78278 20200117221625.0 doi 10.1007/978-3-319-70833-1_11 sideral 103503 ART-2018-103503 eng (orcid)0000-0002-7600-0002 Tardioli, D. A robotized dumper for debris removal in tunnels under construction 2018 Access copy available to the general public Unrestricted Tunnels 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. info:eu-repo/grantAgreement/ES/MINECO-ERDF/RTC-2015-4099-4 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.174 2018 Control and Systems Engineering 2018 Q3 Computer Science (miscellaneous) 2018 Q3 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion (orcid)0000-0002-6722-5541 Riazuelo, L. Universidad de Zaragoza Seco, T. Espelosín, J. Lalana, J. (orcid)0000-0002-7148-4642 Villarroel, J.L. Universidad de Zaragoza (orcid)0000-0002-0449-2300 Montano, L. Universidad de Zaragoza 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 5007 X Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Proy. investigación HYA 693 (2018), 126-139 Adv. intell. sys. comput. Advances in intelligent systems and computing 2194-5357 453523 http://zaguan.unizar.es/record/78278/files/texto_completo.pdf Postprint 64991 http://zaguan.unizar.es/record/78278/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:78278 articulos driver 2020-01-17-21:56:46 ARTICLE