Research Project

MdM: Unit of Excellence María de Maeztu

Type

National Project

Start Date

01/07/2017

End Date

30/06/2021

Project Code

MDM-2016-0656

Project illustration

Staff

Project Description



The "María de Maeztu" scientific excellence seal has been awarded to IRI by the Spanish State Research Agency for the period 01/07/2017-30/06/2021.

A 4-year Strategic Research Programme will be developed in HUMAN-CENTERED ROBOTICS

SPECIFIC SCIENTIFIC OBJECTIVES AND PRIORITIES

The concept of “human-centered robotics” is meant to include the many different situations in which robots are in close contact and interact with humans. These include, but is not limited to, social robotics with significant human-robot interaction, collaborative robotics in which humans and robots work together to achieve a common task, or assistive robotics in which robotic technologies are exploited to help the elderly or the impaired. The 7 key core challenges identified apply to all these domains, and translate into this 7 Specific Scientific Objectives of significant relevance and novelty:


  • Emphatic natural human robot interaction and collaboration: Robots need to be accessible to the non-expert. Research is needed to find ways to allow a robot to interact with people in a natural and intuitive way, combining multiple sensing modalities to understand gestures, and to produce socially acceptable gestures and motion. Moreover, research is needed to develop models of robot behavior that guarantee that a task can be completed in cooperation with a human, understanding and anticipating human intentions, being a true collaborator.

  • Robust localization and mapping: Localization and mapping is a key component of any assistive robotics solution, and it is perhaps one of the most studied topics in robotics. Whereas there is today a general consensus on the mathematical formulation of the problem and on the computational tools needed for its solution, the objective now is to provide robustness, reliability, and scalability.

  • Dexterous textile manipulation: Textile manipulation would open a whole range of possibilities, from increased autonomy of the elderly, to housekeeping or industrial applications. In our approach to the problem, we seek to develop a theory of cloth manipulation using tools from computational topology and machine learning, and to develop the adequate end effectors and tools to handle cloth with dexterity.

  • Robot learning using natural communication: A new paradigm for robot learning will be studied. Exploiting recent advances in the area of visual object recognition, natural language processing, and their combination by means of machine learning tools, we seek to advance the way a human can instruct a robot using solely natural language and standard gestures.

  • Energy supply and optimization: Energy autonomy is also a key factor for the penetration of robust mobile systems in assistive robotics applications. We seek to develop an innovative fuel cell system tailored to assistive robotics applications with improved efficiency, reliability and lifetime, addressing the problems of space (high energy density) and weight (high specific energy). Additionally, we seek to explore the possibility of obtaining the fuel (hydrogen or hydrogen rich compounds) from different alternative means.

  • Supervision and control of complex dynamic systems: Robots need to react in real time and reliable alongside humans. Hence, the objective is to work on controllers that can change parameters in real time, efficiently handle constraints and disturbances, and detect faults and reconfigure to maintain functionality.

  • Ethical, regulatory and philosophical aspects of social robotics: Many risks and regulatory issues still need to be resolved prior to the deployment of helper robots. These issues have passed until now overwhelmingly unattended, concentrating research efforts in developing the technologies and the prototypes, but they can no longer be obviated. A collaborative effort with experts in legal frontiers of technology and privacy issues will be pursued, as well as with experts that can analyze the ethical perspective.


IMPLEMENTATION

IRI’s María de Maeztu Strategic Research Program on Human-Centered Robotics is organized in 7 Work Packages, consistent with the 7 Research Objectives outlined above.

WP1 Emphatic natural human robot interaction and collaboration
- 1.1 Human action recognition
- 1.2 Socially aware path planning, navigation and path execution
- 1.3 Compliant and safe interaction between humans and robots
PI Leader: A. Sanfeliu
Other PIs involved: JM Porta , V Puig

WP2 Robust localization and mapping
- 2.1 Sensory data fusion for localization
- 2.2 SLAM and Deep Learning
- 2.3 Robustness/reliability/scalability/loop closure detection
PI Leader: J. Andrade
Other PIs involved: F. Moreno, A Sanfeliu

WP3 Dexterous textile manipulation
- 3.1 Perception of deformable objects
- 3.2 High level encoding of object primitives using computational topology
- 3.3 Design and construction of dexterous end effectors and grippers for robot design
PI Leader: C. Torras
Other PIs involved: F. Moreno, JM Porta

