaining their current lifestyle. New technological advances in Wireless Sensors Networks (WSN) and Artificial Intelligence (AI) can facilitate this task. In this direction we present lares, an AI-based system that integrates a (i) WSN for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance. lares has been tried in two dependent elderly home environments during several weeks, and the experiments show that is able to detect anomalies and generate alarms in abnormal situations.},\\n bibtype = {article},\\n author = {Ropero, Fernando and Vaquerizo-Hdez, Daniel and Muñoz, Pablo and Barrero, David F. and R-Moreno, Maria D.},\\n doi = {10.1016/j.cogsys.2019.03.019},\\n journal = {Cognitive Systems Research}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Vaquerizo-Hdez,  D.\",\"Muñoz,  P.\",\"Barrero,  D., F.\",\"R-Moreno,  M., D.\"],\"urls\":{\"Paper\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/033a12c6-9266-2971-0ba3-d301e241c38a/full_text.pdf.pdf\",\"Website\":\"https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870\"},\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019\",\"role\":\"author\",\"metadata\":{\"authorlinks\":{\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"title\":\"ARIES: An Autonomous Controller For Multirobot Cooperation\",\"type\":\"article\",\"year\":\"2019\",\"pages\":\"40-55\",\"volume\":\"34\",\"websites\":\"https://ieeexplore.ieee.org/document/8716627/\",\"month\":\"3\",\"id\":\"e9144f65-d720-3676-823c-11a2b1c24a28\",\"created\":\"2019-05-21T08:11:32.543Z\",\"accessed\":\"2019-05-21\",\"file_attached\":false,\"profile_id\":\"7bb64581-3780-374c-9752-deb713921fa6\",\"last_modified\":\"2019-07-10T09:12:05.212Z\",\"read\":false,\"starred\":false,\"authored\":\"true\",\"confirmed\":\"true\",\"hidden\":false,\"folder_uuids\":\"b36a1f29-8663-4b9c-9c45-2e28598b8cd9\",\"private_publication\":false,\"bibtype\":\"article\",\"author\":\"Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D.\",\"doi\":\"10.1109/maes.2019.2905922\",\"journal\":\"IEEE Aerospace and Electronic Systems Magazine\",\"number\":\"3\",\"bibtex\":\"@article{\\n title = {ARIES: An Autonomous Controller For Multirobot Cooperation},\\n type = {article},\\n year = {2019},\\n pages = {40-55},\\n volume = {34},\\n websites = {https://ieeexplore.ieee.org/document/8716627/},\\n month = {3},\\n id = {e9144f65-d720-3676-823c-11a2b1c24a28},\\n created = {2019-05-21T08:11:32.543Z},\\n accessed = {2019-05-21},\\n file_attached = {false},\\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\\n last_modified = {2019-07-10T09:12:05.212Z},\\n read = {false},\\n starred = {false},\\n authored = {true},\\n confirmed = {true},\\n hidden = {false},\\n folder_uuids = {b36a1f29-8663-4b9c-9c45-2e28598b8cd9},\\n private_publication = {false},\\n bibtype = {article},\\n author = {Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D.},\\n doi = {10.1109/maes.2019.2905922},\\n journal = {IEEE Aerospace and Electronic Systems Magazine},\\n number = {3}\\n}\",\"author_short\":[\"Ropero,  F.\",\"Munoz,  P.\",\"R-Moreno,  M., D.\"],\"urls\":{\"Website\":\"https://ieeexplore.ieee.org/document/8716627/\"},\"biburl\":\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6\",\"bibbaseid\":\"ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019\",\"role\":\"author\",\"metadata\":{\"authorlinks\":{\"ropero,  f\":\"https://fropero.com/publications.html\"}},\"downloads\":0,\"html\":\"\"}],\n      metadata: {\"owner\":\"ropero,  f\",\"authorlinks\":{\"ropero,  f\":\"https://fropero.com/publications.html\"}},\n      ownerID: \"nLNzdDn3E9yS5R85S\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and 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onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"all.bib\" href=\"data:text/bibtex;base64,@inproceedings{
 title = {An advanced teleassistance system to improve life quality in the elderly},
 type = {inproceedings},
 year = {2017},
 pages = {533-542},
 volume = {10350 LNCS},
 id = {f1cb5030-45fd-3fa3-b9d3-0c4e0b792065},
 created = {2017-12-15T11:02:08.545Z},
 file_attached = {false},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-04-01T08:52:25.110Z},
 read = {true},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 private_publication = {false},
 abstract = {© Springer International Publishing AG 2017. Over the last decades the population in developed countries is becoming increasingly older, while the life expectancy is growing supported on medical advances. In despite of such progress, how to support older adults to continue living independently and retaining their current lifestyle is becoming a social problem. Through the careful placement of technological support, elders can continue living in their own homes longer and thus, maintaining and enhancing their quality of life. In this paper we present an AI-based system that integrates a (i) Wireless Sensor Network for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance.},
 bibtype = {inproceedings},
 author = {Ropero, Fernando and Vaquerizo, Daniel and Muñoz, Pablo and R-Moreno, María D.},
 doi = {10.1007/978-3-319-60042-0_59},
 booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)}
}

@misc{
 title = {MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture},
 type = {misc},
 year = {2018},
 source = {Journal of Intelligent and Robotic Systems: Theory and Applications},
 keywords = {Autonomous control,Autonomous exploration,Planning & execution,Planning & scheduling,Robotics},
 pages = {1-16},
 id = {5d78d02d-f774-371d-98b0-99fce2f4e75d},
 created = {2018-04-05T14:37:31.066Z},
 file_attached = {false},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-03-17T19:30:23.542Z},
 read = {true},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 private_publication = {false},
