Research Project

MdM: Unit of Excellence María de Maeztu

Type

National Project

Start Date

01/07/2017

End Date

31/12/2021

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. This project (MDM-2016-0656) is funded by MCIN/ AEI /10.13039/501100011033

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

  • M. Dalmasso, J.E. Domínguez, I.J. Torres, P. Jiménez, A. Garrell Zulueta and A. Sanfeliu. Shared task representation for human–robot collaborative navigation: The collaborative search case. International Journal of Social Robotics, 16: 145-171, 2024.

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  • E. Pignaton, J. Olszewska, J.L. Carbonera, S. Fiorini, A. Khamis, V.R. Kumar, M. Barreto, E. Prestes, M.K. Habib, S. Redfield, A. Chibani, P. Goncalves, J. Bermejo-Alonso, R. Sanz, E. Tosello, A. Olivares-Alarcos, A.A. Konzen, J. Quintas and H. Li. Ontological concepts for information sharing in cloud robotics. Journal of Ambient Intelligence and Humanized Computing, 14: 4921–4932, 2023.

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  • L. Romero, D. Alves, J. Blesa, G. Cembrano, V. Puig and E. Duviella. Leak detection and localization in water distribution networks: review and perspective. Annual Reviews in Control, 55: 392-419, 2023.

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  • J. Anderson, J. Moré, P.F. Puleston and R. Costa. Fuel cell module control based on Switched/Time-Based Adaptive Super-Twisting Algorithm: design and experimental validation. IEEE Transactions on Control Systems Technology, 31(1): 434-441, 2023.

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  • A. Cecilia, S. Sahoo, T. Dragičević, R. Costa and F. Blaabjerg. On addressing the security and stability issues due to false data injection attacks in DC microgrids – An adaptive observer approach. IEEE Transactions on Power Electronics, 37(3): 2801-2814, 2022.

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  • J.A. Aguilar, J. Andrade-Cetto and A.P. Husar. Control oriented estimation of the exchange current density in PEM fuel cells via stochastic filtering. International Journal of Energy Research, 46(15): 22516-22529, 2022.

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  • F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. An inextensible model for the robotic manipulation of textiles. Applied Mathematical Modelling, 101: 832-858, 2022.

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  • A. Agudo, V. Lepetit and F. Moreno-Noguer. Simultaneous completion and spatiotemporal grouping of corrupted motion tracks. The Visual Computer, 38(11): 3937–3952, 2022.

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  • S. Sarabandi and F. Thomas. Approximating displacements in R^3 by rotations in R^4 and its application to pointcloud registration. IEEE Transactions on Robotics, 38(4): 2652-2654, 2022.

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  • F. Belchí and A. Stefanou. A∞ Persistent Homology Estimates Detailed Topology from Pointcloud Datasets. Discrete & Computational Geometry, 68: 274-297, 2022.

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  • S. Forgas, R. Huertas, A. Andriella and G. Alenyà. How do consumers' gender and rational thinking affect the acceptance of entertainment social robots?. International Journal of Social Robotics, 14: 973–994, 2022.

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  • L. Romero, J. Blesa, V. Puig and G. Cembrano. Clustering-learning approach to the localization of leaks in water distribution networks. Journal of Water Resources Planning and Management, 148(4): 04022003, 2022.

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  • P. Jiménez. Learning in autonomous and intelligent systems: Overview and biases from data sources. Arbor - Ciencia, Pensamiento y Cultura, 197(802): a627, 2022.

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  • L. Romero, D. Alves, J. Blesa, G. Cembrano, V. Puig and E. Duviella. Leak localization in water distribution networks using data-driven and model-based approaches. Journal of Water Resources Planning and Management, 148(5): 04022016, 2022.

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  • J. Solà, J. Vallvé, J. Casals, J. Deray, M. Fourmy, D. Atchuthan, A. Corominas Murtra and J. Andrade-Cetto. WOLF: A modular estimation framework for robotics based on factor graphs. IEEE Robotics and Automation Letters, 7(2): 4710-4717, 2022.

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  • A. Cecilia and R. Costa. Addressing the relative degree restriction in nonlinear adaptive observers: A high-gain observer approach. Journal of the Franklin Institute, 359(8): 3857-3882, 2022.

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  • S. Forgas, R. Huertas, A. Andriella and G. Alenyà. The effects of gender and personality of robot assistants on customers’ acceptance of their service. Service Bussiness, 16: 359–389, 2022.

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  • M.A. Roa, M.R. Dogar, J. Pagès, C. Vivas, A. Morales, N. Correll, M. Görner, J. Rosell, S. Foix, R. Memmesheier and F. Ferro. Mobile manipulation hackathon: moving into real world applications. IEEE Robotics and Automation Magazine, 28(2): 112-124, 2021.

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  • A. Clemente, M. Montiel, F. Barreras, A. Lozano and R. Costa. Vanadium redox fow battery state of charge estimation using a concentration model and a sliding mode observer. IEEE Access, 9: 72368-72376, 2021.

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  • V. Vaquero, I. del Pino, F. Moreno-Noguer, J. Solà, A. Sanfeliu and J. Andrade-Cetto. Dual-branch CNNs for vehicle detection and tracking on LiDAR data. IEEE Transactions on Intelligent Transportation Systems, 22(11): 6942-6953, 2021.

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  • O. Gil, A. Garrell Zulueta and A. Sanfeliu. Social robot navigation tasks: Combining machine learning techniques and Social Force Model. Sensors, 21(7087): 23, 2021.

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  • J. Na, Y. Xing and R. Costa. Adaptive estimation of time-varying parameters with application to roto-magnet plant. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 51(2): 731-741, 2021.

