Research line
Mobile Robotics and Intelligent Systems

The research activities of the MOBILE ROBOTICS line are aimed to endow mobile robots and ubiquitous computing devices the necessary skills to aid humans in everyday life activities. These skills range from pure perceptual activities such as tracking, recognition or situation awareness, to motion skills, such as localization, mapping, autonomous navigation, path planning or exploration.
Head of line: Alberto Sanfeliu Cortés

Research areas
>> Urban service robotics
>> Social robotics
>> Robot localization and robot navigation
>> SLAM and robot exploration
>> Tracking in computer vision
>> Object recognition

Tech. transfer
Our activity finds applications in several fields through collaboration with our technological partners
Research projects
We carry out projects from national and international research programmes.
→ More about our research projects
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Urban service robotics
The group focuses on the design and development of service mobile robots for human assistance and human robot interaction. This includes research on novel hardware and software solutions to urban robotic services such as surveillance, exploration, cleaning, transportation, human tracking, human assistance and human guiding.

Social robotics
The group's work on social robotics has an emphasis in human robot interaction and collaboration, developing new techniques to predict and learn human behaviors, human-robot task collaboration, and the generation of emphatic robot behaviors using all types of sensors, computer vision techniques and cognitive systems technologies.

Robot localization and robot navigation
This research area tackles the creation of robust single and cooperative, indoor and outdoor robot localization solutions, using multiple sensor modalities such as GPS, computer vision and laser range finding, INS sensors and raw odometry. The area also seeks methods and algorithms for autonomous robot navigation, and robot formation; and the application of these methods on a variety of indoor and outdoor mobile robot platforms.

SLAM and robot exploration
We develop solutions for indoor and outdoor simultaneous localization and mapping using computer vision and three-dimensional range data using Bayesian estimation. The research includes the development of new filtering and smoothing algorithms that limit the load of maps using information theoretic measures; as well as the design and construction of novel sensors for outdoor mapping. This research area also studies methods for autonomous robotic exploration.

Tracking in computer vision
We study the development of robust algorithms for the detection and tracking of human activities in indoor and outdoor areas, with applications to service robotics, surveillance, and human-robot interaction. This includes the development of fixed/moving single camera tracking algorithms as well as detection and tracking methods over large camera sensor networks.

Object recognition
The group also performs research on object detection and object recognition in computer vision. Current research is heavily based on boosting and other machine learning methodologies that make extensive use of multiple view geometry. We also study the development of unique feature and scene descriptors, invariant to changes in illumination, cast shadows, or deformations.