 abstract = {© 2018 Springer Science+Business Media B.V., part of Springer Nature Autonomous control in robotics hold promising solutions for a broad number of applications. However, autonomous controllers require highly expertise on heterogeneous technologies, such as Artificial Intelligence Planning & Scheduling, behaviour modelling, intelligent execution and the hardware to control. Connecting these technologies entails several challenges to properly synchronize and verify the robot behaviours to deal with real scenarios. In this article, we present an autonomous controller based on high level modelling to easily enable adaptation of the controller to different robotics platforms and application domains. This controller, called MoBAr, allows on-board planning and replanning for goal oriented autonomy. It relies on technologies such as PLEXIL to model the execution behaviours, or the action oriented planning language PDDL for the domain definition and the planning process. Based on these technologies MoBAr enables an easier deployment of the autonomous controller for different robotics platforms. Moreover, MoBAr enables researching in planning systems applied to robotics domains, as it is possible to replace the PDDL planner and/or domain used without much effort. This fact is demonstrated in the experimental section, in which we demonstrate the adaptability and effectiveness of the controller in three different scenarios, i.e., a robotic arm, an office surveillance robot and an exploration rover while exploiting different planning systems.},
 bibtype = {misc},
 author = {Muñoz, Pablo and R-Moreno, María D. and Barrero, David F. and Ropero, Fernando},
 doi = {10.1007/s10846-018-0810-z}
}

@inproceedings{
 title = {A Virtual Reality Mission Planner for Mars Rovers},
 type = {inproceedings},
 year = {2017},
 keywords = {AR,VR,path-planning,planning,rover operations},
 pages = {142-146},
 volume = {2017-Decem},
 websites = {http://ieeexplore.ieee.org/document/8227555/},
 id = {5429d89a-86da-36d9-aad0-5344a74df82c},
 created = {2018-07-12T16:39:21.697Z},
 file_attached = {false},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-04-01T08:52:25.117Z},
 read = {true},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 private_publication = {false},
 abstract = {—For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the cost map it is possible to obtain (sub)optimal solutions to safely drive the rover through different waypoints. As well, the paths obtained can be assessed using simulators and handmade improved by means of Virtual Reality techniques. In this paper we present an integrated planner for the mission planning and its evaluation using the recent technological advances in Virtual Reality. We have developed a low cost application to provide a three-dimensional view of the path generated exploiting real Mars surfaces with the aim of helping operators in deciding the best paths to follow.},
 bibtype = {inproceedings},
 author = {Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D. and Barrero, David F.},
 doi = {10.1109/SMC-IT.2017.32},
 booktitle = {2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT)}
}

@book{
 title = {A strategical path planner for UGV-UAV cooperation in Mars Terrains},
 type = {book},
 year = {2018},
 source = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
 keywords = {Distributed AI algorithms,Intelligent agents,Planning and scheduling,Systems and applications},
 pages = {106-118},
 volume = {11311 LNAI},
 websites = {http://link.springer.com/10.1007/978-3-030-04191-5_8},
 id = {279d5de6-835d-3068-bab3-4be7f3618030},
 created = {2019-01-14T11:17:41.300Z},
 file_attached = {false},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-04-01T08:52:25.051Z},
 read = {true},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 private_publication = {false},
 abstract = {© Springer Nature Switzerland AG 2018. Mars exploration is an ongoing researching topic mainly due to the technological breakthroughs in robotic platforms. Space agencies as NASA, are considering future Mars explorations where multi-robot teams cooperate to maximize the scientific return. In this regard, we present a cooperative team formed by a Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) to autonomously perform a Mars exploration. We develop a strategical path planner to compute a route plan for the UGV-UAV team to reach all the target points of the exploration. The key problems that we have considered in Mars explorations for the UGV-UAV team are: the UAV energy constraints and the UGV functionality constraints. Our strategical path planner models the UGV as a moving charging station which will carry the UAV through secure locations close to the target points locations, and the UAV will visit the target points using the UGV as a recharging station. Our solution has been tested in several scenarios and the results demonstrate that our approach is able to carry out a coordinated plan in a local optimal mission time on a real Mars terrain.},
 bibtype = {book},
 author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, M.D.},
 doi = {10.1007/978-3-030-04191-5_8}
}

@inproceedings{
 title = {A versatile executive based on T-REX for any robotic domain},
 type = {inproceedings},
 year = {2018},
 keywords = {Distributed AI algorithms,Intelligent agents,Planning and scheduling},
 pages = {79-91},
 volume = {11311 LNAI},
 websites = {http://link.springer.com/10.1007/978-3-030-04191-5_6},
 id = {e5de5392-e8a6-3ac1-ad9d-9e4912893e47},
 created = {2019-01-14T11:18:00.787Z},
 file_attached = {false},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-04-01T08:52:25.050Z},
 read = {true},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 private_publication = {false},
 abstract = {© Springer Nature Switzerland AG 2018. Autonomous controllers are highly expertise entities that integrate the sensing-planning-act cycle to operate robotic platforms in unaffordable environments. Its complexity usually makes them to be focused on a single robotic platform which is ostensibly inefficient. The Teleo-Reactive EXecutive (T-REX) is an autonomous controller envisaged as a multi-agent architecture where sensing, planning and execution are interleaved on a single agent. In this paper, we present a T-REX executive module to manage the execution cycle of actions during the planning phase. Our executive module, called GER, aims to state generic execution policies which make a T-REX controller turns into a heterogeneous entity able to operate over any robotic domain. The experimental section demonstrates that GER allows current T-REX architectures, such as GOAC, to manage different robotic domains as Unmanned Aerial Vehicles (UAV) or Unmanned Ground Vehicles (UGV).},
