{"id":23749,"date":"2018-03-09T09:14:25","date_gmt":"2018-03-09T09:14:25","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/calculo-del-c-espacio-de-un-robot-movil-convolucion-jerarquica\/"},"modified":"2018-03-09T09:14:25","modified_gmt":"2018-03-09T09:14:25","slug":"calculo-del-c-espacio-de-un-robot-movil-convolucion-jerarquica","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/salamanca\/calculo-del-c-espacio-de-un-robot-movil-convolucion-jerarquica\/","title":{"rendered":"C\u00e1lculo del c-espacio de un robot m\u00f3vil: convoluci\u00f3n jer\u00e1rquica"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Francisco Javier Blanco Rodr\u00edguez <\/strong><\/h2>\n<p>En este trabajo se propone un m\u00e9todo para realizar la operaci\u00f3n de convoluci\u00f3n discreta de funciones utilizando estructuras jer\u00e1rquicas de datos. Este m\u00e9todo tiene una fundamentaci\u00f3n matem\u00e1tica rigurosa que garantiza la validez de los resultados de dicha operaci\u00f3n.  para valorar su aplicabilidad, se considera el problema de la evaluaci\u00f3n del espacio de las configuraciones por robots m\u00f3viles. Para estos , en general, el espacio de trabajo es de grandes dimensiones y en los casos en los que se requiere una cierta exactitud la utilizaci\u00f3n de una discretizaci\u00f3n uniforme es inviable por los recursos computacionales necesarios (principalmente de memoria). Adem\u00e1s, en este trabajo, se amplia la utilizaci\u00f3n de esta operaci\u00f3n a robots m\u00f3viles con orientaci\u00f3n para lo cual ha sido necesario la incorporaci\u00f3n de una nueva estructura de datos: \u00e1rbol multigrado-2k que pueden resultar de gran inter\u00e9s en otras aplicaciones.  por otra parte, presenta un m\u00e9todo optimizado para realizar la operaci\u00f3n de convolucci\u00f3n jer\u00e1rquica lo que ha permitido reducir de forma importante reducir de forma importante los consumos de recursos computacionales. As\u00ed, se ha realizado un importante trabajo experimental que soporta los resultados obtenidos.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>C\u00e1lculo del c-espacio de un robot m\u00f3vil: convoluci\u00f3n jer\u00e1rquica<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 C\u00e1lculo del c-espacio de un robot m\u00f3vil: convoluci\u00f3n jer\u00e1rquica <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Francisco Javier Blanco Rodr\u00edguez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Salamanca<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 20\/06\/2003<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Vidal Moreno Rodilla<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: eladio Sanz garcia <\/li>\n<li>joan Rosell gratac\u00f3s (vocal)<\/li>\n<li>eduardo Zalama casanova (vocal)<\/li>\n<li>josep Tornero monserrat (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Francisco Javier Blanco Rodr\u00edguez En este trabajo se propone un m\u00e9todo para realizar la operaci\u00f3n de convoluci\u00f3n [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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