[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-118875-en":3,"doc-seo-118875-105":30,"detail-sidebar-cat-0-en-105":92},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":27,"seo_description":14,"update_tm":28,"read_time":29},118875,8796095360427,"Lucas Martin","https://ap-avatar.wpscdn.com/davatar_994ba38a5ba835b3df7d355c54d3ed8d",8,"Research & Report","Gaussian Processes for Machine Learning in Robotics","Gaussian Processes for Machine Learning in Robotics presents a PhD research effort on using Gaussian process methods within robotic learning and planning tasks. The work includes published and submitted contributions linking probabilistic modeling to navigation and coverage, informative path planning, and collision checking for motion planning. It further develops Gaussian-process regression for forward and inverse kinematics of a soft robotic arm, and addresses related estimation problems such as energy consumption for unmanned aerial vehicles.","Gaussian Processes for Machine Learning  \nin Robotics by Javier Muñoz Mendi  \nA dissertation submitted by in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Electrical Engineering, Electronics and Automation  \nUniversidad Carlos III de Madrid  \nAdvisor(s):  \nLuis Enrique Moreno Lorente  \nLuis Santiago Garrido Bullón Tutor:  \nLuis Enrique Moreno Lorente September 2023  \nThis thesis is distributed under license “Creative Commons Atributtion-Non  \nCommercial-Non Derivatives”.  \nTo my family.  \nTo my friends.  \nTo my father Arsenio, who encouraged me to pursue my academic career and helped me develop this thesis. We miss you.  \niv  \nAcknowledgements  \nFirst and foremost, I would like to thank my supervisors Luis Moreno and Santiago Garrido for the help and guidance provided throughout my PhD. My sincere gratitude also goes to Concha Monje for providing insights of my articles whenever I needed and for answering all my concerns about the development of my thesis. I would also like to thank Ramón Barber, who welcomed me to the RoboticsLab when I was just a Master’s student and guided my beginnings in the world of research.  \nThis adventure would have been much duller without my fellow labmates. Thank you David, Paloma, Carlos, Dorin, Carmen, Víctor, Alicia, Alberto, Gonzalo, Adrián, Lisbeth, Elisabeth, Raúl, Bartek and Fernando for making the working hours more entertaining and provide interesting discussions about new topics to research. A special mention goes to Blanca for supporting me both at work and at home whenever I needed and walking this path to the PhD with me.  \nI would like also to express my gratitude to Peter Lehner and Máximo A. Roa for welcoming me at the DLR in Munich and making me feel at home. I learned a lot from both of you, both professionally and personally. I hope we meet again some day.  \nThanks to my parents Carolina and Arsenio, my brother Víctor and the rest of family for showing interest in my research and taking care of each other trough tough times. A special mention goes to my father Arsenio, who helped me develop this thesis in any way he could and sadly is not with us anymore. I know he would be proud of me.  \nLast but not least, I would like to thank my friends Sergio, Carlos, Ignacio, Visus, Clavero, Vicky and Laura for always welcoming me in Zaragoza when I needed a break. I cannot forget about my friend Yas, who always showed interest in my work and supported me all the way from Argentina.  \nvi  \nPublished and submitted content  \nParts of this thesis are based on work published in the following journal papers:  \nMuñoz, J. ; López, B.; Quevedo, F.; Monje, C.A.; Garrido, S.; Moreno, L.E. Coverage Strategy for Target Location in Marine Environments Using Fixed-Wing UAVs. Drones 2021, 5, 120 .  \n[https:](https://doi.org/10.3390/drones5040120)[//](https://doi.org/10.3390/drones5040120)[doi.org](https://doi.org/10.3390/drones5040120)[/](https://doi.org/10.3390/drones5040120)[10.3390](https://doi.org/10.3390/drones5040120)[/](https://doi.org/10.3390/drones5040120)[drones5040120](https://doi.org/10.3390/drones5040120)  \n* The content of this paper is fully included in this thesis in Chapter 3 . The material from this source included in this thesis is not singled out with typographic means and references.  \nMuñoz, J. ; López, B.; Quevedo, F.; Monje, C.A.; Garrido, S.; Moreno, L.E. Multi UAV Coverage Path Planning in Urban Environments. Sensors 2021, 21, 7365 . [https:](https://doi.org/10.3390/s21217365)[//](https://doi.org/10.3390/s21217365)[doi.org](https://doi.org/10.3390/s21217365)[/](https://doi.org/10.3390/s21217365)[10.3390](https://doi.org/10.3390/s21217365)[/](https://doi.org/10.3390/s21217365)[s21217365](https://doi.org/10.3390/s21217365)  \n* The content of this paper is fully included in this thesis in Chapter 3 . The material from this source included in this thesis is not singled out with typographic means and references.  \nMuñoz, J. ; López, B.; Quevedo, F.","cbCairPRYQo1oRP8","https://ap.wps.com/l/cbCairPRYQo1oRP8","pdf",18415107,1,176,"English","en",105,"# Acknowledgements\n## Published and submitted content","[{\"question\":\"What topic does the dissertation focus on?\",\"answer\":\"The dissertation focuses on applying Gaussian processes to machine learning problems in robotics, including planning, modeling, and estimation.\"},{\"question\":\"Which robotics tasks are covered by the published/embedded papers?\",\"answer\":\"The included works address coverage strategy and multi-UAV coverage path planning, informative path planning, collision checking for motion planning, and kinematics modeling for soft robotic arms.\"},{\"question\":\"How is the research connected to robotics applications like UAVs and soft robots?\",\"answer\":\"The dissertation links Gaussian-process techniques to UAV 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