 bibtype = {inproceedings},
 author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.},
 doi = {10.1007/978-3-030-04191-5_6},
 booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)}
}

@article{
 title = {TERRA: A path planning algorithm for cooperative UGV–UAV exploration},
 type = {article},
 year = {2019},
 keywords = {Cooperation,Exploration,Heterogeneous robots,Routing},
 pages = {260-272},
 volume = {78},
 websites = {https://www.sciencedirect.com/science/article/pii/S095219761830246X},
 month = {2},
 publisher = {Pergamon},
 day = {1},
 id = {4afdc1b6-35cd-3da0-abdd-29d97c166a2f},
 created = {2019-02-20T14:57:36.575Z},
 accessed = {2019-02-20},
 file_attached = {true},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-04-01T08:52:25.067Z},
 read = {true},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 folder_uuids = {cd70f9ba-e985-4c3e-a437-5fa65abd5780},
 private_publication = {false},
 abstract = {In this paper, we consider the scenario of exploring a planetary surface with a system formed by an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). The goal is to reach a set of target points minimizing the travelling distance. Some expected key problems in planetary explorations are the UGVs functionality constraints to reach some target points as a single robot system and the UAVs energy constraints to reach all the target points on its own. We present an approach based on the coordination of a hybrid UGV–UAV system, in which both robots work together for reaching all the target points. Our strategy proposes the UGV as a moving charging station to solve the UAV energy constraint problem, and the UAV as the robotic system in charge of reaching the target points to solve the UGV functionality constraints. To overcome this problem, we formulate a strategy merging combinatorial classic techniques and modern evolutionary approaches aiming to optimize the travelling distance. Our solution has been tested in several simulation runs with different target points distributions. The results demonstrate that our approach is able to generate a coordinated plan for optimizing the hybrid UGV–UAV system in the exploration scenario.},
 bibtype = {article},
 author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.},
 doi = {10.1016/j.engappai.2018.11.008},
 journal = {Engineering Applications of Artificial Intelligence}
}

@article{
 title = {LARES: An AI-based teleassistance system for emergency home monitoring},
 type = {article},
 year = {2019},
 pages = {213-222},
 volume = {56},
 websites = {https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870},
 month = {4},
 publisher = {Elsevier},
 day = {6},
 id = {bea51ef8-9830-3ba8-b195-4d2d4cdeb24e},
 created = {2019-04-12T12:03:14.174Z},
 accessed = {2019-04-12},
 file_attached = {true},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-04-27T20:18:05.745Z},
 read = {false},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 private_publication = {false},
 abstract = {The latest progresses in medicine are helping people live longer and better. An ageing population is a sign of a developed society with an advanced health care system. Improved life expectancy should be welcomed as a major achievement, but it should not cause a financial or social burden. In this scenario, it is critical to support older and handicap adults to continue living independently and retaining their current lifestyle. New technological advances in Wireless Sensors Networks (WSN) and Artificial Intelligence (AI) can facilitate this task. In this direction we present lares, an AI-based system that integrates a (i) WSN for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance. lares has been tried in two dependent elderly home environments during several weeks, and the experiments show that is able to detect anomalies and generate alarms in abnormal situations.},
 bibtype = {article},
 author = {Ropero, Fernando and Vaquerizo-Hdez, Daniel and Muñoz, Pablo and Barrero, David F. and R-Moreno, Maria D.},
 doi = {10.1016/j.cogsys.2019.03.019},
 journal = {Cognitive Systems Research}
}

@article{
 title = {ARIES: An Autonomous Controller For Multirobot Cooperation},
 type = {article},
 year = {2019},
 pages = {40-55},
 volume = {34},
 websites = {https://ieeexplore.ieee.org/document/8716627/},
 month = {3},
 id = {e9144f65-d720-3676-823c-11a2b1c24a28},
 created = {2019-05-21T08:11:32.543Z},
 accessed = {2019-05-21},
 file_attached = {false},
 profile_id = {7bb64581-3780-374c-9752-deb713921fa6},
 last_modified = {2019-07-10T09:12:05.212Z},
 read = {false},
 starred = {false},
 authored = {true},
 confirmed = {true},
 hidden = {false},
 folder_uuids = {b36a1f29-8663-4b9c-9c45-2e28598b8cd9},
 private_publication = {false},
 bibtype = {article},
 author = {Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D.},
 doi = {10.1109/maes.2019.2905922},
 journal = {IEEE Aerospace and Electronic Systems Magazine},
 number = {3}
}\">\n            <i class=\"fa fa-download fa-fw\"></i> Download BibTeX\n          </a>\n        </li>\n        <li>\n          <a href=\"//bibbase.org/rss?bib=\">\n            <i class=\"fa fa-rss fa-fw\"></i> RSS Feed\n          </a>\n          </li>\n      </ul>\n      </li>\n\n      \n\n\n      \n    </ul>\n\n\n    <div class=\"alert alert-success bibbase_msg\" id=\"bibbase_msg_embed\"\n         style=\"display: none;\">\n\n      Excellent! 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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/6d06acc7-3db8-26b3-13d9-b69201a739d6/full_text.pdf.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019', 'https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/6d06acc7-3db8-26b3-13d9-b69201a739d6/full_text.pdf.pdf', event);\">\n    TERRA: A path planning algorithm for cooperative UGV–UAV exploration.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Muñoz,  P.;  and R-Moreno,  M., D.\n</span>\n\n  \n\n</span>\n\n  <i>Engineering Applications of Artificial Intelligence</i>, 78: 260-272. 2 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/6d06acc7-3db8-26b3-13d9-b69201a739d6/full_text.pdf.pdf\"\n     onclick=\"log_download('ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019', 'https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/6d06acc7-3db8-26b3-13d9-b69201a739d6/full_text.pdf.