Javier Minguez -- Associate professor (University of Zaragoza)

 

News

IEEE Transaction on Robotics paper accepted: Non-Invasive Brain-Actuated Wheelchair based on a P300 Neurophysiological Potrocol and Automated Navigation. Januray 29th 2009.

IEEE ICRA'09 Workshop: Brain-Machine Interfaces for Neuroprosthetics and Robot Control . May12th 2009.

IEEE ICRA'09 paper accepted: Non-Invasive Brain-Actuated Wheelchair based on a P300 Neurophysiological Protocol and Automated Navigation. January 8th 2009.

IEEE ICRA'09 paper accepted: Human Brain-Teleoperated Robot between Remote Places. January 8th 2009.

IEEE Transaction on Robotics paper accepted: Extending Reactive Collision Avoidance Methods to Consider any Vehicle Shape and the Kinematics and Dynamic Constraints. January 4th 2009.

Cool demos of our research:

IEEE ICRA'06. The video demonstrates the full navigation system of the robotic wheelchair. Download paper

The video demonstrates the Nearness Diagram Navigation operating on indoor and outdoor robots with different shapes, kinematics and dynamics. Download paper

The video demonstrates the control of a robotic wheelchair only using voice commands Download paper

The video demonstrates the control of a robotic wheelchair using a PDA (the user selects rooms to direct the robot by touching the screen) Download paper

The video demonstrates the autonomous people tracking of the robotic wheelchair (with obstacle avoidance) Download paper

For historial and sentimental reasons I have added this video. It shows the moment when in 1999 I achieved with a lot of enthusiasm (see video) the first implementation of the Nearness Diagram in a XR4000 in the LAAS-CNRS, France

 

Publications of Javier Minguez
5

Books and chapters

  1. J. Minguez, F. Lamiraux and J.P. Laumond . Motion Planning and Obstacle Avoidance. Handbook of Robotics. Eds: B. Siciliano and O. Khatib. To appear in 2008.

  2. J. Minguez. Robot Shape, Kinematics and Dynamics in Sensor-Based Motion Planning. PhD Thesis.  December 2002. (pdf)

  3. J. Minguez. Navegación de Vehículos (spanish). Master Thesis.  January 1998.

 
4

Journal Publications
  1. J. Antelis, and J. Minguez, EEG source localization Based on Dynamic Bayesian Estimation Techniques. International Journal of Bioelectromagnetism, Vol. 11, No. 4, pp. 179- 184, 2009 (pdf)
  2. I. Iturrate, J. Antelis, J. Minguez, and A. Kübler, A Non-Invasive Brain-Actuated Wheelchair based on a P300 Neurophysiological Protocol and Automated Navigation. Journal of IEEE Transactions on Robotics, Vol. 25, no. 3, pp. 614–627, June 2009 (pdf)
  3. L. Montesano, J. Minguez, L. Montano: Modeling Dynamic Scenarios for Local Sensor-Based Motion Planning. Autonomous Robots, 2008. (accepted for publication, pdf draft)
  4. J. Minguez, L. Montano: Extending Reactive Collision Avoidance Methods to Consider any Vehicle Shape and the Kinematics and Dynamic Constraints. IEEE Transactions on Robotics, 2008. (accepted for publication, pdf draft)
  5. J. Minguez, L. Montesano, F. Lamiraux. Metric-Based Iterative Closest Point Scan Matching for Sensor Displacement Estimation. IEEE Transactions on Robotics. Volume: 22,  Issue: 5. pp: 1047- 1054. (pdf draft)
  6. L. Montesano, J. Minguez, L. Montano. Lessons Learned in Integration for Sensor-Based Robot Navigation Systems. International Journal of Advanced Robotic Systems, Volume 3, no. 1, Pages 85-91, 2006 (pdf draft).
  7. J. Minguez, L. Montano. Abstracting vehicle Shape and Kinematics constraints from Obstacle Avoidance Methods.  Autonomous Robots, Volume 20, Issue 1, Pages 43-59, 2006 (pdf draft)
  8. J. Minguez, L. Montano. Sensor-Based Robot Motion Generation in Unknown, Dynamic and Troublesome Scenarios.  Robotics and Autonomous Systems, Volume 52, Issue 4, Pages 290-311, 2005. (pdf draft)
  9. J. Minguez, L. Montano. Nearness Diagram Navigation (ND): Collision Avoidance in Troublesome Scenarios.  IEEE Transactions on Robotics and Automation, Volume 20, Issue 1, Pages:45 - 59, 2004. (pdf)

