Joan Solà Ortega

Científico Titular

Subline:

Mobile Robotics and Intelligent Systems

jsola (at) iri.upc.edu

93 4023594

93 4013024

http://www.joansola.eu

Research projects
Publications

Current
Archive

As leader

ALPHA: Agile loco-manipulation for intelligent hybrid robotic systems

National Project

Start Date: 01/09/2025

ALLAUS: Sistema i dispositiu de localització a distància de víctimes d’allau.

CSIC Project

Start Date: 01/03/2025

As contributor

BOMBUS: Percepción y navegación para robótica ágil

CSIC Project

Start Date: 15/09/2024

Publications

H. Cherfi, J. Lesouple, J. Solà and P. Thevenon. Uncertainty quantification of first fix in a time-differenced carrier phase observation model. Sensors, 25(11): 3480, 2025.

Abstract Info PDF
P. Vial, J. Solà, N. Palomeras and M. Carreras. On Lie group IMU and linear velocity preintegration for autonomous navigation considering the Earth rotation compensation. IEEE Transactions on Robotics, 41: 1346-1364, 2025.

Abstract Info PDF
H. Cherfi, J. Lesouple, J. Solà and P. Thevenon. Single Frequency GNSS Carrier Phase Cycle Slip Detection and Identification Using a Factor Graph Approach, 2024 ION Pacific PNT Meeting, 2024, Honolulu, Hawaii, pp. 344-355.

Abstract Info PDF
P. Vial, N. Palomeras, J. Solà and M. Carreras. Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar. Journal of Field Robotics, 41: 511-538, 2024.

Abstract Info PDF
W.O. Chamorro, J. Solà and J. Andrade-Cetto. Event-IMU fusion strategies for faster-than-IMU estimation throughput, 4th CVPR International Workshop on Event Vision, 2023, Vancouver, pp. 3975-3982.

Abstract Info PDF
C. Mastalli, W. Merkt, J. Martí, H. Ferrolho, J. Solà, N. Mansard and S. Vijayakumar. A feasibility-driven approach to control-limited DDP. Autonomous Robots, 46(8): 985–1005, 2022.

Abstract Info PDF
I. Geer, J. Vallvé and J. Solà. IMU preintegration for 2D SLAM problems using Lie Groups, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 1367-1373.

Abstract Info PDF
W.O. Chamorro, J. Solà and J. Andrade-Cetto. Event-based line SLAM in real-time. IEEE Robotics and Automation Letters, 7(3): 8146-8153, 2022.

Abstract Info PDF
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.

Abstract Info PDF
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.

Abstract Info PDF

Joan Solà Ortega

Científico Titular

Subline:

jsola (at) iri.upc.edu

93 4023594

93 4013024

As leader

National Project

Start Date: 01/09/2025

CSIC Project

Start Date: 01/03/2025

As contributor

CSIC Project

Start Date: 15/09/2024

Publications

H. Cherfi, J. Lesouple, J. Solà and P. Thevenon. Uncertainty quantification of first fix in a time-differenced carrier phase observation model. Sensors, 25(11): 3480, 2025.

P. Vial, J. Solà, N. Palomeras and M. Carreras. On Lie group IMU and linear velocity preintegration for autonomous navigation considering the Earth rotation compensation. IEEE Transactions on Robotics, 41: 1346-1364, 2025.

H. Cherfi, J. Lesouple, J. Solà and P. Thevenon. Single Frequency GNSS Carrier Phase Cycle Slip Detection and Identification Using a Factor Graph Approach, 2024 ION Pacific PNT Meeting, 2024, Honolulu, Hawaii, pp. 344-355.

P. Vial, N. Palomeras, J. Solà and M. Carreras. Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar. Journal of Field Robotics, 41: 511-538, 2024.

W.O. Chamorro, J. Solà and J. Andrade-Cetto. Event-IMU fusion strategies for faster-than-IMU estimation throughput, 4th CVPR International Workshop on Event Vision, 2023, Vancouver, pp. 3975-3982.

C. Mastalli, W. Merkt, J. Martí, H. Ferrolho, J. Solà, N. Mansard and S. Vijayakumar. A feasibility-driven approach to control-limited DDP. Autonomous Robots, 46(8): 985–1005, 2022.

I. Geer, J. Vallvé and J. Solà. IMU preintegration for 2D SLAM problems using Lie Groups, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 1367-1373.

W.O. Chamorro, J. Solà and J. Andrade-Cetto. Event-based line SLAM in real-time. IEEE Robotics and Automation Letters, 7(3): 8146-8153, 2022.

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.

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.