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"TERRA: A path planning algorithm for cooperative UGV–UAV exploration [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S095219761830246X\"\n     onclick=\"log_download('ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019', 'https://www.sciencedirect.com/science/article/pii/S095219761830246X', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TERRA: A path planning algorithm for cooperative UGV–UAV exploration [link]\"\n       title=\"Website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Website</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.engappai.2018.11.008\"\n     onclick=\"log_download('ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019', 'http://doi.org/10.1016/j.engappai.2018.11.008', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-muoz-rmoreno-terraapathplanningalgorithmforcooperativeugvuavexploration-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{\n title = {TERRA: A path planning algorithm for cooperative UGV–UAV exploration},\n type = {article},\n year = {2019},\n keywords = {Cooperation,Exploration,Heterogeneous robots,Routing},\n pages = {260-272},\n volume = {78},\n websites = {https://www.sciencedirect.com/science/article/pii/S095219761830246X},\n month = {2},\n publisher = {Pergamon},\n day = {1},\n id = {4afdc1b6-35cd-3da0-abdd-29d97c166a2f},\n created = {2019-02-20T14:57:36.575Z},\n accessed = {2019-02-20},\n file_attached = {true},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-04-01T08:52:25.067Z},\n read = {true},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n folder_uuids = {cd70f9ba-e985-4c3e-a437-5fa65abd5780},\n private_publication = {false},\n abstract = {In this paper, we consider the scenario of exploring a planetary surface with a system formed by an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). The goal is to reach a set of target points minimizing the travelling distance. Some expected key problems in planetary explorations are the UGVs functionality constraints to reach some target points as a single robot system and the UAVs energy constraints to reach all the target points on its own. We present an approach based on the coordination of a hybrid UGV–UAV system, in which both robots work together for reaching all the target points. Our strategy proposes the UGV as a moving charging station to solve the UAV energy constraint problem, and the UAV as the robotic system in charge of reaching the target points to solve the UGV functionality constraints. To overcome this problem, we formulate a strategy merging combinatorial classic techniques and modern evolutionary approaches aiming to optimize the travelling distance. Our solution has been tested in several simulation runs with different target points distributions. The results demonstrate that our approach is able to generate a coordinated plan for optimizing the hybrid UGV–UAV system in the exploration scenario.},\n bibtype = {article},\n author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.},\n doi = {10.1016/j.engappai.2018.11.008},\n journal = {Engineering Applications of Artificial Intelligence}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper, we consider the scenario of exploring a planetary surface with a system formed by an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). The goal is to reach a set of target points minimizing the travelling distance. Some expected key problems in planetary explorations are the UGVs functionality constraints to reach some target points as a single robot system and the UAVs energy constraints to reach all the target points on its own. We present an approach based on the coordination of a hybrid UGV–UAV system, in which both robots work together for reaching all the target points. Our strategy proposes the UGV as a moving charging station to solve the UAV energy constraint problem, and the UAV as the robotic system in charge of reaching the target points to solve the UGV functionality constraints. To overcome this problem, we formulate a strategy merging combinatorial classic techniques and modern evolutionary approaches aiming to optimize the travelling distance. Our solution has been tested in several simulation runs with different target points distributions. The results demonstrate that our approach is able to generate a coordinated plan for optimizing the hybrid UGV–UAV system in the exploration scenario.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/033a12c6-9266-2971-0ba3-d301e241c38a/full_text.pdf.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019', 'https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/033a12c6-9266-2971-0ba3-d301e241c38a/full_text.pdf.pdf', event);\">\n    LARES: An AI-based teleassistance system for emergency home monitoring.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Vaquerizo-Hdez,  D.; Muñoz,  P.; Barrero,  D., F.;  and R-Moreno,  M., D.\n</span>\n\n  \n\n</span>\n\n  <i>Cognitive Systems Research</i>, 56: 213-222. 4 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/033a12c6-9266-2971-0ba3-d301e241c38a/full_text.pdf.pdf\"\n     onclick=\"log_download('ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019', 'https://bibbase.org/service/mendeley/7bb64581-3780-374c-9752-deb713921fa6/file/033a12c6-9266-2971-0ba3-d301e241c38a/full_text.pdf.