Publications by year

(Scholar citations)

2021

  1. A. Andriella, H. Siqueira, D. Fu, S. Magg, P. Barros, S. Wermter, C. Torras, and G. Alenyà, “Do I Have a Personality? Endowing Care Robots with Context-Dependent Personality Traits,” International Journal of Social Robotics, 2021. [DOI] [PDF] [bib]
  2. N. Hansen, R. Jangir, Y. Sun, G. Alenyà, P. Abbeel, A. A. Efros, L. Pinto, and X. Wang, “Self-Supervised Policy Adaptation during Deployment,” in International Conference on Learning Representations, 2021. [PDF] [bib]
  3. A. Suárez, J. Segovia, C. Torras, and G. Alenyà, “Online Action Recognition,” in Proceedings of the AAAI Conference on Artificial Intelligence, 2021. [PDF] [bib]

2020

  1. J. Borràs, G. Alenyà, and C. Torras, “A grasping-centered analysis for cloth manipulation,” IEEE Transactions on Robotics, vol. 36, no. 3, pp. 924–936, 2020. [DOI] [PDF] [bib]
  2. A. Andriella, C. Torras, and G. Alenyà, “Cognitive System Framework for Brain-Training Exercise Based on Human-Robot Interaction,” Cognitive Computation, vol. 12, no. 4, pp. 793–810, 2020. [DOI] [PDF] [bib]
  3. I. Garcia-Camacho, M. Lippi, M. C. Welle, H. Yin, R. Antanova, A. Varava, J. B. Sol, C. Torras, A. Marino, G. Alenyà, and D. Kragic, “Benchmarking bimanual cloth manipulation,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1111–1118, 2020. [DOI] [PDF] [bib]
  4. S. Donaire, J. Borràs, G. Alenyà, and C. Torras, “A Versatile Gripper for Cloth Manipulation,” IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6520–6527, 2020. [DOI] [PDF] [bib]
  5. A. Andriella, C. Torras, and G. Alenyà, “Short-Term Human–Robot Interaction Adaptability in Real-World Environments,” International Journal of Social Robotics, vol. 12, no. 3, pp. 639–657, 2020. [DOI] [PDF] [bib]
  6. A. Suárez, T. Gaury, J. Segovia, A. Bernardin, C. T. M. Marchal, and G. Alenyà, “Leveraging multiple environments for learning and decision making: a dismantling use case,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, pp. 6902–6908. [DOI] [PDF] [bib]
  7. E. Corona, A. Pumarola, G. Alenyà, F. Moreno-Noguer, and G. Rogez, “Ganhand: Predicting human grasp affordances in multi-object scenes,” in IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, pp. 5031–5041. [DOI] [PDF] [bib]
  8. E. Corona, A. Pumarola, G. Alenyà, and F. Moreno-Noguer, “Context-aware human motion prediction,” in IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, pp. 6992–7001. [DOI] [PDF] [bib]
  9. R. Jangir, G. Alenya, and C. Torras, “Dynamic Cloth Manipulation with Deep Reinforcement Learning,” in IEEE International Conference on Robotics and Automation, 2020, pp. 4630–4636. [DOI] [PDF] [bib]
  10. A. Andriella, R. Huertas, S. Forgas, C.Torras, and G. Alenyà, “Discovering SOCIABLE: Using a Conceptual Model to Evaluate the Legibility and Effectiveness of Backchannel Cues in an Entertainment Scenario,” in IEEE International Symposium on Robot and Human Interactive Communication, 2020, pp. 752–759. [DOI] [PDF] [bib]
  11. M. Maceira, A. Olivares-Alarcos, and G. Alenyà, “Recurrent Neural Networks for Inferring Intentions in Shared Tasksfor Industrial Collaborative Robot,” in IEEE International Symposium on Robot and Human Interactive Communication, 2020, pp. 665–670. [DOI] [PDF] [bib]
  12. A. Suárez-Hernández, J. Segovia-Aguas, C. Torras, and G. Alenyà, “STRIPS Action Discovery,” in AAAI 2020 workshop on Generalization in Planning (GenPlan), 2020. [PDF] [bib]
  13. I. Geer, M. Maceira, J. Borràs, C. Torras, and G. Alenyà, “Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor,” in IROS Workshop on RObotic MAnipulation of Deformable Objects, 2020. [PDF] [bib]
  14. A. S. Miguel, V. Puig, and G. Alenyà, “Fault-tolerant control of a service robot,” in Fault Diagnosis and Fault-tolerant Control of Robotic Systems, The Institution of Engineering and Technology, 2020. [PDF] [bib]