WP4 Robot learning using natural communication
- 4.1 Joint annotation of visual and textual data
- 4.2 Inference techniques (dynamic neural networks) to predict semantic tuples and actions from object detection in input images and video
- 4.3 Learning from demonstration manipulation skills
PI leader: F Moreno
Other PIs involved: J Andrade, C Torras

WP5 Energy supply and management
- 5.1 Design of autonomous energy systems based on PEM fuel cells
- 5.2 Dynamic modelling and development of diagnosis tools
- 5.3 Design and implementation of controllers for optimal efficiency and low degradation of the energy generation system
PI leader: V Puig
Other PIs involved: G Cembrano, A Sanfeliu

WP6 Advanced supervision and control
- 6.1 Modelling complex dynamic systems
- 6.2 Real-time supervision in complex dynamic systems
- 6.3 Model-based and data driven control in complex dynamic systems
PI leader: G Cembrano
Other PIs involved: J Andrade, V Puig

WP7 Ethical, regulatory and philosophical aspects of social robotics
- 7.1 Risk/contingency management
- 7.2 Liability /regulations
- 7.3 Privacy issues
PI Leader: A Sanfeliu
Other PIs involved: C Torras

Project Publications

Journal Publications

  • H.S. Sánchez, D. Rotondo, T. Escobet, V. Puig, J. Saludes and J. Quevedo. Detection of replay attacks in cyber-physical systems using a frequency-based signature. Journal of the Franklin Institute, 356(5): 2798-2824, 2019.

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  • S. Sarabandi and F. Thomas. A survey on the computation of quaternions from rotation matrices. Journal of Mechanisms and Robotics, 11(2): 021006, 2019.

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  • S. Sarabandi, A. Perez and F. Thomas. On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices. Advances in Applied Clifford Algebras, 29: 49, 2019.

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  • M. Villamizar, A. Sanfeliu and F. Moreno-Noguer. Online learning and detection of faces with low human supervision. The Visual Computer, 35(3): 349-370, 2019.

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  • 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, 2019, to appear.

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  • J. Pérez and A. Sanfeliu. Anticipatory kinodynamic motion planner for computing the best path and velocity trajectory in autonomous driving. Robotics and Autonomous Systems, 114: 93-105, 2019.

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  • M.G. Carignano, V. Roda, R. Costa Castelló, L. Valiño, A. Lozano and F. Barreras. Assessment of energy management in a fuel cell/battery hybrid vehicle. IEEE Access, 7(1): 16110-16122, 2019.

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  • J. Na, Y. Xing and R. Costa Castelló. Adaptive estimation of time-varying parameters with application to roto-magnet plant. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019, to appear.

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  • G. Canal, G. Alenyà and C. Torras. Adapting robot task planning to user preferences: An assistive shoe dressing example. Autonomous Robots, 2019, to appear.

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  • A. Agudo and F. Moreno-Noguer. Shape basis interpretation for monocular deformable 3D reconstruction. IEEE Transactions on Multimedia, 21(4): 821-834, 2019.

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  • A. Suárez, C. Torras and G. Alenyà. Practical resolution methods for MDPs in robotics exemplified with disassembly planning. IEEE Robotics and Automation Letters, 4(3): 2282-2288, 2019.

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  • A. Agudo and F. Moreno-Noguer. Robust spatio-temporal clustering and reconstruction of multiple deformable bodies. IEEE Transactions on Pattern Analysis and Machine Intelligence, 41(4): 971-984, 2019.

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  • V. Vaquero, E. Repiso and A. Sanfeliu. Robust and real-time detection and tracking of moving objects with minimum 2D LiDAR information to advance autonomous cargo handling in ports. Sensors, 19(1): 107, 2019.

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  • J.L. Sampietro, V. Puig and R. Costa Castelló. Optimal sizing of storage elements for a vehicle based on fuel cells, supercapacitors, and batteries. Energies, 12(5): 925, 2019.

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  • F. Amadio, A. Colomé and C. Torras. Exploiting symmetries in reinforcement learning of bimanual robotic tasks. IEEE Robotics and Automation Letters, 4(2): 1838-1845, 2019.

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  • J.L. Diaz, M.A. Bermeo, J. Diaz and C. Ocampo-Martínez. An optimization-based control strategy for energy efficiency of discrete manufacturing systems. ISA Transactions, 2019, to appear.

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  • J. Vallvé, J. Solà and J. Andrade-Cetto. Graph SLAM sparsification with populated topologies using factor descent optimization. IEEE Robotics and Automation Letters, 3(2): 1322-1329, 2018.