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"LARES: An AI-based teleassistance system for emergency home monitoring [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870\"\n     onclick=\"log_download('ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019', 'https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"LARES: An AI-based teleassistance system for emergency home monitoring [link]\"\n       title=\"Website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Website</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.cogsys.2019.03.019\"\n     onclick=\"log_download('ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019', 'http://doi.org/10.1016/j.cogsys.2019.03.019', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-vaquerizohdez-muoz-barrero-rmoreno-laresanaibasedteleassistancesystemforemergencyhomemonitoring-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{\n title = {LARES: An AI-based teleassistance system for emergency home monitoring},\n type = {article},\n year = {2019},\n pages = {213-222},\n volume = {56},\n websites = {https://www.sciencedirect.com/science/article/pii/S1389041718302870?dgcid=author,https://linkinghub.elsevier.com/retrieve/pii/S1389041718302870},\n month = {4},\n publisher = {Elsevier},\n day = {6},\n id = {bea51ef8-9830-3ba8-b195-4d2d4cdeb24e},\n created = {2019-04-12T12:03:14.174Z},\n accessed = {2019-04-12},\n file_attached = {true},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-04-27T20:18:05.745Z},\n read = {false},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n private_publication = {false},\n abstract = {The latest progresses in medicine are helping people live longer and better. An ageing population is a sign of a developed society with an advanced health care system. Improved life expectancy should be welcomed as a major achievement, but it should not cause a financial or social burden. In this scenario, it is critical to support older and handicap adults to continue living independently and retaining their current lifestyle. New technological advances in Wireless Sensors Networks (WSN) and Artificial Intelligence (AI) can facilitate this task. In this direction we present lares, an AI-based system that integrates a (i) WSN for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance. lares has been tried in two dependent elderly home environments during several weeks, and the experiments show that is able to detect anomalies and generate alarms in abnormal situations.},\n bibtype = {article},\n author = {Ropero, Fernando and Vaquerizo-Hdez, Daniel and Muñoz, Pablo and Barrero, David F. and R-Moreno, Maria D.},\n doi = {10.1016/j.cogsys.2019.03.019},\n journal = {Cognitive Systems Research}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The latest progresses in medicine are helping people live longer and better. An ageing population is a sign of a developed society with an advanced health care system. Improved life expectancy should be welcomed as a major achievement, but it should not cause a financial or social burden. In this scenario, it is critical to support older and handicap adults to continue living independently and retaining their current lifestyle. New technological advances in Wireless Sensors Networks (WSN) and Artificial Intelligence (AI) can facilitate this task. In this direction we present lares, an AI-based system that integrates a (i) WSN for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance. lares has been tried in two dependent elderly home environments during several weeks, and the experiments show that is able to detect anomalies and generate alarms in abnormal situations.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8716627/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019', 'https://ieeexplore.ieee.org/document/8716627/', event);\">\n    ARIES: An Autonomous Controller For Multirobot Cooperation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Munoz,  P.;  and R-Moreno,  M., D.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Aerospace and Electronic Systems Magazine</i>, 34(3): 40-55. 3 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8716627/\"\n     onclick=\"log_download('ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019', 'https://ieeexplore.ieee.org/document/8716627/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"ARIES: An Autonomous Controller For Multirobot Cooperation [link]\"\n       title=\"Website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Website</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/maes.2019.2905922\"\n     onclick=\"log_download('ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019', 'http://doi.org/10.1109/maes.2019.2905922', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-munoz-rmoreno-ariesanautonomouscontrollerformultirobotcooperation-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{\n title = {ARIES: An Autonomous Controller For Multirobot Cooperation},\n type = {article},\n year = {2019},\n pages = {40-55},\n volume = {34},\n websites = {https://ieeexplore.ieee.org/document/8716627/},\n month = {3},\n id = {e9144f65-d720-3676-823c-11a2b1c24a28},\n created = {2019-05-21T08:11:32.543Z},\n accessed = {2019-05-21},\n file_attached = {false},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-07-10T09:12:05.212Z},\n read = {false},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n folder_uuids = {b36a1f29-8663-4b9c-9c45-2e28598b8cd9},\n private_publication = {false},\n bibtype = {article},\n author = {Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D.},\n doi = {10.1109/maes.2019.2905922},\n journal = {IEEE Aerospace and Electronic Systems Magazine},\n number = {3}\n}</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"muoz-rmoreno-barrero-ropero-mobarahierarchicalactionorientedautonomouscontrolarchitecture-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muñoz,  P.; R-Moreno,  M., D.; Barrero,  D., F.;  and <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>\n</span>\n\n  \n\n</span>\n\n   2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1007/s10846-018-0810-z\"\n     onclick=\"log_download('muoz-rmoreno-barrero-ropero-mobarahierarchicalactionorientedautonomouscontrolarchitecture-2018', 'http://doi.org/10.1007/s10846-018-0810-z', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muoz-rmoreno-barrero-ropero-mobarahierarchicalactionorientedautonomouscontrolarchitecture-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muoz-rmoreno-barrero-ropero-mobarahierarchicalactionorientedautonomouscontrolarchitecture-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{\n title = {MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture},\n type = {misc},\n year = {2018},\n source = {Journal of Intelligent and Robotic Systems: Theory and Applications},\n keywords = {Autonomous control,Autonomous exploration,Planning &amp; execution,Planning &amp; scheduling,Robotics},\n pages = {1-16},\n id = {5d78d02d-f774-371d-98b0-99fce2f4e75d},\n created = {2018-04-05T14:37:31.066Z},\n file_attached = {false},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-03-17T19:30:23.542Z},\n