000078278 001__ 78278 000078278 005__ 20200117221625.0 000078278 0247_ $$2doi$$a10.1007/978-3-319-70833-1_11 000078278 0248_ $$2sideral$$a103503 000078278 037__ $$aART-2018-103503 000078278 041__ $$aeng 000078278 100__ $$0(orcid)0000-0002-7600-0002$$aTardioli, D. 000078278 245__ $$aA robotized dumper for debris removal in tunnels under construction 000078278 260__ $$c2018 000078278 5060_ $$aAccess copy available to the general public$$fUnrestricted 000078278 5203_ $$aTunnels in construction exhibit many challenges for automation. In this work we address the robotization of a conventional dumper for debris removal during the construction of tunnels, in the framework of a technological transfer project. The goal is to convert a dumper into an autonomous vehicle capable of planning, navigate and localize itself. Planning and navigation techniques have been adapted to the special kinodynamic characteristics of the vehicle. The difficulties for having a precise continuous localization in this kind of scenarios, due to the irregularities of the terrain, the changing illumination and the own scenario, have driven to develop hybrid localization techniques to integrate continuous and discrete information, coming from the navigation sensors, some semantic geometric features, and the signal strength propagation in tunnel scenarios. Simulation and real-world experiments are described, and some preliminary results are discussed. 000078278 536__ $$9info:eu-repo/grantAgreement/ES/MINECO-ERDF/RTC-2015-4099-4 000078278 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000078278 592__ $$a0.174$$b2018 000078278 593__ $$aControl and Systems Engineering$$c2018$$dQ3 000078278 593__ $$aComputer Science (miscellaneous)$$c2018$$dQ3 000078278 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000078278 700__ $$0(orcid)0000-0002-6722-5541$$aRiazuelo, L.$$uUniversidad de Zaragoza 000078278 700__ $$aSeco, T. 000078278 700__ $$aEspelosín, J. 000078278 700__ $$aLalana, J. 000078278 700__ $$0(orcid)0000-0002-7148-4642$$aVillarroel, J.L.$$uUniversidad de Zaragoza 000078278 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, L.$$uUniversidad de Zaragoza 000078278 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000078278 7102_ $$15007$$2X$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cProy. investigación HYA 000078278 773__ $$g693 (2018), 126-139$$pAdv. intell. sys. comput.$$tAdvances in intelligent systems and computing$$x2194-5357 000078278 8564_ $$s453523$$uhttps://zaguan.unizar.es/record/78278/files/texto_completo.pdf$$yPostprint 000078278 8564_ $$s64991$$uhttps://zaguan.unizar.es/record/78278/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000078278 909CO $$ooai:zaguan.unizar.es:78278$$particulos$$pdriver 000078278 951__ $$a2020-01-17-21:56:46 000078278 980__ $$aARTICLE