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  • S. Foix, G. Alenyà and C. Torras. Task-driven active sensing framework applied to leaf probing. Computers and Electronics in Agriculture, 147: 166-175, 2018.

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  • A. Colomé and C. Torras. Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation. IEEE Robotics and Automation Letters, 3(4): 3922-3929, 2018.

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  • G.A. Ramos and R. Costa Castelló. Comparison of different repetitive control architectures: synthesis and comparison. Application to VSI converters. Electronics, 7(12): 1-19, 2018.

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  • M. Ghaniee Zarch, V. Puig, J. Poshtan and M. Aliyari Shoorehdeli. Actuator fault tolerance evaluation approach of nonlinear model predictive control systems using viability theory. Journal of Process Control, 71: 35-45, 2018.

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  • P.G. Rullo, R. Costa Castelló, V. Roda and D. Feroldi. Energy management strategy for a bioethanol isolated hybrid system: Simulations and experiments. Energies, 11(6): 1362, 2018.

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  • A. Agudo and F. Moreno-Noguer. Force-based representation for non-rigid shape and elastic model estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(9): 2137-2150, 2018.

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  • A. Andriella, G. Alenyà, J. Hernández-Farigola and C. Torras. Deciding the different robot roles for patient cognitive training. International Journal of Human-Computer Studies, 117: 20-29, 2018.

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  • C. Torras. Social networks and robot companions: Technology, ethics and science fiction. Mètode Science Studies Journal, 99: 47-53, 2018.

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  • C. Torras and R. López de Mántaras. Special issue editorial: Interconnectats: Màquines i humans davant del segle 10101. Mètode Science Studies Journal, 99: 2-3, 2018.

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  • D. Rotondo, H.S. Sánchez, F. Nejjari and V. Puig. Análisis y diseño de sistemas lineales con parámetros variantes utilizando LMIs. Revista Iberoamericana de Automática e Informática Industrial, 16(1): 1-14, 2018.

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  • A. Santamaria-Navarro, G. Loianno, J. Solà, V. Kumar and J. Andrade-Cetto. Autonomous navigation of micro aerial vehicles: State estimation using fast and low-cost sensors. Autonomous Robots, 42(6): 1263-1280, 2018.

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  • R. Costa Castelló, N. Carrero, S. Dormido and E. Fossas. Teaching, analyzing, designing and interactively simulating sliding mode control. IEEE Access, 6(1): 16783-16794, 2018.

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  • R. Busqué, R. Torres, J. Grau, V. Roda and A.P. Husar. Mathematical modeling, numerical simulation and experimental comparison of the desorption process in a metal hydride hydrogen storage system. International Journal of Hydrogen Energy, 43(35): 16929-16940, 2018.

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  • Y. Wang, T. Álamo, V. Puig and G. Cembrano. Economic model predictive control with nonlinear constraint relaxation for the operational management of water distribution networks. Energies, 11(4): 991, 2018.

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  • A. Ramisa, F. Yan, F. Moreno-Noguer and K. Mikolajczyk. BreakingNews: Article annotation by image and text processing. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(5): 1072-1085, 2018.

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  • M. Nassourou, J. Blesa and V. Puig. Optimal energy dispatch in a smart micro-grid system using economic model predictive control. Proceedings of the Institution of Mechanical Engineers Part I - Journal of Systems and Control Engineering: 1-11, 2018.

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  • C. Torras. Assistent(e)s robòtiqu(e)s: Un punt de confluència entre tecnociència i humanitats. Quadern de les idees, les arts i les lletres, 38(209): 19-21, 2017.

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Conference Publications

  • G. Rotger, F. Moreno-Noguer, F. Lumbreras and A. Agudo. Detailed 3D face reconstruction from a single RGB image, 27th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, 2019, Plzen, Czech Republic, to appear.

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  • J.L. Diaz and C. Ocampo-Martínez. Energy efficiency improvement of machine tools via peripheral devices management: an optimization-based control approach, 2019 American Control Conference, 2019, Philadelphia, to appear.

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  • M.A. Bermeo and C. Ocampo-Martínez. Energy efficiency improvement through MPC-based peripherals management for an industrial process test-bench, 2019 IFAC Conference on Manufacturing Modeling, Management and Control , 2019, Berlin, pp. 6, to appear.

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  • M.R. David, H. Alvarez, C. Ocampo-Martínez and R. Sánchez-Peña. Phenomenological based model of hydrogen production using an alkaline self-pressurized electrolyzer, 2019 European Control Conference, 2019, Naples, to appear.