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  • A. Cecilia, S. Sahoo, T. Dragičević, R. Costa and F. Blaabjerg. Detection and mitigation of false data in cooperative DC microgrids with unknown constant power loads. IEEE Transactions on Power Electronics, 36(8): 9565-9577, 2021.

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  • L. Romero, B. Joseph, C. Sun, J. Meseguer, G. Cembrano, R. Guasch, M. Martinez, E. Muñoz and V. Puig. An integrated software architecture for the pollution-based real-time control of urban drainage systems. Journal of Hydroinformatics, 23(3): 671-687, 2021.

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  • T. Marchi, G. Mottola, J.M. Porta, F. Thomas and M. Carricato. Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector. Machines, 9(1): 7, 2021.

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  • J. Pareto. Prolegómenos a una ética para la robótica social. DILEMATA, Revista Internacional de Éticas Aplicadas(34): 71-87, 2021.

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  • J.C. Gómez, M. Serra and A.P. Husar. Controller design for polymer electrolyte membrane fuel cell systems for automotive applications. International Journal of Hydrogen Energy, 46(45): 23263-23278, 2021.

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  • C. Sun, L. Romero, B. Joseph, J. Meseguer, R. Guasch, M. Martinez, V. Puig and G. Cembrano. Control-oriented quality modelling approach of sewer networks. Journal of Environmental Management, 294: 113031, 2021.

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  • U. Raveendran Nair, M. Sandelic, A. Sangwongwanich, T. Dragicevic, R. Costa and F. Blaabjerg. Grid congestion mitigation and battery degradation minimisation using model predictive control in PV-based microgrid. IEEE Transactions on Energy Conversion, 36(2): 1500-1509, 2021.

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  • M. Arduengo, A. Colomé, J. Borràs, L. Sentis and C. Torras. Task-adaptive robot learning from demonstration with Gaussian process models under replication. IEEE Robotics and Automation Letters, 6(2): 966-973, 2021.

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  • G.A. Ramos, T. Montobbio, C. Domènech-Mestres and R. Costa. Industrial robots fuel cell based hybrid power-trains: A comparison between different configurations. Electronics, 10(12): 1431, 2021.

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  • 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, 13(8): 2081-2102, 2021.

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  • A. Colomé and C. Torras. A topological extension of movement primitives for curvature modulation and sampling of robot motion. Autonomous Robots, 45: 725-735, 2021.

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  • J. Pareto, B. Román and C. Torras. The ethical issues of social assistive robotics: A critical literature review. Technology in Society, 67: 101726, 2021.

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  • U. Raveendran Nair, M. Sandelic, A. Sangwongwanich, T. Dragicevic, R. Costa and F. Blaabjerg. An analysis of multi objective energy scheduling in PV-BESS system under prediction uncertainty. IEEE Transactions on Energy Conversion, 36(3): 2276-2286, 2021.

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  • A. Cecilia, M. Serra and R. Costa. Nonlinear adaptive observation of the liquid water saturation in polymer electrolyte membrane fuel cells. Journal of Power Sources, 492: 229641, 2021.

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  • F. Strazzeri and C. Torras. Topological representation of cloth state for robot manipulation. Autonomous Robots, 45: 737–754, 2021.

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  • G. Canal, C. Torras and G. Alenyà. Are preferences useful for better assistance?: A physically assistive robotics user study. ACM Transactions on Human-Robot Interaction, 10(4): 1-19, 2021.

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  • A. San-Miguel, V. Puig and G. Alenyà. Disturbance observer-based LPV feedback control of a N-DoF robotic manipulator including compliance through gain shifting. Control Engineering Practice, 115(104887), 2021.

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  • P. Jiménez and C. Torras. Perception of cloth in assistive robotic manipulation tasks. Natural Computing, 19(2): 409-431, 2020.

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  • E. Repiso, A. Garrell Zulueta and A. Sanfeliu. People's adaptive side-by-side model evolved to accompany groups of people by social robots. IEEE Robotics and Automation Letters, 5(2): 2387-2394, 2020.

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  • A. Clemente, G. Andres Ramos and R. Costa. Voltage H∞ control of a vanadium redox flow battery. Electronics, 9(10): 1567, 2020.

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  • A. Andriella, C. Torras and G. Alenyà. Cognitive system framework for brain-training exercise based on human-robot interaction. Cognitive Computation, 12: 793-810, 2020.

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  • Y. Xing, R. Costa, J. Na and H. Renaudineau. Control-oriented modelling and analysis of a solid oxide fuel cell system. International Journal of Hydrogen Energy, 45(40): 20659-20672, 2020.

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  • S. Sarabandi, A. Shabani, J.M. Porta and F. Thomas. On closed-form formulas for the 3-D nearest rotation matrix problem. IEEE Transactions on Robotics, 36(4): 1333-1339, 2020.

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  • U. Raveendran Nair and R. Costa. A model predictive control-based energy management scheme for hybrid storage system in islanded microgrids. IEEE Access, 8: 97809-97822, 2020.

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  • C. Sun, V. Puig and G. Cembrano. Real-time control of urban water cycle under cyber-physical systems framework. Water, 12(2): 406, 2020.

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  • German A. Ramos, R. Isaza and R. Costa. Robust repetitive control of power inverters for standalone operation in DG systems. IEEE Transactions on Energy Conversion, 35(1): 237-247, 2020.

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  • A. Pumarola, A. Agudo, A.M. Martinez, A. Sanfeliu and F. Moreno-Noguer. GANimation: One-shot anatomically consistent facial animation. International Journal of Computer Vision, 128: 698-713, 2020.

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  • A. Cecilia, J. Carroquino, V. Roda, R. Costa and F. Barreras. Optimal energy management in a standalone microgrid, with photovoltaic generation, short-term storage, and hydrogen production. Energies, 13(6): 1454, 2020.