2019

  1. A. Suárez, C. Torras, and G. Alenyà, “Practical Resolution Methods for MDPs in Robotics Exemplified with Disassembly Planning,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2282–2288, 2019. [DOI] [PDF] [bib]
  2. G. Canal, G. Alenyà, and C. Torras, “Adapting robot task planning to user preferences: an assistive shoe dressing example,” Autonomous Robots, vol. 43, no. 6, pp. 1343–1356, 2019. [DOI] [PDF] [bib]
  3. A. Olivares-Alarcos, S. Foix, and G. Alenyà, “On inferring intentions in shared tasks for industrial collaborative robots,” Electronics, vol. 8, no. 11, p. 1306, 2019. [DOI] [PDF] [bib]
  4. A. Olivares-Alarcos, D. Beßler, A. Khamis, P. Goncalves, M. K. Habib, J. Bermejo-Alonso, M. Barreto, M. Diab, J. Rosell, J. Quintas, J. Olszewska, H. Nakawala, E. Pignaton, A. Gyrard, S. Borgo, G. Alenyà, M. Beetz, and H. Li, “A review and comparison of ontology-based approaches to robot autonomy,” The Knowledge Engineering Review, vol. 34, p. e29, 2019. [DOI] [PDF] [bib]
  5. A. Jevtić, A. Flores, G. Alenyà, G. Chance, P. Caleb-Solly, S. Dogramadzi, and C. Torras, “Personalized robot assistant for support in dressing,” IEEE Transactions on Cognitive and Developmental Systems, vol. 11, no. 3, pp. 363–374, 2019. [DOI] [PDF] [bib]
  6. A. Andriella, C.Torras, and G. Alenyà, “Learning robot policies using a high-level abstraction persona-behaviour simulator,” in IEEE International Symposium on Robot and Human Interactive Communication, 2019. [DOI] [PDF] [bib]
  7. A. S. Miguel, V. Puig, and G. Alenyà, “Fault-tolerant Control of a Service Robot using a LPV Robust Unknown Input Observer,” in 4th International Conference on Control and Fault-Tolerant Systems (SYSTOL), 2019, pp. 207–212. [DOI] [PDF] [bib]
  8. A. Andriella, A. Suarez, J. Segovia-Aguas, C.Torras, and G. Alenyà, “Natural teaching of robot-assisted rearranging exercises for cognitive training,” in International Conference on Social Robotics, no. 11876, Springer, 2019, pp. 611–621. [DOI] [PDF] [bib]
  9. G. Canal, M. Cashmore, S. Krivic, G. Alenyà, D. Magazzeni, and and C. Torras, “Probabilistic planning for robotics with ROSPlan,” in Towards Autonomous Robotic Systems Conference, no. 11649, Springer, 2019, pp. 236–250. [DOI] [PDF] [bib]
  10. A. Andriella, J. Lobo, C. Torras, and G. Alenyà, “Robot interaction adaptation for healthcare assistance,” in Artificial Intelligence & Robotics in Service Interactions (AIRSI), 2019. [PDF] [bib]

