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Publications

Luis F Lupián, Jesús Savage, Alejandro Aceves-López, Pablo Monroy, Luis Sergio Durán, Alejandro Juárez, Ismael Estévez and Francisco Lecumberri. Team Mexico RoboCup 2015 Humanoid KidSize Team Description Paper. In RoboCup World Championship. July 2015. BibTeX

@inproceedings{lupian_2015_teammexico_tdp,
	abstract = "We describe the \textsl{RoboCup KidSize} humanoid robots to be used by \TeamMexico~in the \textsl{RoboCup 2015} competition to be held in Hefei, China. For this edition of the competition \TeamMexico~is integrated by three institutions: \textsl{ITESM}, \textsl{ULSA} and \textsl{UNAM}. We present \textsl{four} different robot architectures: Bogobot V2, Cyberlords T4, \DarwinOP~and \NimbroOP. We focus on the new hardware and software developments within the team since our last participation at the RoboCup World Championship.",
	address = "Hefei, China",
	author = "Lupi\'{a}n, Luis F. and Savage, Jes\'{u}s and Aceves-L\'{o}pez, Alejandro and Pablo Monroy and Durán, Luis Sergio and Alejandro Ju\'{a}rez and Ismael Est\'{e}vez and Francisco Lecumberri",
	booktitle = "RoboCup World Championship",
	month = "July",
	organization = "RoboCup Federation",
	title = "{Team Mexico} {RoboCup} 2015 {Humanoid KidSize} Team Description Paper",
	year = 2015
}

Michell P Ehrlich and Luis F Lupián. Diseño, construcción y control de un cuadricóptero–parte 1: hardware y construcción física. In Tercer Concurso de Investigación, Desarrollo e Innovación Tecnológica IDIT 2014. 2015. BibTeX

@inproceedings{ehrlich_2015_hardware,
	address = "Mexico, DF",
	author = "Michell P. Ehrlich and Luis F. Lupi\'{a}n",
	booktitle = "Tercer Concurso de Investigación, Desarrollo e Innovación Tecnológica IDIT 2014",
	organization = "Universidad La Salle",
	title = "Diseño, construcción y control de un cuadricóptero--parte 1: hardware y construcción física",
	year = 2015
}

Michell P Ehrlich and Luis F Lupián. Diseño, construcción y control de un cuadricóptero–parte 2: software, estimación y control. In Tercer Concurso de Investigación, Desarrollo e Innovación Tecnológica IDIT 2014. 2015. BibTeX

@inproceedings{ehrlich_2015_software,
	address = "Mexico, DF",
	author = "Michell P. Ehrlich and Luis F. Lupi\'{a}n",
	booktitle = "Tercer Concurso de Investigación, Desarrollo e Innovación Tecnológica IDIT 2014",
	organization = "Universidad La Salle",
	title = "Diseño, construcción y control de un cuadricóptero--parte 2: software, estimación y control",
	year = 2015
}

Luis F Lupián, Jesús Savage and Alejandro Aceves-López. Team Mexico RoboCup 2014 Humanoid KidSize Team Description Paper. In RoboCup World Championship. July 2014. URL BibTeX

@inproceedings{lupian_2014_team_mexico_tdp,
	abstract = "We describe the RoboCup KidSize humanoid robots to be used by Team Mexico in the RoboCup 2014 competition to be held in João Pessoa, Brazil. For this edition of the competition Team Mexico is integrated by three institutions: ITESM, ULSA and UNAM. We present five different robot architectures: Bogobot V2, Cyberlords T2, Cyberlords T3, DarwinOP and NimbroOP. The focus of this paper is on a proposed standard for humanoid robot collaboration on the RoboCup field. This standard is outlined in three parts: (1) the high-level state machines that define the basic roles for the robots, (2) the higher-level state machine that allows each robot to choose its role depending on the status of the game, and (3) the data packets required for the robots to exchange information and play collaboratively.",
	address = "João Pessoa, Brazil",
	author = "Luis F Lupi\'{a}n and Jes\'{u}s Savage and Alejandro Aceves-L\'{o}pez",
	booktitle = "RoboCup World Championship",
	month = "July",
	organization = "RoboCup Federation",
	title = "Team Mexico RoboCup 2014 Humanoid KidSize Team Description Paper",
	year = 2014,
	url = "http://application.germanteam.org/upload/cffadb381e91fa89da43348a7596b0ed8aa6ee99/TeamMexico_KidSize_2014_TDP.pdf"
}

