Alberto Sanfeliu – författare

This book gathers a selection of papers presented at ROBOT 2019 – the Fourth Iberian Robotics Conference, held in Porto, Portugal, on November 20th–22nd, 2019.

This book gathers a selection of papers presented at ROBOT 2019 – the Fourth Iberian Robotics Conference, held in Porto, Portugal, on November 20th–22nd, 2019. ROBOT 2019 is part of a series of conferences jointly organized by the SPR – Sociedade Portuguesa de Robótica (Portuguese Society for Robotics) and SEIDROB – Sociedad Española para la Investigación y Desarrollo en Robótica (Spanish Society for Research and Development in Robotics).ROBOT 2019 built upon several previous successful events, including three biannual workshops and the three previous installments of the Iberian Robotics Conference, and chiefly focused on presenting the latest findings and applications in robotics from the Iberian Peninsula, although the event was also open to research and researchers from other countries.The event featured five plenary talks on state-of-the-art topics and 16 special sessions, plus a main/general robotics track. In total, after a stringent review process, 112 high-quality papers written by authors from 24 countries were selected for publication.

This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organized by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, "Sociedade Portuguesa de Robotica" (SPR), "Asociación Española de Promoción de la Investigación en Agentes Físicos" (RedAF), and partially supported by "Comunidad de Madrid under RoboCity2030 Programme".

The interest in robotics has remarkably augmented over recent years. Novel solutions for complex and very diverse application fields (exploration/intervention in severe environments, assistive, social, personal services, emergency rescue operations, transportation, entertainment, unmanned aerial vehicles, medical, etc.), has been anticipated by means of a large progress in this area of robotics. Moreover, the amalgamation of original ideas and related innovations, the search for new potential applications and the use of state of the art supporting technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the forthcoming years. In response to the technical challenges in the development of these sophisticated machines, a significant research and development effort has yet to be undertaken. It concerns embedded technologies (for power sources, actuators, sensors, information systems), new design methods, adapted control techniques for highly redundant systems, as well as operational and decisional autonomy and human/robot co-existence.This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference will be held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR(Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, Sociedade Portuguesa de Robotica (SPR), and Asociación Española de Promoción de la Investigación en Agentes Físicos (RedAF).

These volumes of "Advances in Intelligent Systems and Computing" highlight papers presented at the "Third Iberian Robotics Conference (ROBOT 2017)". Held from 22 to 24 November 2017 in Seville, Spain, the conference is a part of a series of conferences co-organized by SEIDROB (Spanish Society for Research and Development in Robotics) and SPR (Portuguese Society for Robotics). The conference is focused on Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. Thus, it has more than 500 authors from 21 countries. The volumes present scientific advances but also robotic industrial applications, looking to promote new collaborations between industry and academia.

These volumes of "Advances in Intelligent Systems and Computing" highlight papers presented at the "Third Iberian Robotics Conference (ROBOT 2017)". Held from 22 to 24 November 2017 in Seville, Spain, the conference is a part of a series of conferences co-organized by SEIDROB (Spanish Society for Research and Development in Robotics) and SPR (Portuguese Society for Robotics). The conference is focused on Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. Thus, it has more than 500 authors from 21 countries. The volumes present scientific advances but also robotic industrial applications, looking to promote new collaborations between industry and academia.

This book constitutes the refereed proceedings of the 8th Iberoamerican Congress on Pattern Recognition, CIARP 2003, held in Havana, Cuba, in November 2003.The 82 revised full papers presented together with two invited papers were carefully reviewed and selected from 140 submissions. All current issues in pattern recognition, image processing, and computer vision are addressed as well as applications in domains like robotics, health, entertainment, space exploration, telecommunications, speech processing, data analysis, document recognition, etc.

First of all, we want to congratulate two new research communities from M- ico and Brazil that have recently joined the Iberoamerican community and the International Association for Pattern Recognition. We believe that the series of congresses that started as the “Taller Iberoamericano de Reconocimiento de Patrones (TIARP)”, and later became the “Iberoamerican Congress on Pattern Recognition (CIARP)”, has contributed to these groupconsolidatione?orts. We hope that in the near future all the Iberoamerican countries will have their own groups and associations to promote our areas of interest; and that these congresses will serve as the forum for scienti?c research exchange, sharing of - pertise and new knowledge, and establishing contacts that improve cooperation between research groups in pattern recognition and related areas. CIARP 2004 (9th Iberoamerican Congress on Pattern Recognition) was the ninthinaseriesofpioneeringcongressesonpatternrecognitionintheIberoam- ican community. As inthe previous year, CIARP 2004 also included worldwide participation. It took place in Puebla, Mexico. The aim of the congress was to promote and disseminate ongoing research and mathematical methods for pattern recognition, image analysis, and applications in such diverse areas as computer vision, robotics, industry, health, entertainment, space exploration, telecommunications, data mining, document analysis,and natural languagep- cessing and recognition, to name a few.

