{"id":3935,"date":"2025-04-24T17:03:23","date_gmt":"2025-04-24T20:03:23","guid":{"rendered":"https:\/\/dcc.ing.uc.cl\/?p=3935"},"modified":"2025-04-24T17:05:47","modified_gmt":"2025-04-24T20:05:47","slug":"gabriel-sepulveda-obtiene-su-grado-de-doctor-en-ciencias-de-la-ingenieria-especializacion-en-computacion","status":"publish","type":"post","link":"https:\/\/dcc.ing.uc.cl\/?p=3935","title":{"rendered":"Gabriel Sep\u00falveda obtiene su grado de Doctor en Ciencias de la Ingenier\u00eda especializaci\u00f3n en Computaci\u00f3n"},"content":{"rendered":"\n<p><strong>Gabriel Sep\u00falveda Villalobos<\/strong>, defendi\u00f3 este mi\u00e9rcoles 16 de abril su tesis doctoral titulada: <br><strong><em>&#8220;A behavioral Approach to indoor autonomous navigation with an affordance-based plan execution&#8221;<\/em><\/strong><\/p>\n\n\n\n<p>Resumen:<br>La mayor\u00eda de los sistemas de navegaci\u00f3n aut\u00f3noma utilizados actualmente en robots m\u00f3viles de interior, basan su funcionamiento en la construcci\u00f3n de representaciones de tipo m\u00e9trica o topol\u00f3gica del ambiente. Desafortunadamente, este tipo de representaciones no son robustas a cambios estructurales del entorno, y su capacidad de generalizaci\u00f3n se ve limitada al requerir de la construcci\u00f3n de una representaci\u00f3n particular para cada ambiente visitado.<br>Para superar las limitaciones antes mencionadas, proponemos un modelo de navegaci\u00f3n aut\u00f3noma capaz de representar el entorno a trav\u00e9s de: i) espacios arquitect\u00f3nicos que son significativos para los seres humanos, tales como oficinas, corredores y halls, y ii) los comportamientos necesarios para transitar entre dichos espacios, tales como \u201csalir de oficina\u201d o \u201ccruzar hall\u201d.<br>Las principales contribuciones de este trabajo son: i) un esquema de navegaci\u00f3n enfocado en la selecci\u00f3n de acciones de alto nivel que es menos propenso a errores de localizaci\u00f3n, ii) una representaci\u00f3n compacta del ambiente que facilita el planeamiento de rutas e interacci\u00f3n con seres humanos, y iii) un m\u00e9todo para ejecuci\u00f3n de planes de navegaci\u00f3n basada en la identificaci\u00f3n de affordances relevantes para navegaci\u00f3n, que permite prescindir de una representaci\u00f3n expl\u00edcita del ambiente.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-large\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1024\" height=\"768\" data-id=\"3940\" src=\"https:\/\/dcc.ing.uc.cl\/wp-content\/uploads\/2025\/04\/photo_2025-04-24_15-57-46-1024x768.jpg\" alt=\"\" class=\"wp-image-3940\" srcset=\"https:\/\/dcc.ing.uc.cl\/wp-content\/uploads\/2025\/04\/photo_2025-04-24_15-57-46-1024x768.jpg 1024w, https:\/\/dcc.ing.uc.cl\/wp-content\/uploads\/2025\/04\/photo_2025-04-24_15-57-46-300x225.jpg 300w, https:\/\/dcc.ing.uc.cl\/wp-content\/uploads\/2025\/04\/photo_2025-04-24_15-57-46-768x576.jpg 768w, https:\/\/dcc.ing.uc.cl\/wp-content\/uploads\/2025\/04\/photo_2025-04-24_15-57-46.jpg 1280w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/figure>\n\n\n\n<p class=\"has-text-align-center\"><em>Gustavo junto al comit\u00e9 evaluador<br><\/em><br><br><br><br><br><em>Im\u00e1genes: cr\u00e9ditos a Francisca Cattan<\/em><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Gabriel Sep\u00falveda Villalobos, defendi\u00f3 este mi\u00e9rcoles 16 de abril su tesis doctoral titulada: &#8220;A behavioral Approach to indoor autonomous navigation with an affordance-based plan execution&#8221; Resumen:La mayor\u00eda de los sistemas de navegaci\u00f3n aut\u00f3noma utilizados actualmente en robots m\u00f3viles de interior, basan su funcionamiento en la construcci\u00f3n de representaciones de tipo m\u00e9trica o topol\u00f3gica del ambiente. Desafortunadamente, este tipo de representaciones no son robustas a cambios estructurales del entorno, y su capacidad de generalizaci\u00f3n se ve limitada al requerir de la construcci\u00f3n de una representaci\u00f3n particular para cada ambiente visitado.Para superar las limitaciones antes mencionadas, proponemos un modelo de navegaci\u00f3n aut\u00f3noma capaz de representar el entorno a trav\u00e9s de: i) espacios arquitect\u00f3nicos que son significativos para los seres humanos, tales como oficinas, corredores y halls, y ii) los comportamientos necesarios para transitar entre dichos espacios, tales como \u201csalir de oficina\u201d o \u201ccruzar hall\u201d.Las principales contribuciones de este trabajo son: i) un esquema de navegaci\u00f3n enfocado en la selecci\u00f3n de acciones de alto nivel que es menos propenso a errores de localizaci\u00f3n, ii) una representaci\u00f3n compacta del ambiente que facilita el planeamiento de rutas e interacci\u00f3n con seres humanos, y iii) un m\u00e9todo para ejecuci\u00f3n de planes de navegaci\u00f3n basada en la identificaci\u00f3n de affordances relevantes para navegaci\u00f3n, que permite prescindir de una representaci\u00f3n expl\u00edcita del ambiente. Gustavo junto al comit\u00e9 evaluador Im\u00e1genes: cr\u00e9ditos a