Jesús Morales — accepted AI-conference papers

2024

ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes*

Jorge L. Martínez, Jesús Morales, Manuel Sánchez, Alfonso García-Cerezo

IROS 2024poster

This paper proposes a new kinematic model for wheeled skid-steer vehicles moving with low inertia on firm slopes that is based on the variation of the Instantaneous Center of Rotation (ICR) of its lateral treads. To this end, the ICR-based model for horizontal surfaces, where constant tread ICRs wer…

Cited by 0 Source ↗Scholar ↗

2018

Optimizing Scan Homogeneity for Building Full-3D Lidars Based on Rotating a Multi-Beam Velodyne Range-Finder

Anthony Mandow, Jesús Morales, Jose Antonio Gomez-Ruiz, Alfonso J. García-Cerezo

IROS 2018poster

Multi-beam lidar (MBL) scanners are compact, light, and accessible 3D sensors with high data rates, but they offer limited vertical resolution and field of view (FOV). Some recent robotics research has profited from the addition of a degree-of-freedom (DOF) to an MBL to build rotating multibeam lida…

Cited by 4 Source ↗Scholar ↗