@article {33, title = {CompaRob: The Shopping Cart Assistance Robot}, journal = {International Journal of Distributed Sensor Networks}, volume = {2016}, year = {2016}, month = {01/2016}, abstract = {

Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also necessary, to help them to carry out daily tasks like shopping. In this paper we present a person-following shopping cart assistance robot, capable of helping elderly people to carry products in a supermarket. First of all, the paper presents a survey of related systems that perform this task, using different approaches, such as attachable modules and computer vision. After that, the paper describes in detail the proposed system and its main features. The cart uses ultrasonic sensors and radio signals to provide a simple and effective person localization and following method. Moreover, the cart can be connected to a portable device like a smartphone or tablet, thus providing ease of use to the end user. The prototype has been tested in a grocery store, while simulations have been done to analyse its scalability in larger spaces where multiple robots could coexist.

}, doi = {10.1155/2016/4781280}, author = {Sales, Jorge and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Sanz, Pedro J.} } @conference {16, title = {A benchmarking perspective of underwater intervention systems}, booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles}, year = {2015}, month = {04/2015}, address = {Girona (Spain)}, doi = {10.1016/j.ifacol.2015.06.002}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Garc{\'\i}a, Juan Carlos} } @conference {17, title = {Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {05/2015}, address = {Genova (Italy)}, abstract = {

This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking of autonomous control algorithms in the field of archaeology dredging.

}, keywords = {benchmarking, free floating contro, I-AUV, simulation, underwater autonomous intervention, UWSim}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271514}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Sanz, Pedro J.} } @article {18, title = {Design and Evaluation of a Natural Interface for Remote Operation of Underwater Robots}, journal = {IEEE Computer Graphics and Applications}, year = {2015}, issn = {0272-1716}, doi = {10.1109/MCG.2015.118}, author = {Garc{\'\i}a, Juan Carlos and Patr{\~a}o, Bruno and Almeida, Lu{\'\i}s and Javier P{\'e}rez and Menezes, Paulo and Dias, Jorge and Sanz, Pedro J.} } @article {19, title = {Exploring 3-D Reconstruction Techniques: A Benchmarking Tool for Underwater Robotics}, journal = {IEEE ROBOTICS \& AUtOMATION MAGAZINE}, volume = {22}, year = {2015}, month = {09/2015}, chapter = {85-95}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2448971}, author = {Javier P{\'e}rez and Sales, Jorge and Fern{\'a}ndez, Jos{\'e} Javier and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Prats, Mario} } @article {31, title = {Fitting primitive shapes in point clouds: a practical approach to improve autonomous underwater grasp specification of unknown objects}, journal = {Journal of Experimental \& Theoretical Artificial Intelligence}, year = {2015}, month = {04/2015}, chapter = {1-16}, abstract = {

This article presents research on the subject of autonomous underwater robot manipulation. Ongoing research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction in order to achieve social benefits in fields such as archaeology or biology that cannot afford the expenses of costly underwater operations using remote operated vehicles. Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and adverse conditions that affect the robot perception and control systems. To tackle these issues, we propose the use of vision and segmentation techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to gather 3D information in order to obtain a model of the object. Using a RANSAC segmentation algorithm, the model parameters are estimated and a set of feasible grasps are computed. This approach is validated in both simulated and real underwater scenarios.

}, doi = {10.1080/0952813X.2015.1024495}, author = {Fornas, David and Sales, Jorge and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {20, title = {I-AUV Mechatronics Integration for the TRIDENT FP7 Project}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {PP}, year = {2015}, month = {02/2015}, chapter = {1-10}, abstract = {

Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.

}, keywords = {Autonomous underwater vehicle (AUV), intervention, underwater robotics}, issn = {1083-4435}, doi = {10.1109/TMECH.2015.2395413}, author = {Ribas, David and Ridao, Pere and A. Turetta and Melchiorri, C. and Palli, G and Fern{\'a}dez, Joseph and Sanz, Pedro J.} } @article {34, title = {Intervention AUVs: The Next Challenge}, journal = {Annual Reviews in Control}, volume = {40}, year = {2015}, month = {11/2015}, chapter = {227-241}, abstract = {

While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to achieve autonomous underwater interventions. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors{\textquoteright} knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: (1) valve turning and connector plugging/unplugging while docked to a subsea panel, (2) free floating valve turning using learning by demonstration, and (3) multipurpose free-floating object recovery. The paper ends discussing the lessons learned so far.