These are the latest research projects of the Mobile Robotics and Intelligent Systems research line:
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SciRoc: European robotics league plus smart cities robot competitions
European Project
Start Date: 01/02/2018
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TERRINET: The European robotics research infrastructure network
European Project
Start Date: 01/12/2017
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GAUSS: Galileo-EGNOS as an asset for UTM safety and security
European Project
Start Date: 01/03/2018
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ROBOCOM++: Rethinking robotics for the robot companion of the future
European Project
Start Date: 01/03/2017
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AEROARMS: AErial RObotics System integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance
European Project
Start Date: 01/06/2015
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LOGIMATIC: Tight integration of EGNSS and on-board sensors for port vehicle automation
European Project
Start Date: 01/03/2016
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ECHORD++: European Clearing House for Open Robotics Development Plus Plus
European Project
Start Date: 01/10/2013
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Cargo-ANTS: Cargo handling by Automated Next generation Transportation Systems for ports and terminals
European Project
Start Date: 01/09/2013
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ROCOTRANSP: Robot-human collaboration for goods transportation and delivery
National Project
Start Date: 01/06/2020
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ColRobTransp: Colaboración robots-humanos para el transporte de productos en zonas urbanas
National Project
Start Date: 30/12/2016
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Robot-Int-Coop: Robot-Human Interaction, Cooperation and Learning in Urban Areas
National Project
Start Date: 01/01/2014
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PAU+: Perception and Action in Robotics Problems with Large State Spaces
National Project
Start Date: 01/01/2012
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MIPRCV: CONSOLIDER-INGENIO 2010 Multimodal interaction in pattern recognition and computer vision
National Project
Start Date: 01/10/2007
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C-URUS: Ayuda complementaria al proyecto europeo IST-STREP URUS
National Project
Start Date: 01/01/2008
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NAVROB: Integration of robust perception, learning, and navigation systems in mobile robotics
National Project
Start Date: 13/12/2004
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ANNA: Supervised learning of industrial scenes by means of an active vision equipped mobile robot.
National Project
Start Date: 28/12/2001
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MARCO: Active vision systems based in automatic learning for industrial applications
National Project
Start Date: 01/12/1998
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DIMECO: Diseño, mecanizado y construcción de piezas y mecanismos robóticos
CSIC Project
Start Date: 01/01/2018
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MELPC: Mejora de las estaciones de trabajo del Laboratorio de Pilas de Combustible
CSIC Project
Start Date: 01/10/2018
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OTDIRI: Apoyo a las actividades de la oficina de transferencia y divulgación del IRI
CSIC Project
Start Date: 01/05/2018
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COLAROB: Colaboración hombre-robot en tareas de manipulación, navegación y exploración
CSIC Project
Start Date: 01/04/2013
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SGR VIS: Grup consolidat de Visió Artificial i Sistemes Intel·ligents
Regional Project
Start Date: 01/01/2017
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STAFF: Desenvolupament d'un sistema de transport automàtic i flexible entre llocs de treball del centre de fabricació flexible de la UPC
Regional Project
Start Date: 01/01/1996
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FENILO: Framework for 2D Estimation and Navigation using IMU, Lidar and Odometry
UPC Project
Start Date: 01/07/2020
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MODPOW: Desenvolupament de noves tècniques d’exploració en entorns oberts i tancats amb robots
Technology Transfer Contract
Start Date: 09/03/2021
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TRREX-PROMAUT: Tecnologías habilitadoras del robot de rango extendido para la factoría altamente flexible
Technology Transfer Contract
Start Date: 01/01/2019
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CARNET 2020: Sensorización-Navegación plataforma robótica (Fase 2)
Technology Transfer Contract
Start Date: 11/05/2020
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TRREX-DTA: Tecnologías habilitadoras del robot de rango extendido para la factoría altamente flexible
Technology Transfer Contract
Start Date: 01/03/2019
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CARNET 2019: Sensorización-Navegación plataforma robótica
Technology Transfer Contract
Start Date: 01/10/2019
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SMART FACTORY: Investigación en tecnologías habilitadoras de sistemas inteligentes para las fábricas del futuro
Technology Transfer Contract
Start Date: 01/10/2015
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DITCAV: Assessoria en el desenvolupament i integració de tècniques específiques a l’àrea de la conducció autònoma de vehicles
Technology Transfer Contract
Start Date: 20/07/2018
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LCAS: Object localization with LIDAR for the validation of a CMS system
Technology Transfer Contract
Start Date: 11/01/2016
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ICCS: Concept for intrinsic camera calibration station
Technology Transfer Contract
Start Date: 01/01/2017
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#RobòticaiÈtica: Organización y gestión del ciclo "Diálogos sobre robótica y ética"
Technology Transfer Contract
Start Date: 14/09/2018
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ADC: Coordinación técnica y soporte para la competición SEAT Autonomous Driving Cup
Technology Transfer Contract
Start Date: 01/07/2017
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VW_Vehicle-Robot: Desenvolupament/innovació sobre “vehicle-robot”.
Technology Transfer Contract
Start Date: 01/09/2016
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AIN-IRI: Detección de obstáculos para robots aéreos por medio de técnicas ópticas
Technology Transfer Contract
Start Date: 01/02/2010
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ICARUS: Treball de consultoria sobre temes d'investigació tecnològica referent al desenvolupament d'un sistema de suport per a la navegació d'un robot mòbil
Technology Transfer Contract
Start Date: 16/10/2006
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UTILAR II: Consultoria tècnica projecte d'investigació i desenvolupament de nous connectors elèctrics per a lunetes tèrmiques de l'automòbil
Technology Transfer Contract
Start Date: 09/06/2006
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UTILAR: Disseny d'un sistema automàtic per a pre-soldar terminals de lunetes tèrmiques
Technology Transfer Contract
Start Date: 10/11/2005
These are the most recent publications (2021 - 2020) of the Mobile Robotics and Intelligent Systems
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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, 2021, to appear.
Abstract
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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.
Abstract
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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.
Abstract
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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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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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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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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.
Abstract
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A. Pumarola, S. Popov, F. Moreno-Noguer and V. Ferrari. C-Flow: Conditional generative flow models for images and 3D point clouds, 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, Seattle, WA, USA (Virtual), pp. 7946-7955.
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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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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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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, Online, pp. 1-6.
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J. Villagra, J. Vallvé, J. Medina-Lee, J. Solà, A. Artuñedo and J. Andrade-Cetto. Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments. Boletín del Grupo Español del Carbón(58): 15-22, 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. 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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Mobile Robotics Laboratory
The Mobile Robotics Laboratory is an experimental area primarily devoted to hands-on research with mobile robot devices. The lab includes 3 Pioneer platforms, 2 service robots for urban robotics research based on Segway platforms, and a 4-wheel rough outdoor mobile robot, a six-legged LAURON-III walking robot, and a vast number of sensors and cameras.