 

3

Conference Publications
  1. I. Iturrate, L. Montesano, and J. Minguez, Robot Reinforcement Learning using EEG-based reward signals, IEEE International Conference on Robotics and Automation (ICRA), Alaska (USA), 2010 (pdf)
  2. J. Antelis, and J. Minguez, Dynamic solution to the EEG source localization problem using Kalman Filters and Particle Filters, In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Minneapolis (USA), 2009 (pdf)
  3. I. Iturrate, J. Antelis, and J. Minguez, Synchronous EEG Brain-Actuated Wheelchair with Automated Navigation, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe (Japan), 2009 (pdf)
  4. I. Iturrate, C. Escolano J. Antelis, and J. Minguez, Robotic rehabilitation devices based on Brain-Computer Interfaces: wheelchair and teleoperated robot, Proceedings of the III PUBLICACIÓN Internacional sobre Domótica, Robótica y Teleasistencia para Todos (DRT4ALL), Barcelona (Spain), 2009 (pdf)
  5. C. Escolano, J. Antelis, and J. Minguez, Human-Brain Teleoperated Robot between Remote Places, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe (Japan), 2009 (pdf)
  6. C. Escolano, I. Iturrate, J. Antelis, and J. Minguez, Dispositivos robóticos de rehabilitación basados en Interfaces Cerebro-Ordenador: silla de ruedas y robot para teleoperación, in Proceedings of the Simposio CEA de Bioingeniería, II Seminario de técnicas de BCI y de análisis de la actividad cerebral asociada, Elche (Spain), 2009 (pdf, spanish)
  7. E. López Larraz, O. Martínez Mozos, J.M. Antelis Ortiz, J. Damborenea Tajada, and J. Mínguez Zafra, Diseño de un sistema de reconocimiento del habla mediante electromiografía, XXVII Congreso Anual de la Sociedad Española de Ingeniería Biomédica, Cadiz (España), 2009 (pdf, spanish)
  8. J.L. Jiménez, I. Rañó and J. Mínguez. Advances in a Framework for Automatic Evaluation of Obstacle Avoidance Algorithms. Workshop of Benchmarking in Robotics, in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007. (pdf)
  9. J. Minguez, L. Montano: Abstracting any Vehicle Shape and the Kinematics and Dynamic Constraints from Reactive Collision Avoidance Methods. European Conference on Mobile Robotics (ECMR’2007). Freiburg, Alemania. 2007. (pdf)
  10. C. Angulo, J. Minguez, M.  Díaz, A. Catalá:: Ongoing Research on Adaptive Smart Assistive Systems for Disabled People in Autonomous Movement. II Congreso Internacional de Domótica, Robótica y Teleasistencia, 2007. Madrid.
  11. J. Minguez, L. Montesano, M. Díaz, C. Canalís: Intelligent Robotic Mobility Sistem for Cognitive Disabled Children. II Congreso Internacional de Domótica, Robótica y Teleasistencia, 2007. Madrid.
  12. D. Rodriguez-Losada, J. Minguez: Improved Data Association for ICP-based Scan Matching in Noisy and Dynamic Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007. Roma, Italia. (pdf)
  13. I. Raño, J. Minguez. Steps Towards the Automatic Evaluation of Robot Obstacle Avoidance Algorithms.  Workshop of Benchmarking in Robotics, in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006. Beijin, China. (pdf)
  14. L. Montesano, J. Minguez, J.M. Alcubierre, L. Montano. Towards the Adaptation of a Robotic Wheelchair for Cognitive Disabled Children.  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006. Beijin, China. (pdf)
  15. M. Díaz, J. Minguez, C. Angulo, M. Solana. Estudio de usabilidad del sistema de navegación y la calidad del movimiento de una silla con motor robotizada. VII Congreso Internacional de Interacción Persona-Ordenador (Interaccion'06), 2006. Ciudad Real, Spain.
  16. D. Vikenmark, J. Minguez.  Reactive Obstacle Avoidance for Mobile Robots that Operate in Confined 3D Workspaces. IEEE Mediterranean Electro-technical Conference (MELECON), 2006. Málaga, Spain. (pdf)
  17. J. Minguez, L. Montesano, L. Montano.  Autonomous Motion Generation for a Robotic Wheelchair. (Poster + Video). In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2006. Orlando, USA. (pdf and video)
  18. Lydia Biota, J. Minguez, L. Montesano, F. Lamiraux. Toward a Metric-Based Scan Matching Algorithm for Displacement Estimation in 3D Workspaces. (Poster). In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2006. Orlando, USA. (pdf)
