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Analysis of institutional authors

Cruz Ulloa, ChristyanAuthorDel Cerro, JAuthorBarrientos, AAuthor

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December 19, 2024
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Vision-based collaborative robots for exploration in uneven terrains

Publicated to: MECHATRONICS. 100 103184- - 2024-06-01 100(), DOI: 10.1016/j.mechatronics.2024.103184

Authors:

Ulloa, CC; Alvarez, J; del Cerro, J; Barrientos, A
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Affiliations

Univ Politecn Madrid, Ctr Automat & Robot, Consejo Super Invest Cient - Author

Abstract

Exploring tasks in unknown environments has become a relevant search and rescue robotics approach. Ground robots are a better alternative to rescuers for first exploration. However, exploration progress is often limited by uneven terrains that exceed the kinematic capabilities of robots, including those with complex locomotion systems. This work proposes an innovative solution based on collaborative behaviours to overcome even terrains. A method employing two collaborative robots designed to operate in a marsupial configuration to surmount uneven terrains has been implemented. These robots, denoted as R1 (enhanced with a mobile ramp) and R2 (serving as an explorer), interact synergistically to expand the explored area autonomously. A state machine has been implemented to manage the progression of the mission, based on a perception (RGB-D) system, for both decision -making and autonomous execution of the process. In the initial stage, the terrain and ascent zones to be explored are characterized using point clouds and unsupervised learning. Subsequently, the second stage manages the interaction between the robots by controlling the R2 ascent through the R1 ramp using artificial vision algorithms and beacons. Outdoor tests have been performed to validate the method. The main results show an effectiveness of 95% in automatically identifying access zones.
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Keywords

Artificial visionCollaborative robotsDesignMechatronicsPerceptionRobotics exploration

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal MECHATRONICS due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2024 there are still no calculated indicators, but in 2023, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Mechanical Engineering.

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2026-04-26:

  • WoS: 4
  • Scopus: 6
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-26:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 20 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/86650/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 178
  • Downloads: 56
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Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Ulloa, CC) and Last Author (BARRIENTOS CRUZ, ANTONIO).

the author responsible for correspondence tasks has been Ulloa, CC.

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