Francisca Cattan<\/p>\n","protected":false},"author":8,"featured_media":3940,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","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":"","ast-disable-related-posts":"","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":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[10],"tags":[58,314,199,315],"class_list":["post-3935","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-noticias","tag-computacion","tag-defensa","tag-doctorado","tag-tesis"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Gabriel Sep\u00falveda obtiene su grado de Doctor en Ciencias de la Ingenier\u00eda especializaci\u00f3n en Computaci\u00f3n - Departamento de Ciencia de la Computaci\u00f3n<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/dcc.ing.uc.cl\/?p=3935\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Gabriel Sep\u00falveda obtiene su grado de Doctor en Ciencias de la Ingenier\u00eda especializaci\u00f3n en Computaci\u00f3n - Departamento de Ciencia de la Computaci\u00f3n\" \/>\n<meta property=\"og:description\" content=\"Gabriel Sep\u00falveda Villalobos, defendi\u00f3 este mi\u00e9rcoles 16 de abril su tesis doctoral titulada: &#8220;A behavioral Approach to indoor autonomous navigation with an affordance-based plan execution&#8221; Resumen:La mayor\u00eda de los sistemas de navegaci\u00f3n aut\u00f3noma utilizados actualmente en robots m\u00f3viles de interior, basan su funcionamiento en la construcci\u00f3n de representaciones de tipo m\u00e9trica o topol\u00f3gica del ambiente. Desafortunadamente, este tipo de representaciones no son robustas a cambios estructurales del entorno, y su capacidad de generalizaci\u00f3n se ve limitada al requerir de la construcci\u00f3n de una representaci\u00f3n particular para cada ambiente visitado.Para superar las limitaciones antes mencionadas, proponemos un modelo de navegaci\u00f3n aut\u00f3noma capaz de representar el entorno a trav\u00e9s de: i) espacios arquitect\u00f3nicos que son significativos para los seres humanos, tales como oficinas, corredores y halls, y ii) los comportamientos necesarios para transitar entre dichos espacios, tales como \u201csalir de oficina\u201d o \u201ccruzar hall\u201d.Las principales contribuciones de este trabajo son: i) un esquema de navegaci\u00f3n enfocado en la selecci\u00f3n de acciones de alto nivel que es menos propenso a errores de localizaci\u00f3n, ii) una representaci\u00f3n compacta del ambiente que facilita el planeamiento de rutas e interacci\u00f3n con seres humanos, y iii) un m\u00e9todo para ejecuci\u00f3n de planes de navegaci\u00f3n basada en la identificaci\u00f3n de affordances relevantes para navegaci\u00f3n, que permite prescindir de una representaci\u00f3n expl\u00edcita del ambiente. Gustavo junto al comit\u00e9 evaluador Im\u00e1genes: cr\u00e9ditos a Francisca Cattan\" \/>\n<meta property=\"og:url\" content=\"https:\/\/dcc.ing.uc.cl\/?p=3935\" \/>\n<meta property=\"og:site_name\" content=\"Departamento de Ciencia de la Computaci\u00f3n\" \/>\n<meta property=\"article:published_time\" content=\"2025-04-24T20:03:23+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2025-04-24T20:05:47+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/dcc.ing.uc.cl\/wp-content\/uploads\/2025\/04\/photo_2025-04-24_15-57-46.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"1280\" \/>\n\t<meta property=\"og:image:height\" content=\"960\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"Pia Cassone\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Escrito por\" \/>\n\t<meta name=\"twitter:data1\" content=\"Pia Cassone\" \/>\n\t<meta name=\"twitter:label2\" content=\"Tiempo estimado de lectura\" \/>\n\t<meta name=\"twitter:data2\" content=\"2 minutos\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/?p=3935#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/?p=3935\"},\"author\":{\"name\":\"Pia Cassone\",\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/#\\\/schema\\\/person\\\/a2eef86f31907b1eca3781d165255d75\"},\"headline\":\"Gabriel Sep\u00falveda obtiene su grado de Doctor en Ciencias de la Ingenier\u00eda especializaci\u00f3n en Computaci\u00f3n\",\"datePublished\":\"2025-04-24T20:03:23+00:00\",\"dateModified\":\"2025-04-24T20:05:47+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/?p=3935\"},\"wordCount\":276,\"publisher\":{\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/#organization\"},\"image\":{\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/?p=3935#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/wp-content\\\/uploads\\\/2025\\\/04\\\/photo_2025-04-24_15-57-46.jpg\",\"keywords\":[\"Computaci\u00f3n\",\"defensa\",\"Doctorado\",\"tesis\"],\"articleSection\":[\"Noticias\"],\"inLanguage\":\"es-CL\"},{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/?p=3935\",\"url\":\"https:\\\/\\\/dcc.ing.uc.cl\\\/?p=3935\",\"name\":\"Gabriel Sep\u00falveda obtiene su grado de Doctor en Ciencias de la Ingenier\u00eda especializaci\u00f3n en Computaci\u00f3n - 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