2018

  1. G. Chance, A. Jevtić, P. Caleb-Solly, G. Alenyà, C. Torras, and S. Dogramadzi, “‘Elbows out’ - predictive tracking of partially occluded pose for robot-assisted dressing,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3598–3605, 2018. [DOI] [PDF] [bib]
  2. A. Andriella, G. Alenyà, J. Hernandez-Farigola, and C. Torras, “Deciding the different robot roles for patient cognitive training,” International Journal of Human-Computer Studies, vol. 117, pp. 20–29, 2018. [DOI] [PDF] [bib]
  3. S. Foix, G. Alenyà, and C. Torras, “Task-driven active sensing framework applied to leaf probing,” Computers and Electronics in Agriculture, vol. 147, pp. 166–175, 2018. [DOI] [PDF] [bib]
  4. E. Corona, G. Alenyà, T. Gabas, and C. Torras, “Active garment recognition and target grasping point detection using deep learning,” Pattern Recognition, vol. 74, pp. 629–641, 2018. [DOI] [PDF] [bib]
  5. A. Jevtić, A. Colomé, G. Alenyà, and C. Torras, “Robot motion adaptation through user intervention and reinforcement learning,” Pattern Recognition Letters, vol. 105, pp. 67–75, 2018. [DOI] [PDF] [bib]
  6. T. R. Savarimuthu, A. G. Buch, C. Schlette, N. Wantia, J. Rossmann, D. Martinez, G. Alenyà, C. Torras, A. Ude, B. Nemec, A. Kramberger, F. Worgotter, E. Aksoy, J. Papon, S. Haller, J. Piater, and N. Kruger, “Teaching a Robot the Semantics of Assembly Tasks,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 48, no. 5, pp. 670–692, 2018. [DOI] [PDF] [bib]
  7. A. Suarez, G. Alenyà, and C. Torras, “Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, pp. 4061–4066. [DOI] [PDF] [bib]
  8. G. Canal, E. Pignat, G. Alenyà, S. Calinon, and C. Torras, “Joining High-Level Symbolic Planning with Low-Level Motion Primitives in Adaptive HRI: Application to Dressing Assistance,” in IEEE International Conference on Robotics and Automation, 2018, pp. 3273–3278. [DOI] [PDF] [bib]
  9. M. Vila, G. Canal, and G. Alenyà, “Towards safety in physically assistive robots: eating assistance,” in IROS Workshop on Robots for Assisted Living, 2018. [PDF] [bib]

2017

  1. D. Martínez, G. Alenyà, T. Ribeiro, K. Inoue, and C. Torras, “Relational Reinforcement Learning for Planning with Exogenous Effects,” Journal of Machine Learning Research, vol. 18, no. 78, pp. 1–44, 2017. [DOI] [PDF] [bib]
  2. G. Alenyà, R. Téllez, K. O’Regan, and C. Angulo, “Guest Editorial Sensorimotor Contingencies for Cognitive Robotics,” IEEE Transactions on Cognitive and Developmental Systems, vol. 9, no. 2, pp. 97–99, 2017. [DOI] [PDF] [bib]
  3. A. Agostini, G. Alenyà, A. Fischbach, H. Scharr, F. Wörgötter, and C. Torras., “A cognitive architecture for automatic gardening,” Computers and Electronics in Agriculture, no. 138, pp. 69–79, 2017. [DOI] [PDF] [bib]
  4. D. Martínez, G. Alenyà, and C. Torras, “Relational reinforcement learning with guided demonstrations,” Artificial Intelligence, vol. 247, pp. 295–312, 2017. [DOI] [PDF] [bib]
  5. G.Canal, G. Alenyà, and C. Torras, “A Taxonomy of Preferences for Physically Assistive Robots,” in IEEE International Symposium on Robot and Human Interactive Communication, 2017, pp. 292–297. [PDF] [bib]
  6. A. Colome, S. Foix, G. Alenyà, and C. Torras, “Reward-weighted GMM and its application to action-selection in robotized shoe 3 dressing,” in Robot 2017: Third Iberian Robotics Conference, no. 694, Springer, 2017, pp. 141–152. [DOI] [PDF] [bib]
  7. N. Covallero, D. Martínez, G. Alenyà, and C. Torras, “Planning Clearing Actions in Cluttered Scenes by Phasing in Geometrical Constraints,” in Recent Advances in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 300, I. Aguiló, R. Alquézar, C. Angulo, A. Ortiz, and J. Torrens, Eds. IOS Press, 2017, pp. 233–238. [DOI] [PDF] [bib]