read = {true},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n private_publication = {false},\n abstract = {© 2018 Springer Science+Business Media B.V., part of Springer Nature Autonomous control in robotics hold promising solutions for a broad number of applications. However, autonomous controllers require highly expertise on heterogeneous technologies, such as Artificial Intelligence Planning &amp; Scheduling, behaviour modelling, intelligent execution and the hardware to control. Connecting these technologies entails several challenges to properly synchronize and verify the robot behaviours to deal with real scenarios. In this article, we present an autonomous controller based on high level modelling to easily enable adaptation of the controller to different robotics platforms and application domains. This controller, called MoBAr, allows on-board planning and replanning for goal oriented autonomy. It relies on technologies such as PLEXIL to model the execution behaviours, or the action oriented planning language PDDL for the domain definition and the planning process. Based on these technologies MoBAr enables an easier deployment of the autonomous controller for different robotics platforms. Moreover, MoBAr enables researching in planning systems applied to robotics domains, as it is possible to replace the PDDL planner and/or domain used without much effort. This fact is demonstrated in the experimental section, in which we demonstrate the adaptability and effectiveness of the controller in three different scenarios, i.e., a robotic arm, an office surveillance robot and an exploration rover while exploiting different planning systems.},\n bibtype = {misc},\n author = {Muñoz, Pablo and R-Moreno, María D. and Barrero, David F. and Ropero, Fernando},\n doi = {10.1007/s10846-018-0810-z}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  © 2018 Springer Science+Business Media B.V., part of Springer Nature Autonomous control in robotics hold promising solutions for a broad number of applications. However, autonomous controllers require highly expertise on heterogeneous technologies, such as Artificial Intelligence Planning & Scheduling, behaviour modelling, intelligent execution and the hardware to control. Connecting these technologies entails several challenges to properly synchronize and verify the robot behaviours to deal with real scenarios. In this article, we present an autonomous controller based on high level modelling to easily enable adaptation of the controller to different robotics platforms and application domains. This controller, called MoBAr, allows on-board planning and replanning for goal oriented autonomy. It relies on technologies such as PLEXIL to model the execution behaviours, or the action oriented planning language PDDL for the domain definition and the planning process. Based on these technologies MoBAr enables an easier deployment of the autonomous controller for different robotics platforms. Moreover, MoBAr enables researching in planning systems applied to robotics domains, as it is possible to replace the PDDL planner and/or domain used without much effort. This fact is demonstrated in the experimental section, in which we demonstrate the adaptability and effectiveness of the controller in three different scenarios, i.e., a robotic arm, an office surveillance robot and an exploration rover while exploiting different planning systems.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://link.springer.com/10.1007/978-3-030-04191-5_8\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018', 'http://link.springer.com/10.1007/978-3-030-04191-5_8', event);\">\n    A strategical path planner for UGV-UAV cooperation in Mars Terrains.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Muñoz,  P.;  and R-Moreno,  M.\n</span>\n\n  \n\n</span>\n\n  Volume 11311 LNAI  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://link.springer.com/10.1007/978-3-030-04191-5_8\"\n     onclick=\"log_download('ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018', 'http://link.springer.com/10.1007/978-3-030-04191-5_8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A strategical path planner for UGV-UAV cooperation in Mars Terrains [link]\"\n       title=\"Website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Website</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/978-3-030-04191-5_8\"\n     onclick=\"log_download('ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018', 'http://doi.org/10.1007/978-3-030-04191-5_8', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-muoz-rmoreno-astrategicalpathplannerforugvuavcooperationinmarsterrains-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@book{\n title = {A strategical path planner for UGV-UAV cooperation in Mars Terrains},\n type = {book},\n year = {2018},\n source = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},\n keywords = {Distributed AI algorithms,Intelligent agents,Planning and scheduling,Systems and applications},\n pages = {106-118},\n volume = {11311 LNAI},\n websites = {http://link.springer.com/10.1007/978-3-030-04191-5_8},\n id = {279d5de6-835d-3068-bab3-4be7f3618030},\n created = {2019-01-14T11:17:41.300Z},\n file_attached = {false},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-04-01T08:52:25.051Z},\n read = {true},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n private_publication = {false},\n abstract = {© Springer Nature Switzerland AG 2018. Mars exploration is an ongoing researching topic mainly due to the technological breakthroughs in robotic platforms. Space agencies as NASA, are considering future Mars explorations where multi-robot teams cooperate to maximize the scientific return. In this regard, we present a cooperative team formed by a Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) to autonomously perform a Mars exploration. We develop a strategical path planner to compute a route plan for the UGV-UAV team to reach all the target points of the exploration. The key problems that we have considered in Mars explorations for the UGV-UAV team are: the UAV energy constraints and the UGV functionality constraints. Our strategical path planner models the UGV as a moving charging station which will carry the UAV through secure locations close to the target points locations, and the UAV will visit the target points using the UGV as a recharging station. Our solution has been tested in several scenarios and the results demonstrate that our approach is able to carry out a coordinated plan in a local optimal mission time on a real Mars terrain.