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  • C. Sun, J. Lorenz, M. Borup, V. Puig, G. Cembrano and L. Vezzaro. An MPC-enabled SWMM implementation of the Astlingen RTC benchmarking network. Water, 12: 1034, 2020.

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  • C. Torras. Science-fiction: A mirror for the future of humankind. IDEES(48): 1-11, 2020.

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  • J.A. Luna, R. Costa and S. Strahl. Chattering free sliding mode observer estimation of liquid water fraction in proton exchange membrane fuel cells. Journal of the Franklin Institute, 357(18): 13816-13833, 2020.

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  • A. Cecilia and R. Costa. Observador de alta ganancia con zona muerta ajustable para estimar la saturación de agua líquida en pilas de combustible tipo PEM. Revista Iberoamericana de Automática e Informática Industrial, 17(2): 169-180, 2020.

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  • Y. Xing, R. Costa and J. Na. Temperature control for a proton-exchange membrane fuel cell system with unknown dynamic compensations. Complexity, 2020: 8822835, 2020.

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  • C. Sun, B. Parellada, V. Puig and G. Cembrano. Leak localization in water distribution networks using pressure and data-driven classifier approach. Water, 12(54): 1-14, 2020.

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  • C. Sun, L. Romero, B. Joseph, J. Meseguer, E. Muñoz, R. Guasch, M. Martinez, V. Puig and G. Cembrano. Integrated pollution-based real-time control of sanitation systems. Journal of Environmental Management, 269: 110798, 2020.

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  • J. Borràs, G. Alenyà and C. Torras. A grasping-centered analysis for cloth manipulation. IEEE Transactions on Robotics, 36(3): 924-936, 2020.

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  • E. Repiso, A. Garrell Zulueta and A. Sanfeliu. Adaptive side-by-side social robot navigation to approach and interact with people. International Journal of Social Robotics, 12: 909-930, 2020.

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  • C. Sun, B. Parellada, J. Feng, V. Puig and G. Cembrano. Factors influencing the stormwater quality model of sewer networks and a case study of Louis Fargue urban catchment in Bordeaux, France. Water Science & Technology, 81(10): 2232–2243, 2020.

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  • S. Donaire, J. Borràs, G. Alenyà and C. Torras. A versatile gripper for cloth manipulation. IEEE Robotics and Automation Letters, 5(4): 6520-6527, 2020.

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  • W. Ananduta, J.M. Maestre, C. Ocampo-Martínez and H. Ishii. Resilient distributed model predictive control for energy management of interconnected microgrids. Optimal Control Applications and Methods, 41(1): 146-169, 2020.

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  • A. Andriella, C. Torras and G. Alenyà. Short-term human-robot interaction adaptability in real-world environments. International Journal of Social Robotics, 12: 639-657, 2020.

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  • J. Deray and J. Solà. Manif: A micro Lie theory library for state estimation in robotics applications. Journal of Open Source Software, 5(46): 1371, 2020.

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  • G. Valencia, F.R. Lopez and D. Rotondo. Recent advances on optimization for control, observation, and safety. Processes, 8(2), 2020.

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  • I. Garcia-Camacho, M. Lippi, M.C. Welle, H. Yin, R. Antanova, A. Varava, J. Borràs, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 5(2): 1111-1118, 2020.

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  • A. Clemente and R. Costa. Redox flow batteries: A literature review oriented to automatic control . Energies, 13(17): 4514, 2020.

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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, 11(3): 363-374, 2019.

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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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  • U. Raveendran Nair, R. Costa and A. Baños. Reset control for DC-DC converters: an experimental application. IEEE Access, 7: 128487-128497, 2019.

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  • Y. Xing, J. Na and R. Costa. Real-time adaptive parameter estimation for a polymer electrolyte membrane fuel cell. IEEE Transactions on Industrial Informatics, 15(11): 6048-6057, 2019.

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  • M.G. Carignano, V. Roda, R. Costa, 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. Vallvé, J. Solà and J. Andrade-Cetto. Pose-graph SLAM sparsification using factor descent. Robotics and Autonomous Systems, 119: 108-118, 2019.

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  • F.R. Lopez, D. Rotondo and G. Valencia. A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems. Processes, 7(11): 814, 2019.

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  • C. Torras. Assistive robotics: Research challenges and ethics education initiatives. DILEMATA: International Journal of Applied Ethics, 30: 63-77, 2019.

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  • A. Sanjuan, D. Rotondo, F. Nejjari and R. Sarrate. An LMI–based heuristic algorithm for vertex reduction in LPV systems. International Journal of Applied Mathematics and Computer Science, 29(4): 725-737, 2019.

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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, 43(6): 1343-1356, 2019.

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  • A. Agudo and F. Moreno-Noguer. Shape basis interpretation for monocular deformable 3-D reconstruction. IEEE Transactions on Multimedia, 21(4): 821-834, 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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  • 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, 34: e29, 2019.

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  • F. Karimi, V. Puig and G. Cembrano. Economic health-aware LPV-MPC based on system reliability assessment for water transport network. Energies, 12(15): 3015, 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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  • H.S. Sánchez, D. Rotondo, T. Escobet, V. Puig and J. Quevedo. Bibliographical review on cyber attacks from a control oriented perspective. Annual Reviews in Control, 48: 103-128, 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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  • A. Olivares-Alarcos, S. Foix and G. Alenyà. On inferring intentions in shared tasks for industrial collaborative robots. Electronics, 8(11): 1306, 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. Sampietro, V. Puig and R. Costa. Optimal sizing of storage elements for a vehicle based on fuel cells, supercapacitors, and batteries. Energies, 12(5): 925, 2019.

