15 citations · 36 across the 13 of their papers we have counts for
14 papers
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)…
Anomaly detection in network flows using unsupervised online machine learning
Alberto Miguel-Diez, Adrián Campazas-Vega, Ángel Manuel Guerrero-Higueras +2
Nowadays, the volume of network traffic continues to grow, along with the frequency and sophistication of attacks. This scenario highlights the need for solutions capable of contin…
VAULT: A Mobile Mapping System for ROS 2-based Autonomous Robots
Miguel Á. González-Santamarta, Francisco J. Rodríguez-Lera, Vicente Matellán-Olivera
Localization plays a crucial role in the navigation capabilities of autonomous robots, and while indoor environments can rely on wheel odometry and 2D LiDAR-based mapping, outdoor…
Integrating Quantized LLMs into Robotics Systems as Edge AI to Leverage their Natural Language Processing Capabilities
Miguel Á. González-Santamarta, Francisco J. Rodríguez-Lera, David Sobrín-Hidalgo +2
Large Language Models (LLMs) have experienced great advancements in the last year resulting in an increase of these models in several fields to face natural language tasks. The int…
Lessons Learned in Quadruped Deployment in Livestock Farming
Francisco J. Rodríguez-Lera, Miguel A. González-Santamarta, Jose Manuel Gonzalo Orden +3
The livestock industry faces several challenges, including labor-intensive management, the threat of predators and environmental sustainability concerns. Therefore, this paper expl…
Enhancing Robot Explanation Capabilities through Vision-Language Models: a Preliminary Study by Interpreting Visual Inputs for Improved Human-Robot Interaction
David Sobrín-Hidalgo, Miguel Ángel González-Santamarta, Ángel Manuel Guerrero-Higueras +2
This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we de…
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…
Explaining Autonomy: Enhancing Human-Robot Interaction through Explanation Generation with Large Language Models
David Sobrín-Hidalgo, Miguel A. González-Santamarta, Ángel M. Guerrero-Higueras +2
This paper introduces a system designed to generate explanations for the actions performed by an autonomous robot in Human-Robot Interaction (HRI). Explainability in robotics, enca…
Portable Multi-Hypothesis Monte Carlo Localization for Mobile Robots
Alberto Garcia, Francisco Martin, Jose Miguel Guerrero +2
Self-localization is a fundamental capability that mobile robot navigation systems integrate to move from one point to another using a map. Thus, any enhancement in localization ac…
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…
PlanSys2: A Planning System Framework for ROS2
Francisco Martín, Jonatan Ginés, Vicente Matellán +1
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situ…
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…
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…