Luis F Lupián, Diego Márquez, Omar Nelson, Francisco Lecumberri and Iker Sanz. Cyberlords RoboCup 2013 Humanoid KidSize Team Description Paper. In RoboCup World Championship. June 2013. URL BibTeX

@inproceedings{lupian_2013_cyberlords_tdp,
	abstract = "We describe the RoboCup KidSize humanoid robots to be used by team Cyberlords La Salle in the RoboCup 2013 competition to be held in Mexico City, Mexico. For this edition of the competition we will present three different robot architectures. One of them is based on the Robonova-1 robot, and two on the Kondo KHR-3HV. Having different hardware architectures has forced our group to develop a software library called libCyberlords, which has undergone a major reorganization in preparation for 2013.",
	address = "Eindhoven, The Netherlands",
	author = "Lupi\'{a}n, Luis F. and M\'{a}rquez, Diego and Nelson, Omar and Lecumberri, Francisco and Sanz, Iker",
	booktitle = "RoboCup World Championship",
	month = "June",
	organization = "RoboCup Federation",
	title = "Cyberlords {RoboCup} 2013 {Humanoid KidSize} Team Description Paper",
	year = 2013,
	url = "http://application2013.germanteam.org/upload/6583688e375dbc3ea080762902b4823df8180fe7/Cyberlords_KidSize_2013_TDP.pdf"
}

Luis F Lupián, Alberto Romay, Andrés Espínola, Diego Márquez and Diego M Reyes. Cyberlords+Falconbots RoboCup 2012 Humanoid KidSize Team Description Paper. In RoboCup World Championship. June 2012. URL BibTeX

@inproceedings{lupian_2012_cyberlords_tdp,
	abstract = "We describe the RoboCup KidSize humanoid robots to be used by team \CyberlordsFalconbots~ in the RoboCup 2012 competition to be held in Mexico City, Mexico. For this edition of the competition we will present \textsl{five} different robot architectures. One of them is based on the \textsc{Robonova}-1 robot, two on the \textsc{Kondo} KHR-3HV, one on the \textsc{Bioloid} and the fifth one is a \textsc{Darwin-OP}. The main challenge for the team has been to have a common software architecture that will allow the robots to interact seamlessly. This challenge has been solved using a software library called \libCyberlords, which is the main focus of this paper.",
	address = "Mexico City, Mexico",
	author = "Lupi\'{a}n, Luis F. and Romay, Alberto and Esp\'{i}nola, Andr\'{e}s and M\'{a}rquez, Diego and Reyes, Diego M.",
	booktitle = "RoboCup World Championship",
	month = "June",
	organization = "RoboCup Federation",
	title = "Cyberlords+Falconbots {RoboCup} 2012 {Humanoid KidSize} Team Description Paper",
	year = 2012,
	url = "http://application2012.germanteam.org/upload/3921004951b59867fa6368de5036fbad4ba89851/Cyberlords+Falconbots_KidSize_2012_TDP.pdf"
}

Luis F Lupián and Josué Roberto Rabadán Martin. Recent Advances in Mobile Robotics. Chapter LQR control methods for trajectory execution in omnidirectional mobile robots, pages 385–400, Intech, December 2011. URL BibTeX

@inbook{lupian_2011_lqr_control_methods,
	author = "Lupi\'{a}n, Luis F. and Rabad\'{a}n Martin, Josu\'{e} Roberto",
	title = "Recent Advances in Mobile Robotics",
	chapter = "LQR control methods for trajectory execution in omnidirectional mobile robots",
	publisher = "Intech",
	year = 2011,
	month = "December",
	abstract = "Omnidirectional mobile robots present the advantage of being able to move in any direction without having to rotate around the vertical axis first. While simple straight-line paths are relatively easy to achieve on this kind of robots, in many highly dynamic applications straight-line paths might just not be a feasible solution. This may be the case because of two main reasons: (1) there may be static and moving obstacles between the initial and desired final position of the robot, and (2) the dynamic effects of the inertia of the robot may force it to execute a curved path. This chapter will address these two situations and present a segment-wise optimal solution for the path execution problem which is based on a Linear-Quadratic Regulator. It must be emphasized that, rather than attempting to perform an exact path tracking, the approach presented here deals with the problem of visiting a sequence of target circular regions without specifying the path that will connect them. The freedom given to the connecting paths brings the opportunity for optimization. In fact, the path that the robot will take from one circular region to the next will emerge as the solution of an optimal control problem, hence the term \textsl{segment-wise optimal} solution.",
	isbn = "978-953-307-909-7",
	pages = "385--400",
	url = "http://www.intechopen.com/articles/show/title/lqr-control-methods-for-trajectory-execution-in-omnidirectional-mobile-robots"
}