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  • N. Palomeras, M. Carreras and J. Andrade-Cetto. Active SLAM for autonomous underwater exploration. Remote Sensing, 11(23): 2827:1-19, 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, 93: 399-409, 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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  • 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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  • D. Corona, A. Cristofaro and D. Rotondo. Reachability and stabilization of scheduled steady-states for LPV single-input systems. Journal of the Franklin Institute, 356(8): 4478-4495, 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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  • 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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  • D. Rotondo, H.S. Sánchez, V. Puig, T. Escobet and J. Quevedo. A virtual actuator approach for the secure control of networked LPV systems under pulse-width modulated DoS attacks. Neurocomputing, 365(6): 21-30, 2019.

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  • G.A. Ramos and R. Costa. 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, 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, 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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  • 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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  • 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

  • J. Laplaza, A. Garrell Zulueta, F. Moreno-Noguer and A. Sanfeliu. Context and intention for 3D human motion prediction: Experimentation and user study in handover tasks, 31st IEEE International Symposium on Robot and Human Interactive Communication, 2022, Napoli, Italy, pp. 630-635.

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  • J. Pareto, B. Román and C. Torras. Ethics for social robotics: A critical analysis, 2022 The Road to a Successful HRI: AI, Trust and ethicS Workshop, in the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022), 2022, Sapporo, Japan, pp. 1-3.

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  • J. Pareto. Social assistive robotics: An ethical approach through the concept of freedom, 2022 Philosophy of Human-Technology Relations, 2022, Copenhagen, pp. 53.

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  • O. Gil and A. Sanfeliu. Robot navigation anticipative strategies in deep reinforcement motion planning, 5th Iberian Robotics Conference, 2022, Zaragoza, Spain, Vol 590 of Lecture Notes in Networks and Systems, pp. 67-78, 2023.

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  • P. Irofti, L. Romero, F. Stoican and V. Puig. Data-driven leak localization in water distribution networks via dictionary learning and graph-based interpolation, 6th IEEE Conference on Control Technology and Applications, 2022, Milan, Italy, pp. 1265-1270.

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  • J. Laplaza, F. Moreno-Noguer and A. Sanfeliu. Context and intention aware 3D human body motion prediction using an attention deep learning model in handover tasks, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 4743-4748.

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  • J. Laplaza, N.A. Rodríguez, J.E. Domínguez, F. Herrero, S. Hernández, A. López, A. Sanfeliu and A. Garrell Zulueta. IVO Robot: A new social robot for Human-Robot collaboration, 2022 ACM/IEEE International Conference on Human-Robot Interaction, 2022, Sapporo, Japan, pp. 860–864.

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  • N. Ugrinovic, A. Ruiz, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. Body size and depth disambiguation in multi-person reconstruction from single images, 2021 International Conference on 3D Vision, 2021, London, UK (Virtual), pp. 53-63.

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  • A. Suárez, A. Andriella, A. Taranović, J. Segovia, C. Torras and G. Alenyà. Automatic learning of cognitive exercises for socially assistive robotics, 30th IEEE International Symposium on Robot and Human Interactive Communication, 2021, Vancouver, Canada, pp. 139-146.

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  • A. Pumarola, E. Corona, G. Pons-Moll and F. Moreno-Noguer. D-NeRF: Neural radiance fields for dynamic scenes, 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2021, Nashville, TN, USA (Virtual), pp. 10313-10322, Computer Vision Foundation.

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  • A. Suárez, J. Segovia, C. Torras and G. Alenyà. Online action recognition, 35th AAAI Conference on Artificial Intelligence, 2021, (Virtual), pp. 11981-11989.

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  • A. Agudo. Piecewise Bézier space: Recovering 3D dynamic motion from video, 28th IEEE International Conference on Image Processing, 2021, Anchorage, AK, USA, pp. 3268-3272.

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  • E. Corona, A. Pumarola, G. Alenyà, G. Pons-Moll and F. Moreno-Noguer. SMPLicit: Topology-aware generative model for clothed people, 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2021, Nashville, TN, USA (Virtual), pp. 11870-11880, Computer Vision Foundation.

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  • A. Cecilia and R. Costa. On state-estimation in weakly-observable scenarios and implicitly regularized observers, 60th IEEE Conference on Decision and Control, 2021, Austin, TX, USA (Virtual), pp. 3996-4001.

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  • J. Shen, A. Ruiz, A. Agudo and F. Moreno-Noguer. Stochastic Neural Radiance Fields: Quantifying uncertainty in implicit 3D representations, 2021 International Conference on 3D Vision, 2021, London, UK (Virtual), pp. 972-981.

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  • J. Garcia, A. Agudo and F. Moreno-Noguer. E-DNAS: Differentiable neural architecture search for embedded systems, 25th International Conference on Pattern Recognition, 2021, Milan, Italy (Virtual), pp. 4704-4711.

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  • M. Arduengo, A. Arduengo, A. Colomé, J. Lobo and C. Torras. Human to robot whole-body motion transfer, 2020 IEEE-RAS International Conference on Humanoid Robots, 2021, Munich, Germany (Virtual), pp. 299-305.

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  • A. Chatziagapi, S. Athar, F. Moreno-Noguer and D. Samaras. SIDER: Single-image neural optimization for facial geometric detail recovery, 2021 International Conference on 3D Vision, 2021, London, UK (Virtual), pp. 815-824.

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  • A. Agudo. Total estimation from RGB video: On-line camera self-calibration, non-rigid shape and motion, 25th International Conference on Pattern Recognition, 2021, Milan, Italy (Virtual), pp. 8140-8147.

