15 citations · 55 across the 11 of their papers we have counts for
12 papers
Kairos: Semantics-Aware Orchestration of Planning Engines across Classical, Numeric, Temporal and Hybrid PDDL
Francisco Martín Rico, Esther Aguado González, Francisco Miguel Moreno Olivo +3
Planning at run time, as in robots that re-plan while they act, needs a planner that reads the PDDL its users write (durative actions, numeric resources, time windows, continuous c…
AXON: A ROS 2 RMW with Shared-Memory/QUIC Transport and QKD/ML-KEM Key Establishment
Sergio Sánchez de la Fuente, Miguel Ángel González-Santamarta, Francisco Javier Rodríguez-Lera +2
Robot Operating System 2 (ROS 2) standardizes application code against a middleware interface (RMW) whose reference implementations are built on the Data Distribution Service (DDS)…
Accessible and Pedagogically-Grounded Explainability for Human-Robot Interaction: A Framework Based on UDL and Symbolic Interfaces
Francisco J. Rodríguez Lera, Raquel Fernández Hernández, Sonia Lopez González +3
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse…
Enhancing Trust in Autonomous Agents: An Architecture for Accountability and Explainability through Blockchain and Large Language Models
Laura Fernández-Becerra, Miguel Ángel González-Santamarta, Ángel Manuel Guerrero-Higueras +2
The deployment of autonomous agents in environments involving human interaction has increasingly raised security concerns. Consequently, understanding the circumstances behind an e…
Using Large Language Models for Interpreting Autonomous Robots Behaviors
Miguel A. González-Santamarta, Laura Fernández-Becerra, David Sobrín-Hidalgo +3
The deployment of autonomous robots in various domains has raised significant concerns about their trustworthiness and accountability. This study explores the potential of Large La…
SAILOR: Perceptual Anchoring For Robotic Cognitive Architectures
Miguel Á. González-Santamarta, Francisco J. Rodríguez-Lera, Vicente Matellán Olivera +2
Symbolic anchoring is a crucial problem in the field of robotics, as it enables robots to obtain symbolic knowledge from the perceptual information acquired through their sensors.…
YASMIN: Yet Another State MachINe library for ROS 2
Miguel Ángel González-Santamarta, Francisco Javier Rodríguez-Lera, Camino Fernández Llamas +2
State machines are a common mechanism for defining behaviors in robots, defining them based on identifiable stages. There are several libraries available for easing the implementat…
KANT: A tool for Grounding and Knowledge Management
Miguel Á. González-Santamarta, Francisco J. Rodríguez-Lera, Francisco Martín +2
The intelligent robotics community usually organizes knowledge into symbolic and sub-symbolic levels. These two levels establish the set of symbols and rules for manipulating knowl…
rl_reach: Reproducible Reinforcement Learning Experiments for Robotic Reaching Tasks
Pierre Aumjaud, David McAuliffe, Francisco Javier Rodríguez Lera +1
Training reinforcement learning agents at solving a given task is highly dependent on identifying optimal sets of hyperparameters and selecting suitable environment input / output…
Optimized Execution of PDDL Plans using Behavior Trees
Francisco Martín, Matteo Morelli, Huascar Espinoza +2
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution…
Reinforcement Learning Experiments and Benchmark for Solving Robotic Reaching Tasks
Pierre Aumjaud, David McAuliffe, Francisco Javier Rodríguez Lera +1
Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement…
Defining Adaptive Proxemic Zones for Activity-aware Navigation
Jonatan Gines Clavero, Francisco Martin Rico, Francisco J. Rodriguez-Lera +2
Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just object…