},\n bibtype = {book},\n author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, M.D.},\n doi = {10.1007/978-3-030-04191-5_8}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  © Springer Nature Switzerland AG 2018. Mars exploration is an ongoing researching topic mainly due to the technological breakthroughs in robotic platforms. Space agencies as NASA, are considering future Mars explorations where multi-robot teams cooperate to maximize the scientific return. In this regard, we present a cooperative team formed by a Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) to autonomously perform a Mars exploration. We develop a strategical path planner to compute a route plan for the UGV-UAV team to reach all the target points of the exploration. The key problems that we have considered in Mars explorations for the UGV-UAV team are: the UAV energy constraints and the UGV functionality constraints. Our strategical path planner models the UGV as a moving charging station which will carry the UAV through secure locations close to the target points locations, and the UAV will visit the target points using the UGV as a recharging station. Our solution has been tested in several scenarios and the results demonstrate that our approach is able to carry out a coordinated plan in a local optimal mission time on a real Mars terrain.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://link.springer.com/10.1007/978-3-030-04191-5_6\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018', 'http://link.springer.com/10.1007/978-3-030-04191-5_6', event);\">\n    A versatile executive based on T-REX for any robotic domain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Muñoz,  P.;  and R-Moreno,  M., D.\n</span>\n\n  \n\n</span>\n\n  In <i>Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)</i>, volume 11311 LNAI, pages 79-91,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://link.springer.com/10.1007/978-3-030-04191-5_6\"\n     onclick=\"log_download('ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018', 'http://link.springer.com/10.1007/978-3-030-04191-5_6', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A versatile executive based on T-REX for any robotic domain [link]\"\n       title=\"Website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Website</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/978-3-030-04191-5_6\"\n     onclick=\"log_download('ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018', 'http://doi.org/10.1007/978-3-030-04191-5_6', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-muoz-rmoreno-aversatileexecutivebasedontrexforanyroboticdomain-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{\n title = {A versatile executive based on T-REX for any robotic domain},\n type = {inproceedings},\n year = {2018},\n keywords = {Distributed AI algorithms,Intelligent agents,Planning and scheduling},\n pages = {79-91},\n volume = {11311 LNAI},\n websites = {http://link.springer.com/10.1007/978-3-030-04191-5_6},\n id = {e5de5392-e8a6-3ac1-ad9d-9e4912893e47},\n created = {2019-01-14T11:18:00.787Z},\n file_attached = {false},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-04-01T08:52:25.050Z},\n read = {true},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n private_publication = {false},\n abstract = {© Springer Nature Switzerland AG 2018. Autonomous controllers are highly expertise entities that integrate the sensing-planning-act cycle to operate robotic platforms in unaffordable environments. Its complexity usually makes them to be focused on a single robotic platform which is ostensibly inefficient. The Teleo-Reactive EXecutive (T-REX) is an autonomous controller envisaged as a multi-agent architecture where sensing, planning and execution are interleaved on a single agent. In this paper, we present a T-REX executive module to manage the execution cycle of actions during the planning phase. Our executive module, called GER, aims to state generic execution policies which make a T-REX controller turns into a heterogeneous entity able to operate over any robotic domain. The experimental section demonstrates that GER allows current T-REX architectures, such as GOAC, to manage different robotic domains as Unmanned Aerial Vehicles (UAV) or Unmanned Ground Vehicles (UGV).},\n bibtype = {inproceedings},\n author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, María D.},\n doi = {10.1007/978-3-030-04191-5_6},\n booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  © Springer Nature Switzerland AG 2018. Autonomous controllers are highly expertise entities that integrate the sensing-planning-act cycle to operate robotic platforms in unaffordable environments. Its complexity usually makes them to be focused on a single robotic platform which is ostensibly inefficient. The Teleo-Reactive EXecutive (T-REX) is an autonomous controller envisaged as a multi-agent architecture where sensing, planning and execution are interleaved on a single agent. In this paper, we present a T-REX executive module to manage the execution cycle of actions during the planning phase. Our executive module, called GER, aims to state generic execution policies which make a T-REX controller turns into a heterogeneous entity able to operate over any robotic domain. The experimental section demonstrates that GER allows current T-REX architectures, such as GOAC, to manage different robotic domains as Unmanned Aerial Vehicles (UAV) or Unmanned Ground Vehicles (UGV).\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ropero-vaquerizo-muoz-rmoreno-anadvancedteleassistancesystemtoimprovelifequalityintheelderly-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  An advanced teleassistance system to improve life quality in the elderly.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Vaquerizo,  D.; Muñoz,  P.;  and R-Moreno,  M., D.