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  • H.S. Sánchez, D. Rotondo, T. Escobet, V. Puig and J. Quevedo. Frequency-based detection of replay attacks: application to a multiple tank system, 10th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2018, Warsow, Poland, Vol 51-24 of IFAC Papers Online, pp. 969-974, IFAC-Elsevier.

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  • J.M. Porta, S. Sarabandi and F. Thomas. Angle-bound smoothing with applications in kinematics, 5th IFToMM Asian Conference on Mechanism and Machine Science, 2018, Bengaluru, India, to appear.

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  • D. Rotondo, G. Rizzello and D. Naso. Robust control of systems with output hysteresis and input saturation using a finite time stability approach, 57th IEEE Conference on Decision and Control, 2018, Miami, pp. 3830-3835.

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  • H.S. Sánchez, D. Rotondo, V. Puig and J. Quevedo. A shifting pole placement approach for the design of performance-varying multivariable PID controllers via BMIs, 3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control, 2018, Ghent, Belgium, Vol 51(4) of IFAC Papers Online, pp. 256-261.

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  • R. Bordalba, L. Ros and J.M. Porta. Randomized kinodynamic planning for constrained systems, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 7079-7086.

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  • J.M. Porta and F. Thomas. The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra, 16th International Symposium on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 124-132, 2019.

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  • X. Corbella, V. Roda, R. Torres and A.P. Husar. Design of an ejector for a hydrogen recirculation system for a PEM fuel cell, 2018 European Hydrogen Energy Conference, 2018, Malaga, Spain, pp. 1-2.

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  • J.M. Porta and F. Thomas. Yet another approach to the Gough-Stewart platform forward kinematics, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 974-980.

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  • V. Vaquero, A. Sanfeliu and F. Moreno-Noguer. Deep lidar CNN to understand the dynamics of moving vehicles, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 4504-4509.

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  • A. Pumarola, A. Agudo, A.M. Martinez, A. Sanfeliu and F. Moreno-Noguer. GANimation: Anatomically-aware facial animation from a single image, 15th European Conference on Computer Vision, 2018, Munich, in Computer Vision - ECCV 2018, Vol 11214 of Lecture Notes in Computer Science, pp. 835-851, 2018.

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  • C. Sun, B. Joseph, G. Cembrano, V. Puig and J. Meseguer. Advanced integrated real-time control of combined urban drainage systems using MPC: Badalona case study, 13th International Conference on Hydroinformatics, 2018, Palermo, Italy, pp. 2033-2041.

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  • J.M. Díaz, S. Dormido and R. Costa Castelló. The use of interactivity in the controller design: Loop shaping versus closed-loop shaping, 3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control, 2018, Ghent, Belgium, Vol 51(4) of IFAC Papers Online, pp. 334-339.

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  • J. Feng, C. Sun, G. Cembrano and V. Puig. Factors influencing the simplified quality model performance, 13th International Conference on Hydroinformatics, 2018, Palermo, Italy, pp. 706-714.

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  • A. Agudo, M. Pijoan and F. Moreno-Noguer. Image collection pop-up: 3D reconstruction and clustering of rigid and non-rigid categories, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Salt Lake City, pp. 2607-2615.

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  • Y. Xing, J. Na and R. Costa Castelló. Composite PID control with unknown dynamics estimator for rotomagnet plant. , 3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control, 2018, Ghent, Belgium, Vol 51(4) of IFAC Papers Online, pp. 817-822.

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  • C. Sun, G. Cembrano, V. Puig and J. Meseguer. Cyber-physical systems for real-time management in the urban water cycle, 4th International Workshop on Cyber-Physical Systems for Smart Water Networks, 2018, Porto, Portugal, pp. 5-8.

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  • A. Pumarola, A. Agudo, L. Porzi, A. Sanfeliu, V. Lepetit and F. Moreno-Noguer. Geometry-aware network for non-rigid shape prediction from a single view, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Salt Lake City, pp. 4681-4690.

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  • U. Raveendran Nair, R. Costa Castelló and A. Baños. Grid voltage regulation using a reset PI+CI controller for energy storage systems. , 3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control, 2018, Ghent, Belgium, Vol 51(4) of IFAC Papers Online, pp. 226-231.

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  • A. Pumarola, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. Unsupervised person image synthesis in arbitrary poses, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Salt Lake City, pp. 8620-8628.

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  • A. Suárez, G. Alenyà and C. Torras. Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 4061-4066.