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  • B.M. Lopes, J. Sousa and G. Alenyà. Data acquisition and monitoring system for legacy injection machines, 9th IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, 2021, Chemnitz, Germany.

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  • J. Lundell, E. Corona, T. Nguyen Le, F. Verdoja, P. Weinzaepfel, G. Rogez, F. Moreno-Noguer and V. Kyrki. Multi-FinGAN: Generative coarse-to-fine sampling of multi-finger grasps, 2021 IEEE International Conference on Robotics and Automation, 2021, Xian, China, pp. 4495-4501.

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  • M. Dimiccoli, H. Wendt and P. Batlle. Learning grounded word meaning representations on similarity graphs, 16th Conference on Empirical Methods in Natural Language Processing, 2021, Punta Cana, Dominican Republic, pp. 4760-4769.

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  • A. Cecilia and R. Costa. Library-based adaptive observation through a sparsity-promoting adaptive observer, 20th European Control Conference, 2021, Rotterdam, Netherlands, pp. 2187-2192.

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  • A. Clemente, A. Cecilia and R. Costa. SOC and diffusion rate estimation in redox flow batteries: An I&I-based high-gain observer approach, 20th European Control Conference, 2021, Rotterdam, Netherlands, pp. 1640-1644.

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  • W. Guo, E. Corona, F. Moreno-Noguer and X. Alameda. PI-Net: Pose interacting network for multi-person monocular 3D pose estimation, 21st IEEE Winter Conference on Applications of Computer Vision, 2021, (Virtual), pp. 2795-2805.

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  • J.E. Domínguez, I.J. Torres, A. Garrell Zulueta and A. Sanfeliu. User-friendly smartphone interface to share knowledge in human-robot collaborative search tasks, 30th IEEE International Symposium on Robot and Human Interactive Communication, 2021, Vancouver, Canada, pp. 913-918.

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  • A. Vakhitov, L. Ferraz, A. Agudo and F. Moreno-Noguer. Uncertainty-Aware Camera Pose Estimation from Points and Lines, 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2021, Nashville, TN, USA (Virtual), pp. 4657-4666, Computer Vision Foundation.

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  • A. Clemente and R. Costa. Flow controlling tuning for the voltage of a redox flow battery considering the effect of overpotentials, 2021 IEEE International Conference on Emerging Technologies and Factory Automation, 2021, Västerås, Sweden.

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  • J. Laplaza, A. Pumarola, F. Moreno-Noguer and A. Sanfeliu. Attention deep learning based model for predicting the 3D human body pose using the robot human handover phases, 30th IEEE International Symposium on Robot and Human Interactive Communication, 2021, Vancouver, Canada, pp. 161-166.

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  • L. Romero, V. Puig, G. Cembrano, J. Blesa and J. Meseguer. A fully data-driven approach for leak localization in water distribution networks, 20th European Control Conference, 2021, Rotterdam, Netherlands, pp. 1851-1856.

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  • I. Garcia-Camacho, J. Borràs and G. Alenyà. Benchmarking cloth manipulation using action graphs: an example in placing flat, 1st IROS Workshop on Benchmarking of robotic grasping and manipulation: protocols, metrics and data analysis, 2021, Prague, Czech Republic (Virtual), pp. 1-3.

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  • R. Domingo-Enrich, A. Cecilia and R. Costa. Control no lineal adaptativo con identificación dispersa, XLII Jornadas de Automática, 2021, Castellón, Spain, pp. 365-372.

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  • J. Sanchez, A. Pumarola and F. Moreno-Noguer. PhysXNet: A customizable approach for learning cloth dynamics on dressed people, 2021 International Conference on 3D Vision, 2021, London, UK (Virtual), pp. 879-888.

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  • A. Clemente, A. Cecilia and R. Costa. Estimación del estado de carga y coeficientes de difusión en baterías de flujo redox, XLII Jornadas de Automática, 2021, Castellón, Spain, pp. 357-364.

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  • E. Ramon, G. Triginer, J. Escur, A. Pumarola, J. García, X. Giro-i-Nieto and F. Moreno-Noguer. H3D-Net: Few-shot high-fidelity 3D head reconstruction, 2021 International Conference on Computer Vision, 2021, Montreal, Canada, pp. 5600-5609.

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  • A. Hernandez Ruiz, A. Vilalta and F. Moreno-Noguer. Neural Cellular Automata manifold, 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2021, Nashville, TN, USA (Virtual), pp. 10015-10023, Computer Vision Foundation.

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  • W.O. Chamorro, J. Andrade-Cetto and J. Solà. High-speed event camera tracking, 2020 British Machine Vision Conference, 2020, (Virtual).

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  • Y. Xing, J. Na, R. Costa and G. Gao. Adaptive parameter estimation-based observer design for nonlinear systems, 59th IEEE Conference on Decision and Control, 2020, Jeju Island, Republic of Korea, pp. 4170-4175, IEEE.

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  • D. Parent, A. Colomé and C. Torras. Variable impedance control in Cartesian latent space while avoiding obstacles in null space, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 9888-9894, IEEE.

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  • J.A. Delgado-Guerrero, A. Colomé and C. Torras. Sample-efficient robot motion learning using Gaussian process latent variable models, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 314-320, IEEE.

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  • J. Martí, J. Solà, C. Mastalli and A. Santamaria-Navarro. Squash-box feasibility driven differential dynamic programming, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, Las Vegas, NV, USA, pp. 7637-7644.

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  • 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, 29th IEEE International Symposium on Robot and Human Interactive Communication, 2020, Naples, Italy (Virtual), pp. 752-759.