Barcelona Robot Laboratory
The Barcelona Robot Lab encompasses an outdoor pedestrian area of 10.000 sq m., and is provided with 21 fixed cameras, a set of heterogeneous robots, full coverage of wifi and mica devices, and partial gps coverage. The area has moderate vegetation and intense cast shadows, making computer vision algorithms more than challenging.


Researchers
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Alquézar Mancho, Renato
ralqueza (at) iri.upc.edu
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Andrade Cetto, Juan
cetto (at) iri.upc.edu
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Garrell Zulueta, Anaís
agarrell (at) iri.upc.edu
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Guerra Paradas, Edmundo
eguerra (at) iri.upc.edu
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Repiso Polo, Ely
erepiso (at) iri.upc.edu
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Sanfeliu Cortés, Alberto
sanfeliu (at) iri.upc.edu
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Solà Ortega, Joan
jsola (at) iri.upc.edu
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Vallvé Navarro, Joan
jvallve (at) iri.upc.edu
PhD Students
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Chamorro Hernández, William Oswaldo
wchamorro (at) iri.upc.edu
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Domínguez Vidal, José Enrique
jdominguez (at) iri.upc.edu
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Ferrandis Vilaró, Joan
jferrandis (at) iri.upc.edu
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Fourmy, Médéric
mfourmy (at) iri.upc.edu
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Gil Viyuela, Oscar
ogil (at) iri.upc.edu
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Gu, Junyi
jgu (at) iri.upc.edu
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Laplaza Galindo, Javier
jlaplaza (at) iri.upc.edu
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Magdaleno Maltas, Jordi
jmagdaleno (at) iri.upc.edu
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Martí Saumell, Josep
jmarti (at) iri.upc.edu
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Mora Martínez, Alejandro
amoram (at) iri.upc.edu
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Pumarola Peris, Albert
apumarola (at) iri.upc.edu
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Tian, Yi
ytian (at) iri.upc.edu
Master Students
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Bhagwan Bahrunani, Albert
abhagwan (at) iri.upc.edu
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Castro Arcusa, Oscar
ocastro (at) iri.upc.edu
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Mali, Pravin
pmali (at) iri.upc.edu
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Peral Sánchez, Marc
mperal (at) iri.upc.edu
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Rodriguez Linares, Nicolas Adrian
nrodriguez (at) iri.upc.edu
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Torres Rodriguez, Ivan Jesús
itorres (at) iri.upc.edu
TFG Students
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Romero Leon, Ramon
rromero (at) iri.upc.edu
Support Staff
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Herrero Cotarelo, Fernando
fherrero (at) iri.upc.edu
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Puig-Pey Claveria, Ana Maria
apuigpey (at) iri.upc.edu
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Pujol Badell, Sergi
spujol (at) iri.upc.edu
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