• A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces. 

  González-Monroy, Javier; Ojeda Morala, José; González-Jiménez, Antonio Javier (2023)

  This work deals with the problem of detecting and localizing methane emission sources in open spaces with a mobile robot equipped with a remote gas detector (TDLAS). To reduce the long inspection time of traditional ...

• Disaster area recognition from aerial images with complex-shape class detection. 

  González-Navarro, Rubén; Lin-Yang, Da-hui; Vázquez-Martín, Ricardo; García-Cerezo, Alfonso José (2023)

  This paper presents a convolutional neural network (CNN) model for event detection from Unmanned Aerial Vehicles (UAV) in disaster environments. The model leverages the YOLOv5 network, specifically adapted for aerial images ...

• SAR Nets: An Evaluation of Semantic Segmentation Networks with Attention Mechanisms for Search and Rescue Scenes. 

  Salas Espinales, Andrés; Vázquez-Martín, Ricardo; García-Cerezo, Alfonso José; Mandow, Anthony (2023)

  This paper evaluates four semantic segmentation models in Search-and-Rescue (SAR) scenarios obtained from ground vehicles. Two base models are used (U-Net and PSPNet) to compare different approaches to semantic segmentation, ...

• Path planning with far-away obstacles detection under uncertainty. 

  Mantoani, Laura; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Luque-Polo, Gabriel Jesús (2023)

  Nowadays faster terrestrial and space exploration robots are being investigated, in response to the growing demand for faster, more efficient, and cost-effective exploration and research capabilities. For these rapid mobile ...

• Celda para actuador de ventilación e iluminación natural para fachadas de edificios inteligentes. 

  San Martín-Guardeño, Paco; Padial-Allué, David; Vázquez-Martín, Ricardo (Comité Español de Automática, 2023)

  La arquitectura sostenible se ha convertido en un aspecto cada vez más relevante en la sociedad actual, y uno de sus principales pilares es la eficiencia energética en los edificios. En este sentido, la incorporación de ...

• The Robot@Home2 dataset: A new release with improved usability tools 

  Ambrosio Cestero, Gregorio; Ruiz-Sarmiento, José Raúl; González-Jiménez, Antonio Javier (Elsevier, 2023-07)

  Released in 2017, Robot@Home is a dataset captured by a mobile robot during indoor navigation sessions in apartments. This paper presents Robot@Home2, an enhanced version of the Robot@Home dataset, aimed at improving ...

• Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots. 

  Góngora González, Andrés; González-Monroy, Javier; Rahbar, Faezeh; Ercolani, Chiara; González-Jiménez, Antonio Javier; Martinoli, Alcherio[et al.] (MDPI, 2023-06-07)

  The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out ...

• Hardware-Accelerated Mars Sample Localization Via Deep Transfer Learning From Photorealistic Simulations. 

  Castilla-Arquillo, Raúl; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Paz-Delgado, Gonzalo Jesús; Gerdes, Levin (2023-05)

  The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover ...

• The Space Robotics Lab 2016-2023. 

  Pérez-del-Pulgar-Mancebo, Carlos Jesús (2023)

  This presentation introduces the Space Robotics Lab at the University of Malaga, which was presented at ICRA2023 workshop.

• Sigma-FP: Robot Mapping of 3D Floor Plans with an RGB-D Camera under Uncertainty 

  Matez-Bandera, Jose Luis; González-Monroy, Javier; González-Jiménez, Antonio Javier (IEEE Robotics and Automation Letters, 2022-10)

  This work presents Sigma-FP, a novel 3D reconstruction method to obtain the floor plan of a multi-room environment from a sequence of RGB-D images captured by a wheeled mobile robot. For each input image, the planar patches ...

• Reinforcement and Curriculum Learning for Off-Road Navigation of an UGV with a 3D LiDAR 

  Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis (MDPI, 2023-03-18)

  This paper presents the use of deep Reinforcement Learning (RL) for autonomous navigation of an Unmanned Ground Vehicle (UGV) with an onboard three-dimensional (3D) Light Detection and Ranging (LiDAR) sensor in off-road ...

• Autonomous Wristband Placement in a Moving Hand for Victims in Search and Rescue Scenarios With a Mobile Manipulator. 

  Pastor-Martín, Francisco; Ruiz-Ruiz, Francisco Jesús; Gómez-de-Gabriel, Jesús Manuel; García-Cerezo, Alfonso José (2023)

  In this letter, we present an autonomous method for the placement of a sensorized wristband to victims in a Search-And-Rescue (SAR) scenario. For this purpose, an all-terrain mobile robot includes a mobile manipulator, ...

• DEM-AIA: Asymmetric inclination-aware trajectory planner for off-road vehicles with digital elevation models 

  Toscano-Moreno, Manuel; Mandow, Anthony; Alcázar Martínez, Maria; García-Cerezo, Alfonso José (Elsevier, 2023)

  Planning safe and effective trajectories for off-road unmanned ground vehicles (UGV) is a critical Artificial Intelligence (AI) challenge that can benefit from recent advances in digital elevation models (DEM) for readily ...

• Optimal path planning using a continuous anisotropicmodel for navigation on irregular terrains. 

  Sánchez Ibáñez, José Ricardo; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Serón-Barba, Javier; García-Cerezo, Alfonso José (Springer Nature, 2022-12-05)

  Mobile robots usually need to minimize energy when they are traversing uneven terrains. To reach a location of interest, one strategy consists of making the robot follow the path that demands the least possible amount of ...

• Multi-stage warm started optimal motion planning for over-actuated mobile platforms 

  Paz-Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin; Kirchner, Frank; García-Cerezo, Alfonso José (Springer, 2023)

  This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers ...

• The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments 

  Zúñiga-Noël, David; Jaenal, Alberto; Gómez-Ojeda, Rubén; González-Jiménez, Antonio Javier (SAGE Journals, 2020-07-10)

  This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo ...

• Experimental Analysis of Appearance Maps as Descriptor Manifolds Approximations 

  Jaenal, Alberto; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (Springer, 2021-10-31)

  Images of a given environment, coded by a holistic image descriptor, produce a manifold that is articulated by the camera pose in such environment. The correct articulation of such Descriptor Manifold (DM) by the camera ...

• Development and Evaluation of Fuzzy Logic Controllers for Improving Performance of Wind Turbines on Semi-Submersible Platforms under Different Wind Scenarios 

  Zambrana, P.; Fernández-Quijano, Javier; Mayorga-Rubio, Pedro Miguel; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José (IOAP-MDPI, 2023-02-13)

  Among renewable energy technologies, wind energy features one of the best possibilities for large-scale integration into power systems. However, there are specific restrictions regarding the installation areas for this ...

• Contribuciones al desarrollo de sistemas de sensores basados en redes inalámbricas para aplicaciones con robots y sistemas autónomos. 

  Socarras-Bertiz, Carlos Alberto (UMA Editorial, 2023-03)

  Las redes de sensores inalámbricas facilitan la obtención de información cuantitativa de algún fenómeno con persistencia en el tiempo, en un área geográfica extensa, o en ambos casos. Sin embargo, cubrir una zona amplia ...

• Vision-Based Autonomous Following of a Moving Platform and Landing for an Unmanned Aerial Vehicle 

  Morales-Rodríguez, Jesús; Castelo, Isabel; Serra, Rodrigo; Lima, Pedro U.; Basiri, Meysam (IOAP-MDPI, 2023-01-11)

  Interest in Unmanned Aerial Vehicles (UAVs) has increased due to their versatility and variety of applications, however their battery life limits their applications. Heterogeneous multi-robot systems can offer a solution ...

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