1 citations · 1 across the 8 of their papers we have counts for
9 papers
Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking
Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek +1
Autonomous underwater robots require robust perception, estimation and control to operate in confined environments. This paper presents an open-source BlueROV2 platform combining o…
Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala +1
In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance r…
Modeling and Validation of Quality of Control for Edge-Offloaded Collaborative Navigation
Neelabhro Roy, Mikael Hammarling, Victor Nan Fernandez-Ayala +4
Collaborative control in complex environments is severely challenged by stochastic wireless delay and reliability variations, which can degrade navigation, tracking, and collision…
Agentic Neuro-Symbolic Planning and Commissioning for Human-in-the-Loop Industrial Robotics with Digital Twins
Zhihao Liu, Victor Nan Fernandez-Ayala, Tianyu Wang +4
Flexible robotic automation requires systems that interpret operator intent, verify physical feasibility, and recover from execution failures across both the planning and execution…
Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
Ignacio Torroba, David Dorner, Victor Nan Fernandez-Ayala +14
Field robotics research in maritime and space domains is constrained by a persistent gap between low-cost, low-fidelity simulation and costly offshore experimentation. Instrumented…
From Pixels to Shelf: An Integrated Robotic System for Autonomous Supermarket Stocking with a Mobile Manipulator
Davide Peron, Victor Nan Fernandez-Ayala, Lukas Segelmark
Autonomous stocking in retail environments, particularly supermarkets, presents challenges due to dynamic human interactions, constrained spaces, and diverse product geometries. Th…
Robust Visual Servoing under Human Supervision for Assembly Tasks
Victor Nan Fernandez-Ayala, Jorge Silva, Meng Guo +1
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand vi…
Efficient Coordination and Synchronization of Multi-Robot Systems Under Recurring Linear Temporal Logic
Davide Peron, Victor Nan Fernandez-Ayala, Eleftherios E. Vlahakis +1
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up ap…
Estimating unknown dynamics and cost as a bilinear system with Koopman-based Inverse Optimal Control
Victor Nan Fernandez-Ayala, Shankar A. Deka, Dimos V. Dimarogonas
In this work, we address the challenge of approximating unknown system dynamics and cost functions through a Koopman-based Inverse Optimal Control (IOC) framework. Using optimal tr…