2016

  1. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “A 3D descriptor to detect task-oriented grasping points in clothing,” Pattern Recognition, vol. 60, pp. 936–948, 2016. [DOI] [PDF] [bib]
  2. J. G. Hoyos, F. Prieto, G. Alenyà, and C. Torras., “Execution Fault Recovery in Robot Programming by Demonstration Using Multiple Models,” IEEE Latin America Transactions, vol. 14, no. 2, pp. 517–523, 2016. [DOI] [PDF] [bib]
  3. J. G. Hoyos, F. Prieto, G. Alenyà, and C. Torras., “Incremental Learning of Skills in a Task-Parameterized Gaussian Mixture Model,” Journal of Intelligent and Robotic Systems, vol. 82, no. 1, pp. 81–99, 2016. [DOI] [PDF] [bib]
  4. D. Martínez, G. Alenyà, C. Torras, T. Ribeiro, and K. Inoue, “Learning relational dynamics of stochastic domains for planning,” in International Conference on Automated Planning and Scheduling, 2016, pp. 235–243. [PDF] [bib]
  5. G. Canal, G. Alenyà, and C. Torras, “Personalization Framework for Adaptive Robotic Feeding Assistance,” in International Conference on Social Robotics, no. 9979, Springer, 2016, pp. 22–31. [DOI] [PDF] [bib]
  6. A. Jevtic, A. Colomé, G. Alenyà, and C. Torras, “User evaluation of an interactive learning framework for single-arm and dual-arm robots,” in International Conference on Social Robotics, no. 9979, Springer, 2016, pp. 52–61. [DOI] [PDF] [bib]
  7. A. Gabas, E. Corona, G. Alenyà, and C. Torras, “Robot-aided cloth classification using depth information and CNNs,” in Conference on Articulated Motion and Deformable Objects, no. 9756, Springer, 2016, pp. 16–23. [DOI] [PDF] [bib]

2015

  1. C. Angulo, S. Pfeiffer, R. Tellez, and G. Alenyà, “Evaluating the use of robots to enlarge AAL services,” Journal of Ambient Intelligence and Smart Environments, vol. 7, no. 3, pp. 301–313, 2015. [DOI] [PDF] [bib]
  2. D. Martínez, G. Alenyà, and C. Torras, “Planning robot manipulation to clean planar surfaces,” Engineering Applications of Artificial Intelligence, vol. 39, pp. 23–32, 2015. [DOI] [PDF] [bib]
  3. S. Foix, G. Alenyà, and C. Torras, “ 3D Sensor planning framework for leaf probing,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 6501–6506. [PDF] [bib]
  4. D. Martínez, G. Alenyà, and C. Torras, “Safe robot execution in model-based reinforcement learning,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 6422–6427. [PDF] [bib]
  5. D. Martínez, G. Alenyà, and C. Torras, “V-MIN: Efficient reinforcement learning through demonstrations and relaxed reward demands,” in Proceedings of the AAAI Conference on Artificial Intelligence, 2015, pp. 2857–2863. [PDF] [bib]
  6. G. Alenyà, S. Foix, and C. Torras, “ToF Cameras for Eye-in-Hand Robotics,” in Optical Imaging Devices: New Technologies and Applications, D. K. Ajit Khosla, Ed. CRC Press - Francis Taylor Group, 2015, pp. 117–148. [PDF] [bib]
  7. Y. Isleyici and G. Alenyà, “Teaching Grasping Points Using Natural Movements,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 277, IOS Press, 2015, pp. 275–278. [PDF] [bib]
  8. D. Martínez, T. Ribeiro, K. Inoue, G. Alenyà, and C. Torras, “Learning Probabilistic Action Models from Interpretation Transitions,” in Technical Communication of the International Conference on Logic Programming, 2015. [PDF] [bib]

