119 citations · 342 across the 24 of their papers we have counts for
25 papers
Safe Hierarchical Reinforcement Learning for CubeSat Task Scheduling Based on Energy Consumption
Mahya Ramezani, M. Amin Alandihallaj, Jose Luis Sanchez-Lopez +1
This paper presents a Hierarchical Reinforcement Learning methodology tailored for optimizing CubeSat task scheduling in Low Earth Orbits (LEO). Incorporating a high-level policy f…
Exploring Human's Gender Perception and Bias toward Non-Humanoid Robots
Mahya Ramezani, Jose Luis Sanchez-Lopez
In this study, we investigate the human perception of gender and bias toward non-humanoid robots. As robots increasingly integrate into various sectors beyond industry, it is essen…
Vision-based Situational Graphs Exploiting Fiducial Markers for the Integration of Semantic Entities
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +3
Situational Graphs (S-Graphs) merge geometric models of the environment generated by Simultaneous Localization and Mapping (SLAM) approaches with 3D scene graphs into a multi-layer…
Faster Optimization in S-Graphs Exploiting Hierarchy
Hriday Bavle, Jose Luis Sanchez-Lopez, Javier Civera +1
3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extend…
S-Nav: Semantic-Geometric Planning for Mobile Robots
Paul Kremer, Hriday Bavle, Jose Luis Sanchez-Lopez +1
Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without levera…
Pose Graph Optimization for a MAV Indoor Localization Fusing 5GNR TOA with an IMU
Meisam Kabiri, Claudio Cimarelli, Hriday Bavle +2
This paper explores the potential of 5G new radio (NR) Time-of-Arrival (TOA) data for indoor drone localization under different scenarios and conditions when fused with inertial me…
Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +3
In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, t…
Multi S-graphs: A Collaborative Semantic SLAM architecture
Miguel Fernandez-Cortizas, Hriday Bavle, Jose Luis Sanchez-Lopez +2
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on…
Marker-based Visual SLAM leveraging Hierarchical Representations
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +2
Fiducial markers can encode rich information about the environment and can aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current ma…
UAV Path Planning Employing MPC- Reinforcement Learning Method Considering Collision Avoidance
Mahya Ramezani, Hamed Habibi, Jose luis Sanchez Lopez +1
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Sh…
Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +3
In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method…
On SORA for High-Risk UAV Operations under New EU Regulations: Perspectives for Automated Approach
Hamed Habibi, D. M. K. K. Venkateswara Rao, Jose Luis Sanchez-Lopez +1
In this paper, we investigate requirements to prepare an application for Specific Operations Risk Assessment (SORA), regulated by European Union Aviation Safety Agency (EASA) to ob…
An Integrated Real-time UAV Trajectory Optimization with Potential Field Approach for Dynamic Collision Avoidance
D. M. K. K. Venkateswara Rao, Hamed Habibi, Jose Luis Sanchez-Lopez +1
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) tra…
Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles
D. M. K. K. Venkateswara Rao, Hamed Habibi, Jose Luis Sanchez-Lopez +3
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence…
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprisi…
A Review of Radio Frequency Based Localization for Aerial and Ground Robots with 5G Future Perspectives
Meisam Kabiri, Claudio Cimarelli, Hriday Bavle +2
Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved cont…
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
Mobile robots extract information from its environment to understand their current situation to enable intelligent decision making and autonomous task execution. In our previous wo…
Visual SLAM: What are the Current Trends and What to Expect?
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +1
Vision-based sensors have shown significant performance, accuracy, and efficiency gain in Simultaneous Localization and Mapping (SLAM) systems in recent years. In this regard, Visu…
Robot Localization using Situational Graphs and Building Architectural Plans
Muhammad Shaheer, Hriday Bavle, Jose Luis Sanchez-Lopez +1
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise…
TRIGGER: A Lightweight Universal Jamming Gripper for Aerial Grasping
Paul Kremer, Hamed Rahimi Nohooji, Jose Luis Sanchez-Lopez +1
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resili…
A Hybrid Modelling Approach for Aerial Manipulators
Paul Kremer, Jose Luis Sanchez-Lopez, Holger Voos
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting…
RAUM-VO: Rotational Adjusted Unsupervised Monocular Visual Odometry
Claudio Cimarelli, Hriday Bavle, Jose Luis Sanchez-Lopez +1
Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization…
Situational Graphs for Robot Navigation in Structured Indoor Environments
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully mak…
From SLAM to Situational Awareness: Challenges and Survey
Hriday Bavle, Jose Luis Sanchez-Lopez, Claudio Cimarelli +2
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decisi…