23 citations · 44 across the 8 of their papers we have counts for
9 papers
Flight-Ready LiDAR-Inertial Odometry for Embedded Drone Platforms
Alvaro J. Gaona, David Perez-Saura, Francisco J. Anguita +1
Open-source LiDAR-inertial odometry (LIO) systems have achieved remarkable benchmark accuracy, yet current state-of-the-art implementations are primarily optimized for evaluation p…
REMIND: RE-Identification with Memory for INDoor Navigation
Pablo Diaz-Pereda, Alejandro Rodriguez-Ramos, David Perez-Saura +1
Mobile robots operating indoors must re-identify previously observed objects after long temporal gaps, significant viewpoint changes, and severe illumination variations. This remai…
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…
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…
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…
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…