Research

• Coordinated behaviors in robot formations using visual perception and point-to-point communication. Antonio Botía, Domingo Gallardo, María I. Alfonso. Proceedings of the VII Workshop on Physical Agents (WAF 2006), Las Palmas de Gran Canaria, 2006. [pdf]
  It proposes coordinated behaviors for robot formations through visual perception and point-to-point communication, integrating cooperative formation control with local information exchange between agents to maintain robust movement structures in dynamic scenarios.
• Visual homing navigation with two landmarks: The balanced proportional triangulation method. José F. Bonora, Domingo Gallardo. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, 2006. [pdf]
  It proposes a visual homing method that uses only two landmarks, without a compass or prior knowledge of their position or real size, computing the route back to the home point through triangulation/trilateration from angular information and observed apparent size, with straight and efficient trajectories.
• Indoor navigation of a mobile robot using ultrasonic sensors. Domingo Gallardo. PhD thesis, University of Alicante, 1999. [pdf]
  It presents a probabilistic approach to estimate the robot’s position and orientation, combines ultrasonic sensor models with an indoor environment representation, and evaluates experimental results on autonomous navigation and robustness under uncertainty.
• A genetic algorithm for robust motion planning. Domingo Gallardo, Otto Colomina, Francisco Flórez, Ramón Rizo. 11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems (IEA/AIE 1998), 1998. [pdf]
  It proposes a genetic algorithm to plan robust, suboptimal trajectories in the velocity space of a mobile robot, introducing accumulated noise in the evaluation of the fitness function and adjustments to the algorithm itself to account for that uncertainty, with experimental results across different environments and noise levels.
• Bayesian estimation of features in mobile robots by sampling the posterior density. Domingo Gallardo, Francisco Escolano, Otto Colomina, Ramón Rizo, Miguel A. Cazorla. 1st Catalan Conference on Artificial Intelligence, Tarragona, 1998. [pdf]
  It presents robust tracking of corridors and corridor endings with sonar by means of Bayesian particle filtering (CONDENSATION), capable of representing non-Gaussian and multimodal posteriors, in the same family of techniques as Monte Carlo Localization (MCL).
• Navigation of the mobile robot Xavier and participation in the AAAI'93 Mobile Robot Competition. Domingo Gallardo. Carnegie Mellon University (CMU), 1993.
  During a stay at CMU I took part in the development of navigation algorithms for the mobile robot Xavier and in its participation in the AAAI'93 Mobile Robot Competition; see Xavier: An Autonomous Mobile Robot on the Web (PDF), Lessons Learned from Xavier (PDF), and the AAAI'93 competition report.
• A Temporal Blackboard Structure for Process Control. F. Barber, V. Botti, A. Crespo, Domingo Gallardo, E. Onaindía. Artificial Intelligence in Real-Time Control 1992 (IFAC Symposia Series, Vol. 6), Pergamon Press, 1992. [pdf]
  It describes a temporal blackboard structure for real-time expert systems applied to process control, with a model to represent and manage temporal information (including prediction and uncertainty) and an illustrative example in an industrial process.