Academic Background

Ph.D. in Computer Science and Systems Engineering – Cum Laude in December of 2014 (2010-2014)

Universidad de Zaragoza.

Zaragoza - Spain

Thesis: “Active SLAM: Utility Functions and Applications”.

Abstract: The main contributions of this thesis can be briefly summarized as follows:

We present an analysis of the application of optimality criteria stemming from the Theory of Optimal Experimental Design in order to quantify the uncertainty in both the robot and the map for active SLAM. Moreover, we provide a correction to the formulae used in the robotic community to quantify uncertainty using the aforementioned optimality criteria in an active SLAM scenario.

We present a novel information-theoretic utility function for active SLAM that uses both Shannon’s and R´enyi’s definitions of entropy to jointly consider the uncertainty of the robot and the map. This allow us to fuse both uncertainties without the use of an ad hoc solution.

M.Sc. in Computer Science and Systems Engineering – December of 2011 (2010-2011)

Universidad de Zaragoza. GPA: 9.54/10.0

Zaragoza - Spain

Thesis: “On the Comparison of Uncertainty Criteria for Active SLAM”.

Abstract: In this report, we consider the computation of the D-optimality criterion as a metric for the uncertainty of a SLAM system. Properties regarding the use of this uncertainty criterion in the active SLAM context are highlighted, and comparisons against the A-optimality criterion and entropy are presented. This paper shows that contrary to what has been previously reported, the D-optimality criterion is indeed capable of giving fruitful information as a metric for the uncertainty of a robot performing SLAM. Finally, through various experiments with simulated and real robots, we support our claims and show that the use of D-opt has desirable effects in various SLAM related tasks such as active mapping and exploration.

M.Sc. in Electronics Engineering – Summa Cum Laude in April of 2010 (2008-2010)

Pontificia Universidad Javeriana. GPA: 4.91/5.0

Bogotá D.C - Colombia

Thesis: “Hardware Architecture for Real Time Computation of Dense Disparity Map Using Passive Stereo Vision”.

Abstract: A specialized hardware architecture that allows real time computation of dense disparity maps implemented on a FPGA is proposed. The architecture is based on an area-based matching algorithm.

B.Eng (Hons) in Electronics Engineering – First class rank in September of 2007 (2003-2007)

Universidad del Norte. GPA: 4.3/5.0

Barranquilla – Colombia

Thesis: “A Computer Aided Tool for the Assessment of Human Sperm Morphology”.

Abstract: A computer vision system for the assessment of human sperm morphologic is implemented with a novel approach for spermatozoa segmentation and feature extraction.

Awards and Distinctions

• Awarded a FPI scholarship by the Ministry of Science and Innovation of Spain. August 2010.

• "Orden al Mérito Académico Javeriano". Distinction given to all postgraduate student at the PUJ with a Final GPA above 4.5. Pontificia Universidad Javeriana. April of 2010.

• Summa Cum Laude degree at Master Level. Pontificia Universidad Javeriana. April of 2010.

• Dean list (First position). Distinction for the master students with a GPA above 4.5. Pontificia Universidad Javeriana. Terms: 2008-I, 2008-III, 2009-I and 2009-III.

• Third place at V Latin American Robotics Competition (LARC2008) in the open category with the robot “Henery Hawk”. LARC2008 - Salvador de Bahia, Brazil, October 28- 31, 2008.

• Honor Distinction for undergraduate students with academic excellence. Distinction given to the undergraduates students in the first class range. Universidad del Norte. September 27, 2007.

• Laureate Thesis Award: Highest honor awarded for outstanding research work. Universidad del Norte. September 27, 2007.

• Best Paper Award in the Computational Intelligence area given in the “V Encuentro Regional de Electrónica y Sistema (ERES 2007)”, with the paper ““Sistema de Visión por Computador para el Análisis Morfológico de Espermatozoides Humanos”. Universidad del Norte. August 18, 2007.