12 citations · 32 across the 21 of their papers we have counts for
23 papers
From Language to Navigation Goals: A Vision-Language Approach for Semantic Navigation of Mobile Robots Using RGB-D Perception
Jose Martínez-Fajardo, Pablo Pueyo, Fernando Caballero +1
Natural language interaction provides an intuitive way for non-expert users to communicate with robotic platforms. However, transforming user requests into executable navigation ac…
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Stefano Trepella, Andrea Ostuni, Mauro Martini +5
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anti…
Metrics vs Surveys: An Analysis for Human-Aligned Benchmarking in Social Robot Navigation
Stefano Trepella, Mauro Martini, Noé Pérez-Higueras +4
Social, also called human-aware, navigation is a key challenge for integrating mobile robots into human environments. The evaluation of such systems is complex, as factors such as…
DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping
Jose E. Maese, Luis Merino, Fernando Caballero
This paper presents a high-efficiency, CPU-only volumetric mapping framework based on a Truncated Signed Distance Field (TSDF). The system incrementally fuses raw LiDAR point-cloud…
Radio-based Multi-Robot Odometry and Relative Localization
Andrés Martínez-Silva, David Alejo, Luis Merino +1
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in po…
HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation
Miguel Escudero-Jiménez, Noé Pérez-Higueras, Andrés Martínez-Silva +2
This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenar…
Long Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System
Simón Martínez-Rozas, David Alejo, José Javier Carpio +2
Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach ar…
Efficient variable-length hanging tether parameterization for marsupial robot planning in 3D environments
S. Martínez-Rozas, D. Alejo, F. Caballero +6
This paper presents a novel approach to efficiently parameterize and estimate the state of a hanging tether for path and trajectory planning of a UGV tied to a UAV in a marsupial c…
4D Radar-Inertial Odometry based on Gaussian Modeling and Multi-Hypothesis Scan Matching
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odomet…
Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether
Jose Enrique Maese, Fernando Caballero, Luis Merino
This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interacti…
Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots
Lucia Coto Elena, Fernando Caballero, Luis Merino
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar a…
Adaptive Social Force Window Planner with Reinforcement Learning
Mauro Martini, Noé Pérez-Higueras, Andrea Ostuni +3
Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant…
ARS548_ros. An ARS 548 RDI radar driver for ROS
Fernando Fernández-Calatayud, Lucía Coto-Elena, David Alejo +3
The ARS 548 RDI Radar is a premium model of the fifth generation of 77 GHz long range radar sensors with new RF antenna arrays, which offer digital beam forming. This radar measure…
FROG: A new people detection dataset for knee-high 2D range finders
Fernando Amodeo, Noé Pérez-Higueras, Luis Merino +1
Mobile robots require knowledge of the environment, especially of humans located in its vicinity. While the most common approaches for detecting humans involve computer vision, an…
Path and trajectory planning of a tethered UAV-UGV marsupial robotic system
S. Mart/'inez-Rozas, D. Alejo, F. Caballero +1
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) thr…
HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
Noé Pérez-Higueras, Roberto Otero, Fernando Caballero +1
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile rob…
Path and trajectory planning of a tethered UAV-UGV marsupial robotic system
S. Martínez-Rozas, D. Alejo, F. Caballero +1
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) thr…
OG-SGG: Ontology-Guided Scene Graph Generation. A Case Study in Transfer Learning for Telepresence Robotics
Fernando Amodeo, Fernando Caballero, Natalia Díaz-Rodríguez +1
Scene graph generation from images is a task of great interest to applications such as robotics, because graphs are the main way to represent knowledge about the world and regulate…
Autonomous Aerial Robot for High-Speed Search and Intercept Applications
Alejandro Rodriguez-Ramos, Adrian Alvarez-Fernandez Hriday Bavle, Javier Rodriguez-Vazquez +8
In recent years, high-speed navigation and environment interaction in the context of aerial robotics has become a field of interest for several academic and industrial research stu…
Skyeye Team at MBZIRC 2020: A team of aerial and ground robots for GPS-denied autonomous fire extinguishing in an urban building scenario
Simon Martinez-Rozas, Rafael Rey, David Alejo +6
The paper presents a framework for fire extinguishing in an urban scenario by a team of aerial and ground robots. The system was developed to address Challenge 3 of the 2020Mohamed…
DLL: Direct LIDAR Localization. A map-based localization approach for aerial robots
Fernando Caballero, Luis Merino
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based…
Optimization-based Trajectory Planning for Tethered Aerial Robots
S. Martinez-Rozas, D. Alejo, F. Caballero +1
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial…
Learning Human-Aware Path Planning with Fully Convolutional Networks
Noé Pérez-Higueras, Fernando Caballero, Luis Merino
This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's…