\n</span>\n\n  \n\n</span>\n\n  In <i>Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)</i>, volume 10350 LNCS, pages 533-542,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1007/978-3-319-60042-0_59\"\n     onclick=\"log_download('ropero-vaquerizo-muoz-rmoreno-anadvancedteleassistancesystemtoimprovelifequalityintheelderly-2017', 'http://doi.org/10.1007/978-3-319-60042-0_59', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-vaquerizo-muoz-rmoreno-anadvancedteleassistancesystemtoimprovelifequalityintheelderly-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-vaquerizo-muoz-rmoreno-anadvancedteleassistancesystemtoimprovelifequalityintheelderly-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{\n title = {An advanced teleassistance system to improve life quality in the elderly},\n type = {inproceedings},\n year = {2017},\n pages = {533-542},\n volume = {10350 LNCS},\n id = {f1cb5030-45fd-3fa3-b9d3-0c4e0b792065},\n created = {2017-12-15T11:02:08.545Z},\n file_attached = {false},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-04-01T08:52:25.110Z},\n read = {true},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n private_publication = {false},\n abstract = {© Springer International Publishing AG 2017. Over the last decades the population in developed countries is becoming increasingly older, while the life expectancy is growing supported on medical advances. In despite of such progress, how to support older adults to continue living independently and retaining their current lifestyle is becoming a social problem. Through the careful placement of technological support, elders can continue living in their own homes longer and thus, maintaining and enhancing their quality of life. In this paper we present an AI-based system that integrates a (i) Wireless Sensor Network for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance.},\n bibtype = {inproceedings},\n author = {Ropero, Fernando and Vaquerizo, Daniel and Muñoz, Pablo and R-Moreno, María D.},\n doi = {10.1007/978-3-319-60042-0_59},\n booktitle = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  © Springer International Publishing AG 2017. Over the last decades the population in developed countries is becoming increasingly older, while the life expectancy is growing supported on medical advances. In despite of such progress, how to support older adults to continue living independently and retaining their current lifestyle is becoming a social problem. Through the careful placement of technological support, elders can continue living in their own homes longer and thus, maintaining and enhancing their quality of life. In this paper we present an AI-based system that integrates a (i) Wireless Sensor Network for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ieeexplore.ieee.org/document/8227555/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017', 'http://ieeexplore.ieee.org/document/8227555/', event);\">\n    A Virtual Reality Mission Planner for Mars Rovers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://fropero.com/publications.html\">Ropero,  F.</a>; Munoz,  P.; R-Moreno,  M., D.;  and Barrero,  D., F.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT)</i>, volume 2017-Decem, pages 142-146,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/document/8227555/\"\n     onclick=\"log_download('ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017', 'http://ieeexplore.ieee.org/document/8227555/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Virtual Reality Mission Planner for Mars Rovers [link]\"\n       title=\"Website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Website</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/SMC-IT.2017.32\"\n     onclick=\"log_download('ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017', 'http://doi.org/10.1109/SMC-IT.2017.32', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ropero-munoz-rmoreno-barrero-avirtualrealitymissionplannerformarsrovers-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{\n title = {A Virtual Reality Mission Planner for Mars Rovers},\n type = {inproceedings},\n year = {2017},\n keywords = {AR,VR,path-planning,planning,rover operations},\n pages = {142-146},\n volume = {2017-Decem},\n websites = {http://ieeexplore.ieee.org/document/8227555/},\n id = {5429d89a-86da-36d9-aad0-5344a74df82c},\n created = {2018-07-12T16:39:21.697Z},\n file_attached = {false},\n profile_id = {7bb64581-3780-374c-9752-deb713921fa6},\n last_modified = {2019-04-01T08:52:25.117Z},\n read = {true},\n starred = {false},\n authored = {true},\n confirmed = {true},\n hidden = {false},\n private_publication = {false},\n abstract = {—For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the cost map it is possible to obtain (sub)optimal solutions to safely drive the rover through different waypoints. As well, the paths obtained can be assessed using simulators and handmade improved by means of Virtual Reality techniques. In this paper we present an integrated planner for the mission planning and its evaluation using the recent technological advances in Virtual Reality. We have developed a low cost application to provide a three-dimensional view of the path generated exploiting real Mars surfaces with the aim of helping operators in deciding the best paths to follow.},\n bibtype = {inproceedings},\n author = {Ropero, Fernando and Munoz, Pablo and R-Moreno, Maria D. and Barrero, David F.},\n doi = {10.1109/SMC-IT.2017.32},\n booktitle = {2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT)}\n}</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  —For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the cost map it is possible to obtain (sub)optimal solutions to safely drive the rover through different waypoints. As well, the paths obtained can be assessed using simulators and handmade improved by means of Virtual Reality techniques. In this paper we present an integrated planner for the mission planning and its evaluation using the recent technological advances in Virtual Reality. We have developed a low cost application to provide a three-dimensional view of the path generated exploiting real Mars surfaces with the aim of helping operators in deciding the best paths to follow.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);