• DEM-AIA: Asymmetric inclination-aware trajectory planner for off-road vehicles with digital elevation models 

  Toscano-Moreno, Manuel; Mandow, Anthony; Alcázar Martínez, Maria; Garcia-Cerezo, Alfonso J. (Elsevier, 2023)

  Planning safe and effective trajectories for off-road unmanned ground vehicles (UGV) is a critical Artificial Intelligence (AI) challenge that can benefit from recent advances in digital elevation models (DEM) for readily ...

• Optimal path planning using a continuous anisotropicmodel for navigation on irregular terrains. 

  Sánchez Ibáñez, José Ricardo; Perez-del-Pulgar-Mancebo, Carlos Jesus; Seron-Barba, Javier; Garcia-Cerezo, Alfonso J. (Springer Nature, 2022-12-05)

  Mobile robots usually need to minimize energy when they are traversing uneven terrains. To reach a location of interest, one strategy consists of making the robot follow the path that demands the least possible amount of ...

• Multi-stage warm started optimal motion planning for over-actuated mobile platforms 

  Paz-Delgado, Gonzalo Jesús; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, Martin; Kirchner, Frank; Garcia-Cerezo, Alfonso J. (Springer, 2023)

  This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers ...

• The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments 

  Zúñiga-Noël, David; Jaenal, Alberto; Gomez-Ojeda, Ruben; Gonzalez-Jimenez, Antonio Javier (SAGE Journals, 2020-07-10)

  This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo ...

• Experimental Analysis of Appearance Maps as Descriptor Manifolds Approximations 

  Jaenal, Alberto; Moreno-Dueñas, Francisco Angel; Gonzalez-Jimenez, Antonio Javier (Springer, 2021-10-31)

  Images of a given environment, coded by a holistic image descriptor, produce a manifold that is articulated by the camera pose in such environment. The correct articulation of such Descriptor Manifold (DM) by the camera ...

• Development and Evaluation of Fuzzy Logic Controllers for Improving Performance of Wind Turbines on Semi-Submersible Platforms under Different Wind Scenarios 

  Zambrana, P.; Fernández-Quijano, Javier; Mayorga-Rubio, Pedro Miguel; Fernández-Lozano, Juan Jesús; Garcia-Cerezo, Alfonso J. (IOAP-MDPI, 2023-02-13)

  Among renewable energy technologies, wind energy features one of the best possibilities for large-scale integration into power systems. However, there are specific restrictions regarding the installation areas for this ...

• Contribuciones al desarrollo de sistemas de sensores basados en redes inalámbricas para aplicaciones con robots y sistemas autónomos. 

  Socarras-Bertiz, Carlos Alberto (UMA Editorial, 2023-03)

  Las redes de sensores inalámbricas facilitan la obtención de información cuantitativa de algún fenómeno con persistencia en el tiempo, en un área geográfica extensa, o en ambos casos. Sin embargo, cubrir una zona amplia ...

• Vision-Based Autonomous Following of a Moving Platform and Landing for an Unmanned Aerial Vehicle 

  Morales-Rodriguez, Jesus; Castelo, Isabel; Serra, Rodrigo; Lima, Pedro U.; Basiri, Meysam (IOAP-MDPI, 2023-01-11)

  Interest in Unmanned Aerial Vehicles (UAVs) has increased due to their versatility and variety of applications, however their battery life limits their applications. Heterogeneous multi-robot systems can offer a solution ...

• On the Selectivity of Planar Microwave Glucose Sensors with Multicomponent Solutions 

  Juan Poveda, Carlos Gabriel; Potelon, Benjamin; Quendo, Cédric; Muñoz-Martínez, Víctor Fernando; Ferrández-Vicente, José M.; Sabater-Navarro, José M.[et al.] (IOAP-MDPI, 2022-12-30)

  The development of glucose concentration sensors by means of microwave planar resonant technology is an active field attracting considerable attention from the scientific community. Although showing promising results, the ...

• Enabling Remote Responder Bio-Signal Monitoring in a Cooperative Human–Robot Architecture for Search and Rescue 

  Vera-Ortega, Pablo; Vazquez-Martin, Ricardo; Fernández-Lozano, Juan Jesús (IOAP-MDPI, 2022-12-21)

  The roles of emergency responders are challenging and often physically demanding, so it is essential that their duties are performed safely and effectively. In this article, we address real-time bio-signal sensor monitoring ...

• Sensors Technology for Medical Robotics 

  Muñoz-Martínez, Víctor Fernando (IOAP-MDPI, 2022-11-29)

  There are many definitions for the concept of a robot, perhaps too many; it has even been said that we do not know how to define them, but when we see a robot, we identify it. In any case, Tomas Lozano Pérez stated, back ...