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  • A. Sanfeliu, E. Repiso and A. Garrell Zulueta. Collaborative-AI: Social robots accompanying and approaching people, 1st International Workshop on New Foundations for Human-Centered AI, 2020, Santiago de Compostela, Spain, Vol 2659 of CEUR Workshop Proceedings, pp. 33-37, 2020.

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  • J. Martí, A. Santamaria-Navarro, C. Ocampo-Martínez and J. Andrade-Cetto. Multi-task closed-loop inverse kinematics stability through semidefinite programming, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 7108-7114, IEEE.

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  • A. Sabir, F. Moreno-Noguer and L. Padró. Textual visual semantic dataset for Text Spotting, 2020 CVPR Workshop on Text and Documents in the Deep Learning Era, 2020, Seattle, WA, USA, pp. 2306-2315, IEEE.

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  • T. Marchi, G. Mottola, J.M. Porta, F. Thomas and M. Carricato. Position analysis of a class of n-RRR planar parallel robots, 3rd International Conference of the IFToMM Italy, 2020, Online, in Advances in Italian Mechanism Science, Vol 91 of Mechanisms and Machine Science Series, pp. 353-361, Springer.

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  • J.A. Delgado-Guerrero, A. Colomé and C. Torras. Contextual policy search for micro-data robot motion learning through covariate Gaussian process latent variable models, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, Las Vegas, NV, USA, pp. 5511-5517.

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  • J. Segovia, S. Jiménez and A. Jonsson. Generalized planning with positive and negative examples, 34th AAAI Conference on Artificial Intelligence, 2020, New York, USA, pp. 9949-9956.

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  • J. Sanchez and F. Moreno-Noguer. Integrating human body mocaps into Blender using RGB images, 13th International Conference on Advances in Computer-Human Interactions, 2020, Valencia, pp. 285-290.

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  • 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, 2020 IROS Workshop on Robotic Manipulation of Deformable Objects, 2020, (Virtual), pp. 1-6.

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  • R. Jangir, G. Alenyà and C. Torras. Dynamic cloth manipulation with deep reinforcement learning, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 4630-4636, IEEE.

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  • M. Maceira, A. Olivares-Alarcos and G. Alenyà. Recurrent neural networks for inferring intentions in shared tasks for industrial collaborative robots, 29th IEEE International Symposium on Robot and Human Interactive Communication, 2020, Naples, Italy (Virtual), pp. 665-670.

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  • J. Anderson, J. Moré, P.F. Puleston, V. Roda and R. Costa. Implementación y validación experimental del control de un sistema híbrido basado en pilas de combustible para vehículos eléctricos, XXVII Congreso Argentino de Control Automático, 2020, Buenos Aires, Argentina (Virtual), pp. 313-318.

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  • E. Corona, A. Pumarola, G. Alenyà and F. Moreno-Noguer. Context-aware human motion prediction, 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, Seattle, WA, USA (Virtual), pp. 6990-6999.

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  • F. Thomas and J.M. Porta. Clifford’s identity and generalized Cayley-Menger determinants, 17th International Symposium on Advances in Robot Kinematics, 2020, Ljubljana, Slovenia, in Advances in Robot Kinematics 2020, Vol 15 of Springer Proceedings in Advanced Robotics, pp. 285-292, Springer.

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  • J.M. Díaz, S. Dormido and R. Costa. An interactive teaching/learning approach to the design of robust linear control systems using the closed-loop shaping methodology, 21st IFAC World Congress, 2020, (Virtual), Vol 53 of IFAC Papers Online, pp. 17174-17178, Elsevier.

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  • E. Corona, A. Pumarola, G. Alenyà, F. Moreno-Noguer and G. Rogez. GanHand: Predicting human grasp affordances in multi-object scenes, 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, Seattle, WA, USA (Virtual), pp. 5030-5040.

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  • J.M. Díaz, S. Dormido, B. Nicolau and R. Costa. H interactive controller design for teaching purposes, 21st IFAC World Congress, 2020, (Virtual), Vol 53 of IFAC Papers Online, pp. 17185-17189, Elsevier.

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  • A. Suárez, T. Gaugry, J. Segovia, A. Bernardin, C. Torras, M. Marchal and G. Alenyà. Leveraging multiple environments for learning and decision making: a dismantling use case, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, Las Vegas, NV, USA, pp. 6902-6908.

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  • A. Agudo. Segmentation and 3D reconstruction of non-rigid shape from RGB video, 27th IEEE International Conference on Image Processing, 2020, Abu Dhabi, United Arab Emirates (Virtual), pp. 2845-2849.

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  • A. Cecilia, M. Serra and R. Costa. PEMFC state and parameter estimation through a high-gain based adaptive observer, 21st IFAC World Congress, 2020, (Virtual), Vol 53 of IFAC Papers Online, pp. 5895-5900, Elsevier.

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  • A. Suárez, J. Segovia, C. Torras and G. Alenyà. STRIPS action discovery, 2020 AAAI 2020 workshop on Generalization in Planning, 2020, New York, pp. 1-9.

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  • 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, Vol 27(2) of Journal of WSCG, pp. 103-112.

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  • C. Trapiello, D. Rotondo, H.S. Sánchez and V. Puig. Detection of replay attacks in CPSs using observer-based signature compensation, 6th International Conference on Control, Decision and Information Technologies, 2019, Paris, France, pp. 1-6.

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  • D. Rotondo and M. Witczakc. Analysis and design of quadratically bounded QPV control systems, 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019, Eindhoven, The Netherlands, Vol 52:28 of IFAC Papers Online, pp. 76-81.

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  • G. Rotger, F. Moreno-Noguer, F. Lumbreras and A. Agudo. Single view facial hair 3D reconstruction, 2019 Iberian Conference on Pattern Recognition and Image Analysis, 2019, Madrid, Spain, pp. 423-436.

