7 citations · 11 across the 14 of their papers we have counts for
16 papers
RawSLAM: Online HDR Gaussian SLAM from Linear Radiance
Marina Orozco González, Luis Merino
Current dense visual SLAM systems rely almost exclusively on 8-bit tonemapped Low Dynamic Range (LDR) inputs, limiting their robustness in extreme lighting where shadows and highli…
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…
4D Radar Gaussian Modeling and Scan Matching with RCS
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provid…
G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localization
José E. Maese, Lucía Coto-Elena, Luis Merino +1
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-…
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…
C-3TO: Continuous 3D Trajectory Optimization on Neural Euclidean Signed Distance Fields
Guillermo Gil, Jose Antonio Cobano, Luis Merino +1
This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unli…
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…