Leonardo Bobadilla
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View article: BOW: Bayesian Optimization over Windows for Motion Planning in Complex Environments
BOW: Bayesian Optimization over Windows for Motion Planning in Complex Environments Open
This paper introduces the BOW Planner, a scalable motion planning algorithm designed to navigate robots through complex environments using constrained Bayesian optimization (CBO). Unlike traditional methods, which often struggle with kinod…
View article: Multi-agent Reinforcement Learning for Robotized Coral Reef Sample Collection
Multi-agent Reinforcement Learning for Robotized Coral Reef Sample Collection Open
This paper presents a reinforcement learning (RL) environment for developing an autonomous underwater robotic coral sampling agent, a crucial coral reef conservation and research task. Using software-in-the-loop (SIL) and hardware-in-the-l…
View article: Enhancing Robot Navigation Policies with Task-Specific Uncertainty Managements
Enhancing Robot Navigation Policies with Task-Specific Uncertainty Managements Open
Robots navigating complex environments must manage uncertainty from sensor noise, environmental changes, and incomplete information, with different tasks requiring varying levels of precision in different areas. For example, precise locali…
View article: GUIDEd Agents: Enhancing Navigation Policies through Task-Specific Uncertainty Abstraction in Localization-Limited Environments
GUIDEd Agents: Enhancing Navigation Policies through Task-Specific Uncertainty Abstraction in Localization-Limited Environments Open
Autonomous vehicles performing navigation tasks in complex environments face significant challenges due to uncertainty in state estimation. In many scenarios, such as stealth operations or resource-constrained settings, accessing high-prec…
View article: Towards Metaverse: Utilizing Extended Reality and Digital Twins to Control Robotic Systems
Towards Metaverse: Utilizing Extended Reality and Digital Twins to Control Robotic Systems Open
Digitalization shapes the ways of learning, working, and entertainment. The Internet, which enables us to connect and socialize is evolving to become the metaverse, a post-reality universe, enabling virtual life parallel to reality. In add…
View article: Towards Optimal Human-Robot Interface Design Applied to Underwater Robotics Teleoperation
Towards Optimal Human-Robot Interface Design Applied to Underwater Robotics Teleoperation Open
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental mo…
View article: Digital Twins Utilizing XR-Technology as Robotic Training Tools
Digital Twins Utilizing XR-Technology as Robotic Training Tools Open
Digital technology has evolved towards a new way of processing information: web searches, social platforms, internet forums, and video games have substituted reading books and writing essays. Trainers and educators currently face the chall…
View article: Combining Remote and In-situ Sensing for Autonomous Underwater Vehicle Localization and Navigation
Combining Remote and In-situ Sensing for Autonomous Underwater Vehicle Localization and Navigation Open
Scientists continue to study the red tide and fish-kill events happening in Florida. Machine learning applications using remote sensing data on coastal waters to monitor water quality parameters and detect harmful algal blooms are also bei…
View article: Estimating spatio-temporal fields through reinforcement learning
Estimating spatio-temporal fields through reinforcement learning Open
Prediction and estimation of phenomena of interest in aquatic environments are challenging since they present complex spatio-temporal dynamics. Over the past few decades, advances in machine learning and data processing contributed to ocea…
View article: Scheduling and Path-Planning for Operator Oversight of Multiple Robots
Scheduling and Path-Planning for Operator Oversight of Multiple Robots Open
There is a need for semi-autonomous systems capable of performing both automated tasks and supervised maneuvers. When dealing with multiple robots or robots with high complexity (such as humanoids), we face the issue of effectively coordin…
View article: Towards Energy-Aware Feedback Planning for Long-Range Autonomous Underwater Vehicles
Towards Energy-Aware Feedback Planning for Long-Range Autonomous Underwater Vehicles Open
Ocean ecosystems have spatiotemporal variability and dynamic complexity that require a long-term deployment of an autonomous underwater vehicle for data collection. A new generation of long-range autonomous underwater vehicles (LRAUVs), su…