Andrés Espínola, Alberto Romay, Tatiana Baidyk and Ernst Kussul. Robust vision system to illumination changes in a color-dependent task. In Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics. December 2011, 521–526. URL BibTeX

@inproceedings{robio2011,
	author = "Esp\'{i}nola, Andr\'{e}s and Romay, Alberto and Baidyk, Tatiana and Kussul, Ernst",
	booktitle = "Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics",
	address = "Phuket, Thailand",
	title = "Robust vision system to illumination changes in a color-dependent task",
	month = "December",
	year = 2011,
	pages = "521--526",
	url = "http://www.cyberlordslasalle.org/bibtex/Espinola_ROBIO_2011-87.pdf"
}

Luis F Lupián, Alberto Romay and Andrés Espínola. Vision Based Localization of Humanoid Robots by Inverse Pose-Estimation Using a Small Set of Fixed Landmark Features. In Robotic Symposium, IEEE Latin American. October 2011. URL BibTeX

@inproceedings{romay_2011_vision_based_localization,
	address = "Bogot\'{a}, Colombia",
	author = "Lupi\'{a}n, Luis F. and Romay, Alberto and Esp\'{i}nola, Andr\'{e}s",
	booktitle = "Robotic Symposium, IEEE Latin American",
	month = "October",
	title = "{Vision Based Localization of Humanoid Robots by Inverse Pose-Estimation Using a Small Set of Fixed Landmark Features}",
	year = 2011,
	url = "http://dx.doi.org/10.1109/LARC.2011.6086808"
}

Luis F Lupián, Alberto Romay, Andrés Espínola and Erick Ramírez. Cyberlords RoboCup 2011 Humanoid KidSize Team Description Paper. In RoboCup World Championship. July 2011. URL BibTeX

@inproceedings{lupian_2011_cyberlords_tdp,
	abstract = "We describe the RoboCup KidSize humanoid robots to be used by team \\textsl{Cyberlords} in the RoboCup 2011 competition to be held in Istanbul, Turkey. For this edition of the competition we will present two different architectures. One of them is an upgrade from our robot T1 presented at RoboCup 2010, which is originally based on the \\textsc{Robonova}-1 robot. The second architecture is a new model, named T2, which is based on the \\textsc{Kondo} KHR-3HV with several customizations in the body, electronics and software. This paper describes both architectures in general terms.",
	address = "Istanbul, Turkey",
	author = "Lupi\'{a}n, Luis F. and Romay, Alberto and Esp\'{i}nola, Andr\'{e}s and Ram\'{i}rez, Erick",
	booktitle = "RoboCup World Championship",
	month = "July",
	organization = "RoboCup Federation",
	title = "Cyberlords {RoboCup} 2011 {Humanoid KidSize} Team Description Paper",
	year = 2011,
	url = "http://application2011.germanteam.org/upload/31b3a21717397611871d5ede9e977394a464caf5/Cyberlords_La_Salle_HumanoidKidSize_2011_TDP.pdf"
}

Luis F Lupián, Alberto Romay, Andrés Espínola, Rafael Cisneros, Juan M Ibarra, Daniel Gutiérrez, Manuel Hunter, Christian Valle and Karla Loza. Cyberlords RoboCup 2010 Humanoid KidSize Team Description Paper. In RoboCup World Championship. June 2010. URL BibTeX

@inproceedings{lupian_2010_cyberlords_tdp,
	abstract = "{We describe the RoboCup KidSize humanoid robots to be used by team Cyberlords in the RoboCup 2010 competition to be held in Singapore. We are currently working on two different paths leading to the enhancement of our team of humanoid football-playing robots. The first one consists of an incremental enhancement based on the architecture used by our lab in RoboCup 2009. The second one is a complete departure from our original architecture and represents a new design. This paper describes both hardware and software architectures in general terms.}",
	address = "Singapore",
	author = "Lupi\'{a}n, Luis F. and Romay, Alberto and Esp\'{i}nola, Andr\'{e}s and Cisneros, Rafael and Ibarra, Juan M. and Guti\'{e}rrez, Daniel and Hunter, Manuel and del Valle, Christian and de la Loza, Karla",
	booktitle = "RoboCup World Championship",
	month = "June",
	organization = "RoboCup Federation",
	title = "Cyberlords {RoboCup} 2010 {Humanoid KidSize} Team Description Paper",
	year = 2010,
	url = "http://application2010.germanteam.org/upload/3110ac9935baa0cb7e35db1bb84b50ced2c0d7aa/Cyberlords_KidSize_2010_TDP.pdf"
}