2014

  1. W. Kazmi, S. Foix, G. Alenyà, and H. J. Andersen, “Indoor and outdoor depth imaging of leaves with time-of-flight and stereo vision sensors: Analysis and comparison,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 88, pp. 128–146, 2014. [DOI] [PDF] [bib]
  2. G. Alenyà, S. Foix, and C. Torras, “ToF cameras for active vision in robotics,” Sensors and Actuators A: Physical, vol. 218, pp. 10–22, 2014. [DOI] [PDF] [bib]
  3. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “Learning RGB-D descriptors of garment parts for informed robot grasping,” Engineering Applications of Artificial Intelligence, vol. 35, pp. 246–258, 2014. [DOI] [PDF] [bib]
  4. G. Alenyà, S. Foix, and C. Torras., “Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments,” Intelligent Service Robotics, vol. 7, no. 4, pp. 211–220, 2014. [DOI] [PDF] [bib]
  5. D. Martínez, G. Alenyà, P. Jiménez, C. Torras, J. Rossmann, N. Wantia, A. E. Erdal, S. Haller, and J. Piater, “Active learning of manipulation sequences,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2014, pp. 5671–5678. [PDF] [bib]
  6. F. Husain, A. Colomé, B. Dellen, G. Alenyà, and C. Torras, “Realtime tracking and grasping of a moving object from range video,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2014, pp. 2617–2622. [DOI] [PDF] [bib]
  7. G. Alenyà, J. L. Rivero, A. Rull, P. Grosch, and S. Hernández, “The HumanoidLab: Involving students in a research centre through an educational initiative,” in 6th International Conference on Computer Supported Education, 2014, pp. 213–220. [PDF] [bib]
  8. D. Martínez, G. Alenyà, and C. Torras, “Finding safe policies in model-based active learning,” in IROS Machine Learning in Planning and Control of Robot Motion Workshop, 2014. [PDF] [bib]

2013

  1. G. Alenyà, B. Dellen, S. Foix, and C. Torras, “Robotized plant probing: Leaf segmentation utilizing time-of-flight data,” IEEE Robotics and Automation Magazine, vol. 20, no. 3, pp. 50–59, 2013. [DOI] [PDF] [bib]
  2. A. Colomé, D. Pardo, G. Alenyà, and C. Torras, “External force estimation during compliant robot manipulation,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2013, pp. 3535–3540. [DOI] [PDF] [bib]
  3. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “FINDDD: A fast 3D descriptor to characterize textiles for robot manipulation,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 824–830. [DOI] [PDF] [bib]
  4. D. Martínez, G. Alenyà, and C. Torras, “Planning surface cleaning tasks by learning uncertain drag actions outcomes,” in ICAPS Workshop on Planning and Robotics, 2013, pp. 106–111. [PDF] [bib]
  5. A. Colomé, G. Alenyà, and C. Torras, “Handling high parameter dimensionality in reinforcement learning with dynamic motor primitives,” in ICRA Workshop on Novel Methods for Learning and Optimization of Control Policies and Trajectories for Robotics, 2013. [PDF] [bib]

