Lluís Ros Giralt

Científico Titular


Subline:

Computational Robotics


E-mail ros (at) iri.upc.edu

Phone 93 4017340

Web http://www.iri.upc.edu/people/ros

Lluís Ros received the Mechanical Engineering degree (1992) and the Ph.D. degree in Robotics (2000) from the Technical Univ. of Catalonia. From 1993 to 1996 he worked with the Control of Resources Group of Institut de Cibernètica (Barcelona). He joined IRI in 1997, where he is a Faculty Researcher since 2004. He has been a visiting scholar at York University, Tokyo University, and LAAS (CNRS). His research interests include geometry and computational kinematics, with applications to robotics.

  • Current
  • Archive

As leader

Publications

  • S. Moreno, L. Ros and E. Celaya. Collocation methods for second and higher order systems. Autonomous Robots, 48(2): 1-20, 2024, to appear.

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  • R. Bordalba, T. Schoels, L. Ros, J.M. Porta and M. Diehl. Direct collocation methods for trajectory optimization in constrained robotic systems. IEEE Transactions on Robotics, 39(1): 183-202, 2023.

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  • S. Moreno, L. Ros and E. Celaya. A Legendre-Gauss pseudospectral collocation method for trajectory optimization in second order systems, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 13335-13340.

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  • S. Moreno, L. Ros and E. Celaya. Collocation methods for second order systems, XVIII Robotics: Science and Systems Conference, 2022, New York, pp. 1-11.

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  • I. Moreno, E. Celaya and L. Ros. Model predictive control for a Mecanum-wheeled robot navigating among obstacles, 7th IFAC Conference on Nonlinear Model Predictive Control, 2021, Bratislava, Slovakia, pp. 119-125.

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  • R. Bordalba, L. Ros and J.M. Porta. A randomized kinodynamic planner for closed-chain robotic systems. IEEE Transactions on Robotics, 37(1): 99-115, 2021.

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  • R. Bordalba, L. Ros and J.M. Porta. A randomized kinodynamic planner for closed-chain robotic systems. Technical Report IRI-TR-19-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

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  • R. Bordalba, L. Ros and J.M. Porta. Randomized planning of dynamic motions avoiding forward singularities, 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. 170-178, 2019.

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  • R. Bordalba, J.M. Porta and L. Ros. A singularity-robust LQR controller for parallel robots, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, Spain, pp. 270-276.

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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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PhD Theses as supervisor