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  • D. Rotondo and T.A. Johansen. State observer design for quadratic parameter varying (QPV) systems, 18th European Control Conference, 2019, Naples, Italy, pp. 2115-2120.

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  • S. Gomez, F.R. Lopez, G. Valencia, D. Rotondo and J. Enriquez. Actuator and sensor fault estimation based on a proportional-integral quasi-LPV observer with inexact scheduling parameters, 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019, Eindhoven, The Netherlands, Vol 52:28 of IFAC Papers Online, pp. 100-105.

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  • W. Ananduta and C. Ocampo-Martínez. Decentralized energy management of power networks with distributed generation using periodical self-sufficient repartitioning approach, 2019 American Control Conference, 2019, Philadelphia, pp. 3230-3235.

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  • C. Trapiello and V. Puig. Set-based replay attack detection in closed-loop systems using a plug & play watermarking approach, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 330-335.

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  • G. Canal, M. Cashmore, S. Krivić, G. Alenyà, D. Magazzeni and C. Torras. Probabilistic planning for robotics with ROSPlan, 2019 Annual Conference Towards Autonomous Robotic Systems Conference, 2019, London, in Towards Autonomous Robotic Systems, Vol 11649 of Lecture Notes in Computer Science, pp. 236-250, 2019, Springer.

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  • R. Yang, D. Rotondo and V. Puig. Observer design for Takagi-Sugeno Lipschitz systems affected by disturbances using quadratic boundedness, 2019 International Conference on Control, Automation and Diagnosis, 2019, Grenoble, France, pp. 1-6.

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  • R. Yang, D. Rotondo and V. Puig. D-stable controller design for Lipschitz NLPV system, 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019, Eindhoven, The Netherlands, Vol 52:28 of IFAC Papers Online, pp. 88-93.

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  • E. Lerma, R. Costa, R. Griñó, C. Sanchis and S. Dormido. On teaching digital control systems in a generic engineering degree, 12th IFAC Symposium on Advances in Control Education, 2019, Philadelphia, USA, Vol 52:9 of IFAC-PapersOnLine, pp. 103-108.

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  • A. San-Miguel, V. Puig and G. Alenyà. Fault-tolerant control of a service robot using a LPV robust unknown input observer, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 207-212.

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  • U. Raveendran Nair, R. Costa and German A. Ramos. An adaptive disturbance rejection control scheme for voltage regulation in DC micro-grids, 20th IEEE International Conference on Industrial Technology, 2019, Melbourne, Australia, pp. 583-588, IEEE.

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  • A. Andriella, J. Lobo, C. Torras and G. Alenyà. Robot interaction adaptation for healthcare assistance, 2019 Workshop on Artificial Intelligence & Robotics in Service Interactions, 2019, Zaragoza, pp. 159-172.

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  • A. Andriella, C. Torras and G. Alenyà. Learning robot policies using a high-level abstraction persona-behaviour simulator, 28th IEEE International Symposium on Robot and Human Interactive Communication, 2019, New Delhi, India, pp. 1-8.

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  • J.A. Aguilar and A.P. Husar. Load profile effect on durability of proton exchange membrane fuel cells, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain.

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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, pp. 3236-3242.

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  • Y. Xing, J. Na and R. Costa. Adaptive online parameter estimation algorithm of PEM fuel cells, 18th European Control Conference, 2019, Naples, Italy, pp. 441-446.

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  • A. Andriella, A. Suárez, J. Segovia, C. Torras and G. Alenyà. Natural teaching of robot-assisted rearranging exercises for cognitive training, 11th International Conference on Social Robotics, 2019, Madrid, in Social Robotics, Vol 11876 of Lecture Notes in Computer Science, pp. 611-621, Springer.

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  • A. Pumarola, J. Sanchez, G. P. T. Choi, A. Sanfeliu and F. Moreno-Noguer. 3DPeople: Modeling the geometry of dressed humans, 2019 International Conference on Computer Vision, 2019, Seoul, pp. 2242-2251.

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  • A. Cecilia and R. Costa. Observador de alta ganancia con zona muerta para pilas de combustible PEM, XL Jornadas de Automática, 2019, Ferrol, Spain, pp. 382-388.

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  • D. Ochoa, G. Riaño-Briceño, N. Quijano and C. Ocampo-Martínez. Control of urban drainage systems: Optimal flow control and deep learning in action, 2019 American Control Conference, 2019, Philadelphia, pp. 4826-4831.

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  • Y. Xing, R. Costa and J. Na. Stability analysis of solid oxide fuel cell systems, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain.

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  • Y. Wang, D. Rotondo, V. Puig, G. Cembrano and Y. Zhao. Fault-tolerant control of discrete-time descriptor systems using virtual actuators, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 147-152.

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  • Y. Xing, J. Na and R. Costa. Parameter estimation algorithm of H-100 PEM fuel cell, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain.

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  • A. Hernandez Ruiz, J. Gall and F. Moreno-Noguer. Human motion prediction via spatio-temporal inpainting, 2019 International Conference on Computer Vision, 2019, Seoul, pp. 7133-7142.

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  • A. Cifuentes López, A.P. Husar, V. Roda, M. Morales, L. Bernadet, M. Torrell and M. Serra. Modelling of solid oxide electrolizer and hydrogen leak estimation, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain, pp. 57-59.

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  • V. Sanz, R. Costa and C. Batlle. Distributed high temperature PEM fuel cell modelling, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain, pp. 1-3.

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  • J.C. Gómez, J.K. Dombrovski, M. Serra and A.P. Husar. PEM automotive stack model with experimental validation, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain, pp. 238-241.