2012

  1. W. Kazmi, S. Foix, and G. Alenyà, “Plant leaf imaging using time of flight camera under sunlight, shadow and room conditions,” in IEEE International Symposium on Robotic and Sensors Environments, 2012, pp. 192–197. [PDF] [bib]
  2. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “Using depth and appearance features for informed robot grasping of highly wrinkled clothes,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2012, pp. 1703–1708. [DOI] [PDF] [bib]
  3. E. Simo-Serra, A. Ramisa, G. Alenyà, C. Torras, and F. Moreno-Noguer, “Single image 3D human pose estimation from noisy observations,” in IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2012, pp. 2673–2680. [DOI] [PDF] [bib]
  4. P. Monsó, G. Alenyà, and C. Torras, “POMDP approach to robotized clothes separation,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, pp. 1324–1329. [DOI] [PDF] [bib]
  5. S. Foix, S. Kriegel, S. Fuchs, G. Alenyà, and C. Torras, “Information-gain view planning for free-form object reconstruction with a 3D ToF camera,” in Advanced Concepts for Intelligent Vision Systems Conference, vol. 7517, 2012, pp. 36–47. [PDF] [bib]
  6. F. Rigual, A. Ramisa, G. Alenyà, and C. Torras, “Object detection methods for robot grasping: Experimental assessment and tuning,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 248, IOS Press, 2012, pp. 123–132. [DOI] [PDF] [bib]
  7. G. Alenyà, A. Ramisa, F. Moreno-Noguer, and C. Torras, “Characterization of textile grasping experiments,” in ICRA Workshop on Conditions for Replicable Experiments and Performance Comparison in Robotics Research, 2012. [PDF] [bib]
  8. A. Colomé, D. Pardo, G. Alenyà, and C. Torras, “External force estimation for textile grasp detection,” in IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation, 2012. [PDF] [bib]
  9. D. Pardo, L. Rozo, G. Alenyà, and C. Torras, “Dynamically consistent probabilistic model for robot motion learning,” in IROS Workshop on Learning and Interaction in Haptic Robots, 2012. [PDF] [bib]
  10. G. Alenyà, B. Dellen, S. Foix, and C. Torras, “Robotic leaf probing via segmentation of range data into surface patches,” in IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production, 2012. [PDF] [bib]
  11. G. Alenyà and R. Téllez, “The Reem\@IRI 2012 Robocup\@Home team description,” in RoboCup International Symposium, 2012. [PDF] [bib]

2011

  1. S. Foix, G. Alenyà, and C. Torras, “Lock-in time-of-flight (ToF) cameras: a survey,” IEEE Sensors Journal, vol. 11, no. 9, pp. 1917–1926, 2011. [DOI] [PDF] [bib]
  2. G. Alenyà, B. Dellen, and C. Torras, “3D modelling of leaves from color and ToF data for robotized plant measuring,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3408–3414. [DOI] [PDF] [bib]
  3. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “Determining Where to Grasp Cloth Using Depth Information,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 232, C. Fernández, H. Geffner, and F. Manyà, Eds. IOS Press, 2011. [DOI] [PDF] [bib]
  4. S. Foix, G. Alenyà, and C. Torras, “Towards plant monitoring through Next Best View,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 232, C. Fernández, H. Geffner, and F. Manyà, Eds. IOS Press, 2011, pp. 101–109. [DOI] [PDF] [bib]
  5. B. Dellen, G. Alenyà, S. Foix, and C. Torras, “Segmenting color images into surface patches by exploiting sparse depth data,” in IEEE Workshop on Applications of Computer Vision, 2011, pp. 591–598. [DOI] [PDF] [bib]
  6. G. Alenyà, F. Moreno-Noguer, A. Ramisa, and C. Torras, “Active perception of deformable objects using 3D cameras,” in Workshop de Robótica Experimental, 2011, pp. 434–440. [PDF] [bib]

2010

  1. G. Alenyà and C. Torras, “Camera motion estimation by tracking contour deformation: Precision analysis,” Image and Vision Computing, vol. 28, no. 3, pp. 474–490, 2010. [DOI] [PDF] [bib]
  2. L. Trilla and G. Alenyà, “Planning stacking operations with an unknown number of objects,” in Proceedings of the International Conference on Informatics in Control, Automation and Robotics, Funchal, 2010, pp. 348–353. [DOI] [PDF] [bib]
  3. S. Foix, G. Alenyà, J. Andrade-Cetto, and C. Torras, “Object Modeling using a ToF Camera under an Uncertainty Reduction Approach,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2010, pp. 1306–1312. [DOI] [PDF] [bib]