View article: Multi-Robot Coverage and Persistent Monitoring in Sensing-Constrained Environments
Multi-Robot Coverage and Persistent Monitoring in Sensing-Constrained Environments Open
This article examines the problems of multi-robot coverage and persistent monitoring of regions of interest with limited sensing robots. A group of robots, each equipped with only contact sensors and a clock, execute a simple trajectory by…
View article: Development of environmental niche models for use in underwater vehicle navigation
Development of environmental niche models for use in underwater vehicle navigation Open
This paper presents a review of Environmental Niche Modeling and a methodology for isolating the environmental niche of an aquatic species, given that prior information is available for characterising the physical tolerances for that speci…
View article: Feedback Motion Planning for Long-Range Autonomous Underwater Vehicles
Feedback Motion Planning for Long-Range Autonomous Underwater Vehicles Open
Ocean ecosystems have spatiotemporal variability and dynamic complexity that require a long-term deployment of an autonomous underwater vehicle for data collection. A new long-range autonomous underwater vehicle called Tethys is adapted to…
View article: Strengthening the Case for a Bayesian Approach to Car-following Model Calibration and Validation using Probabilistic Programming
Strengthening the Case for a Bayesian Approach to Car-following Model Calibration and Validation using Probabilistic Programming Open
Compute and memory constraints have historically prevented traffic simulation software users from fully utilizing the predictive models underlying them. When calibrating car-following models, particularly, accommodations have included 1) u…
View article: Planning, Scheduling, and Deploying for Computational Ferrying
Planning, Scheduling, and Deploying for Computational Ferrying Open
Mobile Cyber-Physical Systems are expected to perform resource intensive tasks that exceed their hardware (storage and computational power) capabilities. One traditional approach to solve this limitation is through cloud-based solutions. H…
View article: Modeling and Analyzing Occupant Behaviors in Building Energy Analysis Using a State Space Approach and Non-Invasive Sensing
Modeling and Analyzing Occupant Behaviors in Building Energy Analysis Using a State Space Approach and Non-Invasive Sensing Open
Buildings represent one of the major sources of energy consumption in the United States. One of the most
important factors that affect the energy performance of buildings is the behavior of their occupants. Monitoring,
understanding, and…
View article: An Underactuated Vehicle Localization Method in Marine Environments
An Underactuated Vehicle Localization Method in Marine Environments Open
The underactuated vehicles are apposite for the long-term deployment and data collection in spatiotemporally varying marine environments. However, these vehicles need to estimate their positions (states) with intrinsic sensing in their lon…
View article: A Smartphone Application for Personalized and Multi-Method Interventions toward Energy Saving in Buildings
A Smartphone Application for Personalized and Multi-Method Interventions toward Energy Saving in Buildings Open
Occupant behavior is a significant contributor to energy waste in buildings. This research introduces an advanced smartphone application, developed based on the theoretical underpinnings of situational awareness theory, to effectively impl…
View article: Multi-robot Scheduling and Path-Planning for Non-overlapping Operator Attention
Multi-robot Scheduling and Path-Planning for Non-overlapping Operator Attention Open
International audience
View article: Optimal Placement and Patrolling of Autonomous Vehicles in Visibility-Based Robot Networks
Optimal Placement and Patrolling of Autonomous Vehicles in Visibility-Based Robot Networks Open
In communication-denied or contested environments, Line-of-Sight (LoS) communication (e.g free space optical communication using infrared or visible light) becomes one of the most reliable and efficient ways to send information between geo…
View article: Modeling Occupant-Building-Appliance Interaction for Energy Waste Analysis
Modeling Occupant-Building-Appliance Interaction for Energy Waste Analysis Open
The objective of this paper is to discover the emergent energy performance and determinants of energy waste in buildings. Electricity consumption in the U.S. attributes to 73% of energy waste in buildings and much of this waste is due to i…