CIARP 2005 (10th Iberoamerican Congress on Pattern Recognition, X CIARP) is the 10th event in the series of pioneer congresses on pattern recognition in the Iberoamerican community, which takes place in La Habana, Cuba. As in previous years, X CIARP brought together international scientists to promote and disseminate ongoing research and mathematical methods for pattern recognition, image analysis, and applications in such diverse areas as computer vision, robotics, industry, health, entertainment, space exploration, telecommunications, data mining, document analysis, and natural language processing and recognition, to name a few. Moreover, X CIARP was a forum for scientific research, experience exchange, share of new knowledge and increase in cooperation between research groups in pattern recognition, computer vision and related areas. The 10th Iberoamerican Congress on Pattern Recognition was organized by the Cuban Association for Pattern Recognition (ACRP) and sponsored by the Institute of Cybernetics, Mathematics and Physics (ICIMAF), the Advanced Technologies Application Center (CENATAV), the University of Oriente (UO), the Polytechnic Institute “José A Echevarria” (ISPJAE), the Central University of Las Villas (UCLV), the Ciego de Avila University (UNICA), as well as the Center of Technologies Research on Information and Systems (CITIS-UAEH) in Mexico. The conference was also co-sponsored by the Portuguese Association for Pattern Recognition (APRP), the Spanish Association for Pattern Recognition and Image Analysis (AERFAI), the Special Interest Group of the Brazilian Computer Society (SIGPR-SBC), and the Mexican Association for Computer Vision, Neurocomputing and Robotics (MACVNR). X CIARP was endorsed by the International Association for Pattern Recognition (IAPR).

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM. The authors show that the typical approach to SLAM using a Kalman filter results in marginal filter stability, making the final reconstruction estimates dependant on the initial vehicle estimates. However, by anchoring the map to a fixed landmark in the scene, they are able to attain full observability in SLAM, with reduced covariance estimates. This result earned the first author the EURON Georges Giralt Best PhD Award in its fourth edition, and has prompted the SLAM community to think in new ways to approach the mapping problem. For example, by creating local maps anchored on a landmark, or on the robot initial estimate itself, and then using geometric relations to fuse local maps globally. This monograph is appropriate as a text for an introductory estimation-theoretic approach to the SLAM problem, and as a reference book for people who work in mobile robotics research in general.

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM. The authors show that the typical approach to SLAM using a Kalman filter results in marginal filter stability, making the final reconstruction estimates dependant on the initial vehicle estimates. However, by anchoring the map to a fixed landmark in the scene, they are able to attain full observability in SLAM, with reduced covariance estimates. This result earned the first author the EURON Georges Giralt Best PhD Award in its fourth edition, and has prompted the SLAM community to think in new ways to approach the mapping problem. For example, by creating local maps anchored on a landmark, or on the robot initial estimate itself, and then using geometric relations to fuse local maps globally. This monograph is appropriate as a text for an introductory estimation-theoretic approach to the SLAM problem, and as a reference book for people who work in mobile robotics research in general.

Thirty years ago pattern recognition was dominated by the learning machine concept: that one could automate the process of going from the raw data to a classifier. The derivation of numerical features from the input image was not considered an important step. One could present all possible features to a program which in turn could find which ones would be useful for pattern recognition. In spite of significant improvements in statistical inference techniques, progress was slow. It became clear that feature derivation was a very complex process that could not be automated and that features could be symbolic as well as numerical. Furthennore the spatial relationship amongst features might be important. It appeared that pattern recognition might resemble language analysis since features could play the role of symbols strung together to form a word. This led. to the genesis of syntactic pattern recognition, pioneered in the middle and late 1960's by Russel Kirsch, Robert Ledley, Nararimhan, and Allan Shaw. However the thorough investigation of the area was left to King-Sun Fu and his students who, until his untimely death, produced most of the significant papers in this area. One of these papers (syntactic recognition of fingerprints) received the distinction of being selected as the best paper published that year in the IEEE Transaction on Computers. Therefore syntactic pattern recognition has a long history of active research and has been used in industrial applications.

This book contains a selection of 14 papers presented at the workshop organised by the International Association for Pattern Recognition (IAPR) Technical Committee on Syntactical and Structural Pattern Recognition, at Pont-à-Mousson, 1988. These papers which have been expanded, focus on both fundamental aspects and applications. They show that structural methods are a good framework for integrating both symbolic and numerical knowledge for modeling, recognition and also learning. The applications described are on document analysis, speech and image analysis.

This volume contains 18 papers of high quality, selected to represent the work that is being developed by Spanish research groups in pattern recognition and image analysis. It is partly the result of the efforts of the Spanish Association for Pattern Recognition and Image Analysis (AERFAI). It is hoped that this volume will increase awareness of Spanish work in the international scientific community and initiate contacts with research groups worldwide.

These proceedings present the state of the art in Spanish research on pattern recognition, image processing, speech recognition, and artificial neural networks and applications to medicine, geology, control etc.