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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, 9th IFAC Conference on Manufacturing Modeling, Management and Control, 2019, Berlin, Vol 52:13 of IFAC-PapersOnLine, pp. 648-653.

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  • J. Deray, B. Magyar, J. Solà and J. Andrade-Cetto. Timed-elastic smooth curve optimization for mobile-base planning, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019, Macau, China, pp. 3143-3149.

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  • L. Romero, C. Sun, R. Guasch, B. Joseph, J. Meseguer, G. Cembrano and V. Puig. A feedback simulation procedure for real-time control of urban drainage systems, 1st IFAC Workshop on Control Methods for Water Resource Systems, 2019, Delft, Netherlands, Vol 52:23 of IFAC Papers OnLine , pp. 101-106.

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  • J.A. Aguilar and A.P. Husar. Modelling liquid water effect on proton-exchange membrane fuel cells, 2019 European Fuel Cell Conference & Exhibition, 2019, Naples, Italy, pp. 333-334.

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  • J. Deray, J. Solà and J. Andrade-Cetto. Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration, 9th European Conference on Mobile Robots, 2019, Prague, pp. 1-6.

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  • C. Torras. Anticipatory science fiction to foster ethical debates on AI and robotics, 2019 International Symposium on Anticipation and Anticipatory Systems: Humans Meet AI, 2019, Örebro, Sweden, pp. 1-3.

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  • E. Repiso, F. Zanlungo, T. Kanda, A. Garrell Zulueta and A. Sanfeliu. People's V-formation and side-by-side model adapted to accompany groups of people by social robots, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019, Macau, China, pp. 202-2088.

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  • W. Ananduta, J.M. Maestre, C. Ocampo-Martínez and H. Ishii. A resilient approach for distributed MPC-based economic dispatch in interconnected microgrids, 18th European Control Conference, 2019, Naples, Italy, pp. 891-896.

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  • M. Galvan, E. Repiso and A. Sanfeliu. Robot navigation to approach people using G2-spline path planning and extended social force model, 4th Iberian Robotics Conference, 2019, Porto, Portugal, Vol 1093 of Advances in Intelligent Systems and Computing, pp. 15-27, Springer.

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  • M. Fourmy, D. Atchuthan, N. Mansard, J. Solà and T. Flayols. Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers, 2019 IEEE-RAS International Conference on Humanoid Robots, 2019, , pp. 237-243.

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  • H.S. Sánchez, D. Rotondo, M. López and J. Quevedo. Frequency-based detection of replay attacks: application to a quadrotor UAV, 8th International Conference on Systems and Control, 2019, Marrakech, Morocco, pp. 289-293.

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  • A. Garrell Zulueta, C. Coll, R. Alquézar Mancho and A. Sanfeliu. Teaching a drone to accompany a person from demonstrations using non-linear ASFM, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019, Macau, China, pp. 1985-1991.

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  • F. Strazzeri and C. Torras. Configuration space of a textile rectangle, 2019 Trobada GEOMVAP - Geometria de Varietats i Aplicacions , 2019, Cardona, in Extended Abstracts GEOMVAP 2019 - Geometry, Topology, Algebra, and Applications; Women in Geometry and Topology, Vol 15 of Trends in Mathematics - Research Perspectives CRM Barcelona, pp. 133-137, 2021, Springer-Birkhäuser, Cham.

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  • J. Quevedo, H.S. Sánchez, D. Rotondo, T. Escobet and V. Puig. Time evolution pattern analysis for cyber attack detection in a two-tank benchmark, 8th International Conference on Systems and Control, 2019, Marrakech, Morocco, pp. 277-282.

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  • U. Raveendran Nair and R. Costa. An analysis of energy storage system interaction in a multi objective model predictive control based energy management in DC microgrid, 24th IEEE International Conference on Emerging Technologies and Factory Automation, 2019, Zaragoza, pp. 739-746.

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  • M. Dalmasso, A. Garrell Zulueta, P. Jiménez and A. Sanfeliu. Human-robot collaborative navigation search using social reward sources, 4th Iberian Robotics Conference, 2019, Porto, Portugal, Vol 1093 of Advances in Intelligent Systems and Computing, pp. 84-95, Springer.

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  • J.M. Díaz, S. Dormido and R. Costa. 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, Vol 3 of EpIC Series in Engineering, 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, UT, USA, pp. 2607-2615.

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  • Y. Xing, J. Na and R. Costa. 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, UT, USA, pp. 4681-4690.

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  • U. Raveendran Nair, R. Costa 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, UT, USA, 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, Spain, 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, 17th 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, Spain, 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, Brasil.

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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, in Mechanism and Machine Science, Vol XXXIV of Lecture Notes in Mechnical Engineering, pp. 747-759, 2020, Springer.

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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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  • 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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  • 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, Germany, 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, Vol 3 of EpIC Series in Engineering, pp. 2033-2041.

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

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  • A. San-Miguel, V. Puig and G. Alenyà. Fault-tolerant control of a service robot. In Fault Diagnosis and Fault-tolerant Control of Robotic Systems, 1-26. The Institution of Engineering and Technology, 2020.

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  • C. Torras. Robotics and artificial intelligence meet the humanities: Some initiatives for ethics education and dissemination. In Humanities and Higher Education: Synergies between Science, Technology and Humanities, 267-273. Global University Network for Innovation, 2019.

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  • J. Vendrell, C. Sun, V. Puig and G. Cembrano. Fuzzy clustering application on failure rate prediction in water distribution networks. Technical Report IRI-TR-20-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2020.

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  • J.C. Gassó Loncan Vallecillo, A. Olivares-Alarcos and G. Alenyà. Visual feedback for humans about robots' perception in collaborative environments. Technical Report IRI-TR-20-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2020.

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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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