Luis F Lupián and Josué R Rabadán-Martin. Segment-wise optimal trajectory execution control for four-wheeled omnidirectional mobile robots. In Robotics Symposium (LARS), 2009 6th Latin American. October 2009. URL BibTeX

@inproceedings{lupian_2009_Segment-wise_optimal_trajectory_execution_control,
	abstract = "We introduce a novel technique for path execution control on a four-wheeled omnidirectional mobile robot which provides a segment-wise near-optimal solution based on {LQR}. The path is specified by a sequence of target regions that the mobile robot will have to visit in order. Unlike other similar solutions that can be found in the literature, our proposed technique is flexible enough to adjust the optimality index for different strategies such as low power consumption, high speed, high accuracy, and so on. We also show how the dynamic model for this kind of robot can be linearized by a change of variables on the control vector. The application that motivated this work is the {RoboCup SmallSize League}. However, the ideas presented in this paper can be easily extended to other similar applications. The proposed solution is tested against a benchmark simulation experiment and visualized inside an {OpenGL} virtual environment.",
	address = "Valpara\'{i}so, Chile",
	author = "Lupi\'{a}n, Luis F. and Rabad\'{a}n-Martin, Josu\'{e} R.",
	booktitle = "Robotics Symposium (LARS), 2009 6th Latin American",
	keywords = "four-wheeled-omnidirectional-mobile-robots, linear-quadratic-control, lqr, lqr-control, mobile-robots, multi-robot-systems, omnidirectional-mobile-robot, opengl, opengl-virtual-environment, optimal-trajectory-control, path-execution-control, path-planning, position-control, robocup-smallsize-league, segment-wise-optimal-trajectory-execution-control",
	month = "October",
	title = "{Segment-wise optimal trajectory execution control for four-wheeled omnidirectional mobile robots}",
	url = "http://dx.doi.org/10.1109/LARS.2009.5418325",
	year = 2009
}

Luis F Lupián, Alberto I Romay, Pablo Monroy, Andrés F Espínola, Rafael Cisneros and Fernando Benítez. Cyberlords RoboCup 2009 Humanoid KidSize Team Description Paper. In RoboCup World Championship. July 2009. URL BibTeX

@inproceedings{lupian_2009_cyberlords_tdp,
	abstract = "{We describe the RoboCup KidSize humanoid robots to be used by team Cyberlords in the RoboCup 2009 competition to be held in Graz, Austria. Our humanoids are based on the Robonova-1 architecture, so this description focuses on the mechanical and electronics adaptations as well as the perception and control software developed and adapted by us for the purpose of transforming these robots into autonomous football players. We also introduce the concepts of shot filter and dynamic turning.}",
	address = "Graz, Austria",
	author = "Lupi\'{a}n, Luis F. and Romay, Alberto I. and Monroy, Pablo and Esp\'{i}nola, Andr\'{e}s F. and Cisneros, Rafael and Ben\'{i}tez, Fernando",
	booktitle = "RoboCup World Championship",
	keywords = "biped-locomotion, humanoid-robots, motion-control",
	month = "July",
	organization = "RoboCup Federation",
	title = "Cyberlords {RoboCup} 2009 {Humanoid KidSize} Team Description Paper",
	year = 2009,
	url = "http://application09.germanteam.org/upload/825caede40f9afea3f27829bcd7b9e42bcd4548d/Cyberlords_KidSize_2009_TDP.pdf"
}

Luis F Lupián and Rodrigo Avila. Stabilization of a Wheeled Inverted Pendulum by a Continuous-Time Infinite-Horizon LQG Optimal Controller. In Robotic Symposium, IEEE Latin American. 2008, 65–70. URL BibTeX

