eFFT: An Event-Based Method for the Efficient Computation of Exact Fourier Transforms.

We introduce eFFT, an efficient method for the calculation of the exact Fourier transform of an asynchronous event stream. It is based on keeping the matrices involved in the Radix-2 FFT algorithm in a tree data structure and updating them with the new events, extensively reusing computations, and avoiding unnecessary calculations while preserving exactness. eFFT can operate event-by-event, requiring for each event only a partial recalculation of the tree since most of the stored data are reused.

Novel Aerial Manipulator for Accurate and Robust Industrial NDT Contact Inspection: A New Tool for the Oil and Gas Inspection Industry.

There is a strong demand in the oil and gas industry to develop alternatives to manual inspection. This paper presents AeroX, a novel aerial robotic manipulator that provides physical contact inspection with unprecedented capabilities. AeroX has a semi-autonomous operation, which provides interesting advantages in contact inspection.

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task.

An adaptive scheme for robot localization and mapping with dynamically configurable inter-beacon range measurements.

This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates.

A WSN-based tool for urban and industrial fire-fighting.

This paper describes a WSN tool to increase safety in urban and industrial fire-fighting activities. Unlike most approaches, we assume that there is no preexisting WSN in the building, which involves interesting advantages but imposes some constraints. The system integrates the following functionalities: fire monitoring, firefighter monitoring and dynamic escape path guiding.

An integrated testbed for cooperative perception with heterogeneous mobile and static sensors.

Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities in a growing number of problems and applications including domotics (domestic robotics), environmental monitoring or intelligent cities, among others. Despite the increasing interest in academic and industrial communities, experimental tools for evaluation and comparison of cooperative algorithms for such heterogeneous technologies are still very scarce. This paper presents a remote testbed with mobile robots and Wireless Sensor Networks (WSN) equipped with a set of low-cost off-the-shelf sensors, commonly used in cooperative perception research and applications, that present high degree of heterogeneity in their technology, sensed magnitudes, features, output bandwidth, interfaces and power consumption, among others.

Automatic forest-fire measuring using ground stations and Unmanned Aerial Systems.

This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and mounted on Unmanned Aerial Systems (UAS). It can obtain geometrical measurements of forest fires in real-time such as the location and shape of the fire front, flame height and rate of spread, among others. Measurement of forest fires is a challenging problem that is affected by numerous potential sources of error.