2009

  1. G. Alenyà, A. Nègre, and J. L. Crowley, “A comparison of three methods for measure of Time to Contact,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 4565–4570. [DOI] [PDF] [bib]
  2. G. Alenyà, A. Nègre, and J. L. Crowley, “Time to contact for obstacle avoidance,” in Proceedings of the European Conference on Mobile Robotics, 2009, pp. 19–24. [PDF] [bib]
  3. G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu, and C. Torras, “Humanoid robotics and human-centered initiatives at IRI,” in Jornadas de Automática, 2009. [PDF] [bib]
  4. B. Dellen, G. Alenyà, S. Foix, and C. Torras, “3D Object reconstruction from Swissranger sensors data using a spring-mass model,” vol. 2, A. Ranchordas and H. Araújo, Eds. INSTICC Press, 2009, pp. 368–372. [PDF] [bib]

2008

  1. M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E.Martínez, and C. Torras, “Recovering Epipolar Direction from Two Affine Views of a Planar Object,” Computer Vision and Image Understanding, vol. 122, no. 2, pp. 195–209, 2008. [DOI] [PDF] [bib]
  2. G. Alenyà and C. Torras, “Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 184, T. Alsinet, J. Puyol-Gruart, and C. Torras, Eds. IOS Press, 2008, pp. 355–362. [PDF] [bib]

2007

  1. G. Alenyà and C. Torras, “Depth from the visual motion of a planar target induced by zooming,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2007, pp. 4727–4732. [DOI] [PDF] [bib]
  2. G. Alenyà and C. Torras, “Robot egomotion from the deformation of active contours,” in Mobile Robots, Perception and Navigation, S. Kolski, Ed. pro Literatur Verlag, 2007, pp. 1–18. [PDF] [bib]
  3. G. Alenyà and C. Torras, “Zoom control to compensate camera translation within a robot egomotion estimation approach,” in Robot Motion and Control, Lecture Notes in Control and Information Sciences, vol. 360, K. Kozlowski, Ed. Springer, 2007, pp. 81–88. [PDF] [bib]
  4. G. Alenyà, “Estimació del moviment de robots mitjançant contorns actius,” PhD thesis, Universitat Politècnica de Catalunya, 2007. [bib]

2006

  1. M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E. Martínez, and C. Torras, “Affine Epipolar Direction from Two Views of a Planar Contour,” in Advanced Concepts for Intelligent Vision Systems Conference, vol. 4179, 2006, pp. 944–955. [DOI] [PDF] [bib]
  2. G. Alenyà and C. Torras, “Anàlisi estadístic de la propagació de l’error en estimar el moviment 3D a partir d’imatges,” in Proceedings of the 2nd. Jornada de Recerca en Automàtica, Visió i Robòtica, A. Chao and J. C. Aguado, Eds. 2006, pp. 161–168. [PDF] [bib]

2005

  1. G. Alenyà, J. Escoda, A.B.Martínez, and C. Torras, “Using laser and vision to locate a robot in an industrial environment: A practical experience,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2005, pp. 3539–3544. [DOI] [PDF] [bib]

2004

  1. G. Alenyà, E. Martínez, and C. Torras, “Fusing visual and inertial sensing to recover robot egomotion,” Journal of Robotic Systems, vol. 21, no. 1, pp. 23–32, 2004. [DOI] [PDF] [bib]
  2. G. Alenyà, E. Martínez, and C. Torras, “Estimacià del moviment d’un robot observant contorns actius,” in Proceedings of the Jornada de Recerca en Automàtica, Visió i Robòtica, A. Grau and A. V. Puig, Eds. 2004, pp. 319–324. [PDF] [bib]