Current Projects

KORUS Project: Korea/United States

The program aims to strengthen competitiveness of technologies and advance industrial structure by yielding synergy effect from university-industry-institutes cooperation between Korea and the U.S. My research is focused on the simultaneous localization and mapping for a mobile robot in indoor environments using semantic information acquired with cameras and lasers. The current goal is to create an efficient robot system  for multi-purpose domestic applications.

GT@HOME

The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. Our team GT@Home is currently working in order to participate this year in the competition Robocup@Home 2010.

Completed Projects

probabilistic robotics

As a member of Frank Dellaert's SFM Group, I worked in the implementation of the new framework of probabilistic robotics applied in SLAM, iSAM, SFM, etc.  This framework will be use for the 3D reconstruction of a coral reef, multi-robots systems, etc. 

Digital Conservation: Capturing, Creating, and Visualizing Endangered Natural Ecosystems

This current work focuses on the creation of 3D virtual worlds of ecosystems threatened by environmental change. These virtual worlds can then be used to education, awareness, and scientific visualization. 

I worked in this multidisciplinary project with Kim Cobb, Brian Magerko, Frank Dellaert and Tanyoung Kim.

robot motion planning

Michael Novitzky, Jinhan Lee and I, we developed a motion planning framework for robot boxing using Aldebaran's Nao robots. Our goal is to have two Naos in a 3D virtual environment boxing using motion planning techniques, e.g., RRTs, Potiential Fields, Jacobian, Inverse kinematics, etc.

Our instructor was Mike Stilman.

Robocup rescue league - suzhou/china 2008

Prior to entering the doctoral program, I was the Team Leader for the Rescue Robotics Research Group at ITESM-CEM in Mexico.  

My friends and I participated in Robocup 2008 / Suzhou, China in the Rescue League with our robot "Kauil" (Mayan god of fire).  Our team was the only Iberoamerican team who participated in this league.  After more than one  year, all the work done gave us good results, moving without problems and finding a victim in the red arena (most dificult zone). 

pursuit evasion games

Israel Becerra and I, created an algorithm to mantain visibility between a target and a pursuer using laser sensor in a convex map. All the simulations were implemented in the computational geometry library LEDA. 

This project was supervised by Seth Hutchinson and Rafael Murrieta.  

Sensor-Based Robotics 

I was working as a research assitant in the development of Computer Vision and Mobile Robots Applications.  The goal was to implement our Color-Image Classification using MRF’s and motion planning algorithms in outdoors and indoors environments.

This project was fully supported by Sensor-Based Robotics project. (NSF-CONACyT 36001-A) and
Robotics Research Group at ITESM-CEM (2167-CCEM-0302-07).  

My boss was Ricardo Swain.

computer vision - people recognition 

During my undergraduate, I was a full time research intern at Cornell University.  Development of some Computer Vision Algorithms in Spatial Structures for People Recognition.

My Advisor was Daniel Huttenlocher.  

Electromyocontroled Teleoperated Robot

I work with Sandra Diaz to create a teleoperation system using human arm signals acquired with electrodes in order to command specific actions to a Sony Aibo robot.  Our system was implemented in Java using RS232 interface and a cheaper hardware board to communicate the electrodes with a PC, which visualize the robot movements. The GUI was programmed in Java.

Collaborative and Modular Virtual Robotics Environment (CMVRE) Using an Object
Oriented Architecture OODVR++

Lourdes Muñoz, Moises Alencastre and I, worked in the optimization of the Object Oriented Architecture OODVR++.  The goal was to implement the architecture programmed in Java to C++ and create new modules and robots to interact on it.

Fully supported by REDII-CONACYT.