• Dataset with Tactile and Kinesthetic Information from a Human Forearm and Its Application to Deep Learning 

  Pastor-Martín, Francisco; Lin-Yang, Da-hui; Gómez-de-Gabriel, Jesús Manuel; Garcia-Cerezo, Alfonso J. (IOAP-MDPI, 2022-11-12)

  There are physical Human–Robot Interaction (pHRI) applications where the robot has to grab the human body, such as rescue or assistive robotics. Being able to precisely estimate the grasping location when grabbing a human ...

• Integrating ROS and Android for Rescuers in a Cloud Robotics Architecture: Application to a Casualty Evacuation Exercise 

  Toscano-Moreno, Manuel; Bravo-Arrabal, Juan; Sánchez-Montero, Manuel; Seron-Barba, Javier; Vazquez-Martin, Ricardo; Fernández-Lozano, Juan Jesús; Mandow, Anthony; Garcia-Cerezo, Alfonso J.[et al.] (2022)

  Cloud robotics and the Internet of robotic things (IoRT) can boost the performance of human-robot cooperative teams in demanding environments (e.g., disaster response, mining, demolition, and nuclear sites) by allowing ...

• Project Summary: TRUST-ROB, Towards Resilient UGV and UAV Manipulator Teams For Robotic Search and Rescue Tasks 

  Garcia-Cerezo, Alfonso J.; Mandow, Anthony; Bravo-Arrabal, Juan; Cruz, A; Castellano Quero, Manuel; Fernández-Lozano, Juan Jesús; Gandarias, JM; Gómez-de-Gabriel, JM; Gomez Ruiz, JA; Martínez, JL; Martinez-Sanchez, Maria Alcazar; Miranda-Paez, Jesus; Morales, J; Muñoz-Ramirez, Antonio Jose; Pastor-Martín, Francisco; Reina, AJ; Sánchez, JR; Seron-Barba, Javier; Toscano-Moreno, Manuel; Vazquez-Martin, Ricardo; Zambrana-Moral, Patricia[et al.] (2022)

  This Project Summary paper reviews the main contributions and lessons learned from the TRUST-ROB project: “Towards Resilient UGV and UAV Manipulator Teams for Robotic Search and Rescue Tasks”, which has been developed ...

• GadenTools: a toolkit for testing and simulating robotic olfaction tasks with Jupyter Notebook support 

  Ojeda, Pepe; Ruiz-Sarmiento, Jose Raul; Monroy, Javier; Gonzalez-Jimenez, Antonio Javier (2022)

  This work presents GadenTools, a toolkit designed to ease the development and integration of mobile robotic olfaction applications by enabling a convenient and user-friendly access to Gaden’s realistic gas dispersion ...

• Extreme Path Planning for Exploration Mobile Robots 

  Sánchez Ibáñez, José Ricardo (UMA Editorial, 2022)

  Increasing autonomy on mobile robots is essential. The main reason is to provide them with the ability to perform operations on their own. This skill is desirable in fields such as planetary exploration or search and rescue ...

• Detección y recogida de muestras por vehículos de exploración planetaria 

  Mantoani, Laura; Castilla-Arquillo, Raúl; Paz Delgado, Gonzalo Jesús; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, Martin (Jornadas de Robótica, Educación y Bioingeniería, Málaga, 2022)

  Las futuras misiones de exploración planetaria exigen cada vez más autonomía, ya que estas misiones son cada vez más complejas. Un ejemplo claro es la misión de retorno de muestras a Marte, en la que el Sample Fetch Rover ...

• Dimensionality Reduction in images for Appearance-based camera Localization 

  Luengo, Silvia; Jaenal, Alberto; Moreno-Dueñas, Francisco Angel; Gonzalez-Jimenez, Antonio Javier (XLIII Jornadas de Automática, 2022-09-07)

  Appearance-based Localization (AL) focuses on estimating the pose of a camera from the information encoded in an image, treated holistically. However, the high-dimensionality of images makes this estimation intractable and ...

• Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition With Mobile Robots 

  Jaenal, Alberto; Moreno-Dueñas, Francisco Angel; Gonzalez-Jimenez, Antonio Javier (IEEE, 2022-06-27)

  Visual Place Recognition (VPR), the task of identifying the place where an image has been taken from, is at the core of important robotic problems as relocalization, loop-closure detection or topological navigation. Even ...

• Robot@VirtualHome, an ecosystem of virtual environments and tools for realistic indoor robotic simulation 

  Fernandez-Chaves, David; Ruiz-Sarmiento, Jose Raul; Jaenal, Alberto; Petkov, Nicolai; Gonzalez-Jimenez, Antonio Javier (Elsevier, 2022-12)

  Simulations and synthetic datasets have historically empower the research in different service robotics-related problems, being revamped nowadays with the utilization of rich virtual environments. However, with their use, ...

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