42 citations · 102 across the 13 of their papers we have counts for
15 papers
nanoflann: A Header-Only KD-Tree Library for Exact Nearest-Neighbor Search on Compile-Time Product Manifolds
José Luis Blanco-Claraco
Nearest-neighbor (NN) search underlies countless robotics algorithms, but many state spaces are not Euclidean: orientations live on or and poses on or $SE(3…
MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark
Jose Luis Blanco-Claraco
This short report documents our entry to the COMFORT Localization Benchmark (IROS 2026), evaluated on the GrandTour dataset recorded with the Boxi payload. It extends MOLA-LO into…
Visual-SLAM for the detection of hidden tomatoes in greenhouses by Hierarchical Localization and GLOMAP for robotized harvesting
Fernando Cañadas-Aránega, José C. Moreno, José L. Blanco-Claraco +1
Advanced crop monitoring inside greenhouses is becoming one of the primary objectives of research centers. High-performance sensors, such as LiDAR or stereo cameras, have tradition…
An Adaptive Control Architecture for Slope and Terrain Compensation in Autonomous Navigation in Mediterranean Greenhouses
Fernando Cañadas-Aránega, Dirk Wollherr, José L. Guzmán +2
The ability to move stably over terrain with varying slopes and textures is essential for mobile agricultural robots operating in complex and dynamic environments such as greenhous…
Integrated cloud-based architecture for robot-robot and human-robot collaboration using ROS 2--MQTT in Mediterranean Greenhouses
F. Cañadas-Aránega, M. Muñoz, J. C. Moreno +1
The imperative to develop more sustainable agriculture demands a transition from isolated automation toward the deployment of multi-robot systems (MRS) in agrifood environments. Ho…
GreenSeg: Ground Segmentation Algorithm for Agricultural Robots in Mediterranean Greenhouses using RGB-D Point Clouds
Fernando Cañadas-Aránega, José C. Moreno, José L. Blanco-Claraco
Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are charac…
A ROS2 Benchmarking Framework for Hierarchical Control Strategies in Mobile Robots for Mediterranean Greenhouses
Fernando Cañadas-Aránega, Francisco J. Mañas-Álvarez, José L- Guzmán +2
Mobile robots operating in agroindustrial environments, such as Mediterranean greenhouses, are subject to challenging conditions, including uneven terrain, variable friction, paylo…
A flexible framework for accurate LiDAR odometry, map manipulation, and localization
José Luis Blanco-Claraco
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps…
The GREENBOT dataset: Multimodal mobile robotic dataset for a typical Mediterranean greenhouse
Fernando Cañadas-Aránega, Jose Luis Blanco-Claraco, Jose Carlos Moreno +1
This paper introduces an innovative dataset specifically crafted for challenging agricultural settings (a greenhouse), where achieving precise localization is of paramount importan…
Distributed network for measuring climatic parameters in heterogeneous environments: Application in a greenhouse
Javier López-Martínez, José Luis Blanco-Claraco, José Pérez-Alonso +1
In Mediterranean countries of Southern Europe, the climatic conditions are usually favourable to cultivate greenhouse vegetables but not always for workers. The aim of this study w…
Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization
Jose Luis Blanco-Claraco, Francisco Mañas-Alvarez, Jose Luis Torres-Moreno +2
Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejecti…
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023
Xuesu Xiao, Zifan Xu, Garrett Warnell +8
The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in London, UK and continu…
MultiVehicle Simulator (MVSim): lightweight dynamics simulator for multiagents and mobile robotics research
José-Luis Blanco-Claraco, Borys Tymchenko, Francisco José Mañas-Alvarez +3
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, saf…
A tutorial on transformation parameterizations and on-manifold optimization
José Luis Blanco-Claraco
An arbitrary rigid transformation in can be separated into two parts, namely, a translation and a rigid rotation. This technical report reviews, under a unifying v…
OLAE-ICP: Robust and fast alignment of geometric features with the optimal linear attitude estimator
Jose Luis Blanco-Claraco
The problems of point-cloud registration and attitude estimation from vector observations (Wahba's problem) have widespread applications in computer vision and mobile robotics. Thi…