23 citations · 45 across the 18 of their papers we have counts for
23 papers
A Taxonomy on Collective Awareness
Guillermo GP-Lenza, Miguel Fernandez-Cortizas, Martín Molina +2
As robotic teams tackle increasingly complex tasks in dynamic and unstructured environments, effective coordination requires agents to maintain accurate, aligned representations of…
A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphs
Marco Giberna, Miguel Fernandez-Cortizas, Jose Luis Sanchez Lopez +1
Models based on graphs have emerged in robotics as a powerful foundation for internal world representations, where factor and scene graphs are among the most prominent model types…
MVP-SLAM: Multi-Camera Visual-Inertial Floorplan-Prior SLAM
Asier Bikandi-Noya, Miguel Fernandez-Cortizas, Muhammad Shaheer +2
Indoor building construction sites are demanding environments for visual SLAM, where variable lighting and repetitive, low-textured structures make the system drift over long traje…
SUFLECA: Scaling Up Feature Learning for CAD-to-image Alignment
Saad Ejaz, Miguel Fernandez-Cortizas, Javier Civera +2
CAD-to-image alignment aims to estimate an object's 9D pose (rotation, translation, and anisotropic scale) from a single RGB image, with applications in robotics and augmented real…
Distributed Coordination for Resilient Multi-UAV Remote Sensing: A Photovoltaic Inspection Case Study
Guillermo GP-Lenza, Miguel Fernandez-Cortizas, Martin Molina +1
Deploying multiple UAVs for remote sensing enables proportional reductions in mission time, but realizing these benefits requires the fleet to coordinate at runtime: distributing s…
Robust Graph Matching through Semantic Relationship Generation for SLAM
David Perez-Saura, Jose Andres Millan-Romera, Miguel Fernandez-Cortizas +3
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prio…
COMPASS: COmpact Multi-channel Prior-map And Scene Signature for Floor-Plan-Based Visual Localization
Muhammad Shaheer, Miguel Fernandez-Cortizas, Asier Bikandi-Noya +2
Architectural floor plans are widely available priors which contain not only geometry but also the semantic information of the environment, yet existing localization methods largel…
Passage-Aware Structural Mapping for RGB-D Visual SLAM
Ali Tourani, Miguel Fernandez-Cortizas, Saad Ejaz +4
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a pa…
Dual Pose-Graph Semantic Localization for Vision-Based Autonomous Drone Racing
David Perez-Saura, Miguel Fernandez-Cortizas, Alvaro J. Gaona +1
Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely o…
Flocking behavior for dynamic and complex swarm structures
Carmen D. R. Pita-Romero, Pedro Arias-Perez, Miguel Fernandez-Cortizas +2
Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing th…
A Methodology for Designing Knowledge-Driven Missions for Robots
Guillermo GP-Lenza, Carmen DR. Pita-Romero, Miguel Fernandez-Cortizas +1
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions…
SMapper: A Multi-Modal Data Acquisition Platform for SLAM Benchmarking
Pedro Miguel Bastos Soares, Ali Tourani, Miguel Fernandez-Cortizas +3
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible mult…
Human Interaction for Collaborative Semantic SLAM using Extended Reality
Laura Ribeiro, Muhammad Shaheer, Miguel Fernandez-Cortizas +3
Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex env…
BIM Informed Visual SLAM for Construction Environments
Asier Bikandi-Noya, Miguel Fernandez-Cortizas, Muhammad Shaheer +3
Monitoring building construction sites requires comparing the as-planned design with the as-built state, which can be estimated in real time using Simultaneous Localization and Map…
DYNEMO-SLAM: Dynamic Entity and Motion-Aware 3D Scene Graph SLAM
Marco Giberna, Muhammad Shaheer, Miguel Fernandez-Cortizas +3
Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static…
Generation of Uncertainty-Aware High-Level Spatial Concepts in Factorized 3D Scene Graphs via Graph Neural Networks
Jose Andres Millan-Romera, Muhammad Shaheer, Miguel Fernandez-Cortizas +3
Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is…
Exploring Unstructured Environments using Minimal Sensing on Cooperative Nano-Drones
Pedro Arias-Perez, Alvika Gautam, Miguel Fernandez-Cortizas +3
Recent advances have improved autonomous navigation and mapping under payload constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones due to their…
The landscape of Collective Awareness in multi-robot systems
Miguel Fernandez-Cortizas, David Perez-Saura, Ricardo Sanz +2
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable coll…
Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM
Miguel Fernandez-Cortizas, Hriday Bavle, David Perez-Saura +3
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measu…
Local Gaussian Modifiers (LGMs): UAV dynamic trajectory generation for onboard computation
Miguel Fernandez-Cortizas, David Perez-Saura, Javier Rodriguez-Vazquez +1
Agile autonomous drones are becoming increasingly popular in research due to the challenges they represent in fields like control, state estimation, or perception at high speeds. W…
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…
Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems
Miguel Fernandez-Cortizas, Martin Molina, Pedro Arias-Perez +3
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aer…
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…