@inproceedings{lupian_2008_stabilization_of_a_wheeled_inverted_pendulum,
	abstract = "An {LQG} control strategy is proposed and tested for a wheeled inverted pendulum robot. We show how a reduced set of sensors, as compared to other solutions that can be found in the literature, can be used to observe all state variables of interest for stabilization. A {Kalman-Bucy} estimator is used to estimate the unmeasured variables and to filter those that are directly measured. An {LQR} feedback strategy is then used to stabilize the upright equilibrium state. The resulting {LQG} controller is tested under simulation and the results are verified on an OpenGL virtual environment developed for this purpose.",
	address = "Bahia, Brazil",
	author = "Lupi\'{a}n, Luis F. and Avila, Rodrigo",
	booktitle = "Robotic Symposium, IEEE Latin American",
	keywords = "continuous-time-infinite-horizon-controller, continuous-time-systems, equilibrium-state, feedback, infinite-horizon, kalman-bucy-estimator, linear-quadratic-gaussian-control, lqg-optimal-controller, lqr-feedback-strategy, mobile-robots, nonlinear-control-systems, opengl-virtual-environment, pendulums, stability, unmeasured-variables, wheeled-inverted-pendulum-robot",
	pages = "65--70",
	title = "Stabilization of a Wheeled Inverted Pendulum by a Continuous-Time Infinite-Horizon {LQG} Optimal Controller",
	url = "http://doi.ieeecomputersociety.org/10.1109/LARS.2008.33",
	year = 2008
}

Thesis

Josué Joaquín Jiménez Rodríguez. Diseño de red paralela para implementación de filtros morfológicos. Universidad La Salle, D.F., México, 2015. BibTeX

@mastersthesis{JosueJimenezMasters,
	author = "Jim\'enez Rodr\'iguez, Josu\'e Joaqu\'in",
	title = "Dise\~no de red paralela para implementaci\'on de filtros morfol\'ogicos",
	school = "Universidad La Salle",
	year = 2015,
	address = "D.F., M\'exico"
}

Jesús Rodrigo Avila Ceniceros. Estabilización de un Péndulo Invertido Móvil Mediante un Controlador Óptimo LQG de Tiempo Continuo y Horizonte Infinito. Universidad La Salle, D.F., México, 2013. URL BibTeX

@mastersthesis{RodrigoAvila,
	author = "Avila Ceniceros, Jes\'us Rodrigo",
	title = "Estabilizaci\'on de un P\'endulo Invertido M\'ovil Mediante un Controlador \'Optimo LQG de Tiempo Continuo y Horizonte Infinito",
	school = "Universidad La Salle",
	year = 2013,
	address = "D.F., M\'exico",
	url = "bibtex/Tesis_final_Rodrigo_Avila.pdf"
}

Alberto Isay Romay Tovar. Visión Computacional para Problemas de Estimación de Pose. Universidad La Salle, D.F., México, 2011. URL BibTeX

@mastersthesis{AlbertoRomayMasters,
	author = "Romay Tovar, Alberto Isay",
	title = "Visi\'on Computacional para Problemas de Estimaci\'on de Pose",
	school = "Universidad La Salle",
	year = 2011,
	address = "D.F., M\'exico",
	url = "bibtex/Tesis_final_Alberto_Romay.pdf"
}

Andrés Fernando Espínola Auada. Sistema de Visión de un Robot Humanoide en un Ambiente Semi Estructurado. Universidad Nacional Autónoma de México, D.F., México, 2011. URL BibTeX

@mastersthesis{AndresEspinolaMasters,
	author = "Esp\'inola Auada, Andr\'es Fernando",
	title = "Sistema de Visi\'on de un Robot Humanoide en un Ambiente Semi Estructurado",
	school = "Universidad Nacional Aut\'onoma de M\'exico",
	year = 2011,
	address = "D.F., M\'exico",
	url = "bibtex/Tesis_final_Andres_Espinola.pdf"
}

Josué Joaquín Jiménez Rodríguez. Control de velocidad de motores de CD sin escobillas implementado en FPGA. Universidad La Salle, D.F., México, 2010. URL BibTeX

@mastersthesis{JosueJimenez,
	author = "Jim\'enez Rodr\'iguez, Josu\'e Joaqu\'in",
	title = "Control de velocidad de motores de {CD} sin escobillas implementado en {FPGA}",
	school = "Universidad La Salle",
	year = 2010,
	address = "D.F., M\'exico",
	url = "bibtex/Tesis_final_Josue_Jimenez.pdf"
}

Josué Roberto Rabadán Martin. Control de Ejecución de Trayectorias para un Robot Móvil Holnómico Omnidireccional. Universidad La Salle, D.F., México, 2009. BibTeX

@mastersthesis{RabadanJosueMasters,
	author = "Rabad\'an Martin, Josu\'e Roberto",
	title = "Control de Ejecuci\'on de Trayectorias para un Robot M\'ovil Holn\'omico Omnidireccional",
	school = "Universidad La Salle",
	year = 2009,
	address = "D.F., M\'exico"
}