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  • Y. Wang, D. Muñoz, V. Puig and G. Cembrano. A novel formulation of economic model predictive control for periodic operations, 2018 European Control Conference, 2018, Cyprus, pp. 1015-1020.

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  • G. Rotger, F. Lumbreras, F. Moreno-Noguer and A. Agudo. 2D-to-3D facial expression transfer, 24th International Conference on Pattern Recognition, 2018, Beijing, China, pp. 2008-2013.

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  • V. Vaquero, A. Sanfeliu and F. Moreno-Noguer. Hallucinating dense optical flow from sparse lidar for autonomous vehicles, 24th International Conference on Pattern Recognition, 2018, Beijing, China, pp. 1959-1964.

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  • M. Vila, G. Canal and G. Alenyà. Towards safety in physically assistive robots: eating assistance, 2018 IROS Workshop on Robots for Assisted Living, 2018, Madrid, pp. 1-4.

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  • S. Sarabandi and F. Thomas. Accurate computation of quaternions from rotation matrices, 16th International Symposium on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 39-46, 2019.

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  • E. Repiso, A. Garrell Zulueta and A. Sanfeliu. Robot approaching and engaging people in a human-robot companion framework, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 8200-8205.

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  • S. Sarabandi, P. Grosch, J.M. Porta and F. Thomas. A reconfigurable asymmetric 3-UPU parallel robot , 4th International Conference on Reconfigurable Mechanisms and Robots, 2018, Delft, Netherlands, pp. 1-8.

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  • A. Agudo and F. Moreno-Noguer. Deformable motion 3D reconstruction by union of regularized subspaces, 25th IEEE International Conference on Image Processing, 2018, Athens, Greece, pp. 2930-2934.

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  • 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, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 3273-3278.

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  • J. Quevedo, H.S. Sánchez, D. Rotondo, T. Escobet and V. Puig. A two-tank benchmark for detection and isolation of cyber attacks, 10th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2018, Warsow, Poland, Vol 51-24 of IFAC Papers Online, pp. 770-775, IFAC-Elsevier.

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  • S. Sarabandi, A. Perez-Gracia and F. Thomas. Singularity-free computation of quaternions from rotation matrices in E4 and E3, 7th Conference on Applied Geometric Algebras in Computer Science and Engineering, 2018, Campinas, Brazil, to appear.

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  • V. Vaquero, I. del Pino, F. Moreno-Noguer, J. Solà, A. Sanfeliu and J. Andrade-Cetto. Deconvolutional networks for point-cloud vehicle detection and tracking in driving scenarios, 8th European Conference on Mobile Robots, 2017, Paris, France, pp. 1-7.

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  • J. Vallvé, J. Solà and J. Andrade-Cetto. Factor descent optimization for sparsification in graph SLAM, 8th European Conference on Mobile Robots, 2017, Paris, France, pp. 1-6.

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  • I. del Pino, V. Vaquero, B. Masini, J. Solà, F. Moreno-Noguer, A. Sanfeliu and J. Andrade-Cetto. Low resolution lidar-based multi object tracking for driving applications, 3rd Iberian Robotics Conference, 2017, Seville, in Robot 2017: Third Iberian Robotics Conference, Vol 694 of Advances in Intelligent Systems and Computing, pp. 287-298, Springer.

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  • A. Hernandez Ruiz, L. Porzi, S. Rota and F. Moreno-Noguer. 3D CNNs on distance matrices for human action recognition, 25th ACM Conference on Multimedia, 2017, Mountain View, CA. USA., pp. 1087-1095.

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  • A. Garrell Zulueta, L.A. Garza, M. Villamizar, F. Herrero and A. Sanfeliu. Aerial social force model: A new framework to accompany people using autonomous flying robots, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 7011-7017.

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  • L. Porzi, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Depth-aware convolutional neural networks for accurate 3D pose estimation in RGB-D images, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 5777-5783.

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Other Publications

  • A. Santamaria-Navarro, J. Solà and J. Andrade-Cetto. Visual Guidance of Unmanned Aerial Manipulators. Volume 125 of Springer Tracts in Advanced Robotics. Springer International Publishing, 2019.

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  • C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 2018.

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  • C. Torras. Aprenentatge Automàtic en Xarxes i Robots: Reptes Tecnocientífics i Implicacions Ètiques. Institut d'Estudis Catalans. Secció de Ciències i Tecnologia, 2018.

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  • R. Jangir, G. Alenyà and C. Torras. Learning cloth manipulation with demonstrations. Technical Report IRI-TR-19-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

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