  19. J.M. Alcubierre, J. Minguez, L. Montesano, L. Montano, O. Saz and E. Lleida. Silla de ruedas inteligente controlada por voz. I Congreso Internacional de Domótica, Robótica y Teleasistencia, 2005. Madrid. (pdf)
  20. L. Montesano, J. Minguez and L. Montano. Probabilistic Scan Matching for Motion Estimation in Unstructured Environments.  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005. Edmonton, Canada. (pdf)
  21. J. Minguez. Integration of Planning and Reactive Obstacle Avoidance in Autonomous Sensor-Based Navigation.  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005. Edmonton, Canada. (pdf)
  22. J. Minguez. The Obstacle-Restriction Method (ORM) for Robot Obstacle Avoidance in Difficult Environments.  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005. Edmonton, Canada. (pdf)
  23. L. Montesano, J. Minguez and L. Montano. Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005. Barcelona, Spain. (pdf)
  24. J. Minguez, F. Lamiraux and L. Montesano. Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005. Barcelona, Spain. (pdf).
  25. J. Minguez, J. Osuna, L. Montano. A “Divide and Conquer” Strategy based on Situations to achieve Reactive Collision Avoidance in Troublesome Scenarios.  In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2004. New Orleans, USA. (pdf)
  26.  J. Minguez, L. Montesano and L. Montano. An Architecture for Sensor-Based Navigation in Realistic Dynamic and Troublesome Scenarios.  In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004. Sendai, Japan. (pdf)
  27. J. Minguez, L. Montano. The Ego-KinoDynamic Space: Collision Avoidance for any Shape Mobile Robots with Kinematic and Dynamic Constraints.  In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2003, Las Vegas, USA (pdf)
  28. J. Minguez, L. Montano, J. Santos-Victor. Reactive Navigation for Non-holonomic Robots using the Ego-Kinematic Space.  In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2002. Washington, USA. (pdf)
  29. J. Minguez, L. Montano, O. Khatib. Reactive Collision Avoidance for Navigation with Dynamic Constraints.  In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2002. Lausanne, Switzerland (pdf)
  30. J. Minguez, L. Montano. Robot Navigation in Very Complex, and Cluttered Indoor/Outdoor Scenarios.  InProceedings of the International Federation of Automatic Control (IFAC), 2002. Barcelona, Spain (pdf)
  31. J.M. Ibarra, U. Zaldívar, E.J. Iturbe, J. López, L.Montano, J. Minguez. Mapping for Mobile Robots using Interactive Virtual Worlds and Internet Teleoperation.  In Proceedings of the International Federation of Automatic Control (IFAC), 2002. Barcelona, Spain (pdf)
  32. J. Minguez, L. Montano, T. Simeon, R. Alami. Global Nearness Diagram Navigation (GND).  In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2001. Seoul, Korea. (pdf)
  33. J. Minguez, L. Montano. Nearness Diagram Navigation (ND): A new Real Time Collision Avoidacne Approarch.  In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2000. Takamatsu, Japan. (pdf)
  34. Rachid Alami, I.Belousov, S.Fleury, M.Herb, F.Ingrand, J.Minguez, B.Morisset. Diligent: Towards a Human-friendly Navigation System. In Proceedings of the IEEE/RSJ International zConference on Intelligent Robots and Systems (IROS), 2000. Takamatsu, Japan. (pdf)
  35. J. Minguez et al. Simulation of a GPS System using Matlab. I Congress of Matlab users 1996. Madrid Spain.

 

2

Patents

  1. J. Minguez and L. Montano. Técnica de adaptación de sistemas de navegación con evitación de obstáculos para ser utilizados en ingenios que se mueven en medios aéreos, espaciales, acuáticos o terrestres (spanish). Spanish patent number 200302548.  December 2004.
1

Invited talks

  1. J.Minguez. Benchmarking Obstacle Avoidance Techniques. Workshop on Robot Benchmarking in EURON anual meeting, 2006. Palermo, Italy
  2. J. Minguez, D. Vikenmark.  The Obstacle Restriction Method (ORM) for Robot Collision Avoidance in 3D Confined Scenarios. In Workshop of the IEEE International Conference on Robotics and Automation (ICRA), 2006. Orlando, USA.
  3. J. Minguez. Robótica e Inteligencia Artificial. Jornadas Europeas de Técnicas Avanzadas en la Infomática (JETAI),  2005. Zaragoza, Spain.
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