}, doi = {10.1016/j.arcontrol.2015.09.015}, author = {Ridao, Pere and Carreras, Marc and Ribas, David and Sanz, Pedro J. and Oliver, Gabriel} } @conference {21, title = {MERMANIP: Avances recientes en la manipulaci{\'o}n aut{\'o}noma cooperativa submarina}, booktitle = {XXXVI Jornadas de Autom{\'a}tica}, year = {2015}, month = {09/2015}, address = {Bilbao (Spain)}, isbn = {978-84-15914-12-9}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Sales, Jorge and Fern{\'a}ndez, Jos{\'e} Javier and Pe{\~n}alver, Antonio and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l} } @conference {22, title = {Multipurpose Underwater Manipulation for Archaeological Intervention}, booktitle = {6th International Workshop on Marine Technology (MARTECH{\textquoteright}15)}, year = {2015}, month = {09/2015}, address = {Cartagena (Spain)}, keywords = {archaeology, I-AUV, manipulation, supervised control}, isbn = {1886-4864}, url = {http://hdl.handle.net/2117/77627}, author = {Sanz, Pedro J. and Pe{\~n}alver, Antonio and Sales, Jorge and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Fornas, David} } @conference {23, title = {Multi-view underwater 3D reconstruction using a stripe laser light and an eye-in-hand camera}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {05/2012}, address = {Genova (Italy)}, keywords = {3D reconstruction, autonomous grasping, Laser-Camera Calibration, Optimization Algorithm, Underwater Laser Scanning}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271497}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Sales, Jorge and Sanz, Pedro J.} } @article {32, title = {RF-Based Location Using Interpolation Functions to Reduce Fingerprint Mapping}, journal = {Sensors}, volume = {15}, year = {2015}, month = {10/2015}, chapter = {27322-27340}, abstract = {

Indoor RF-based localization using fingerprint mapping requires an initial training step, which represents a time consuming process. This location methodology needs a database conformed with RSSI (Radio Signal Strength Indicator) measures from the communication transceivers taken at specific locations within the localization area. But, the real world localization environment is dynamic and it is necessary to rebuild the fingerprint database when some environmental changes are made. This paper explores the use of different interpolation functions to complete the fingerprint mapping needed to achieve the sought accuracy, thereby reducing the effort in the training step. Also, different distributions of test maps and reference points have been evaluated, showing the validity of this proposal and necessary trade-offs. Results reported show that the same or similar localization accuracy can be achieved even when only 50\% of the initial fingerprint reference points are taken.

}, issn = {1424-8220}, doi = {10.3390/s151027322}, url = {http://www.mdpi.com/1424-8220/15/10/27322}, author = {Ezpeleta, Santiago and Claver, Jos{\'e} M. and P{\'e}rez-Solano, Juan J. and Mart{\'\i}, Jos{\'e} V.} } @article {24, title = {Toward the Robot Butler: The HUMABOT Challenge}, journal = {IEEE ROBOTICS \& AUTOMATION MAGAZINE}, volume = {22}, year = {2015}, month = {06/2015}, chapter = {8-17}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2418511}, author = {Cervera, Enric and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J.} } @conference {25, title = {Towards an immersive and natural gesture controlled interface for intervention underwater robots}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {05/2015}, address = {Genova (Italy)}, isbn = {978-1-4799-8736-8/15}, author = {Garc{\'\i}a, Juan Carlos and Patr{\~a}o, Bruno and Javier P{\'e}rez and Seabra, Joa{\~a}o and Menezes, Paulo and Dias, Jorge and Sanz, Pedro J.} } @article {26, title = {Visually-guided manipulation techniques for robotic autonomous underwater panel interventions}, journal = {Annual Reviews in Control}, volume = {40}, year = {2015}, month = {10/2015}, chapter = {201-211}, keywords = {3D Simulation, Autonomous Manipulation, I-AUV, Panel Intervention, Robot Kinematics, Underwater Intervention, Vision Guidance}, issn = {1367-5788}, doi = {10.1016/j.arcontrol.2015.09.012}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, Jorge and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} }