@conference {317, title = {Experiencias educativas basadas en el sistema Marpabiobot}, booktitle = {XL Jornadas de Autom{\'a}ticaLibro de actas}, year = {2019}, publisher = {Universidade da Coru{\~n}a. Servizo de Publicaci{\'o}ns}, organization = {Universidade da Coru{\~n}a. Servizo de Publicaci{\'o}ns}, doi = {10.17979/spudc.978849749716910.17979/spudc.9788497497169.679}, url = {http://hdl.handle.net/2183/22858http://hdl.handle.net/2183/23737}, author = {Casa{\~n}, Gustavo A. and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fornas, David and Sanz, Pedro J.} } @article {304, title = {UWSim, an underwater robotic simulator on the cloud as educational tool}, journal = {RIAI - Revista Iberoamericana de Automatica e Informatica Industrial}, volume = {15}, year = {2018}, month = {01}, pages = {70-78}, author = {P{\'e}rez, Javier and Fornas, David and Mar{\'\i}n Prades, Raul and Sanz, Pedro J.} } @conference {280, title = {Benchmarking water turbidity effect on tracking algorithms}, booktitle = {20th IFAC World Congress}, year = {2017}, month = {07/2017}, publisher = {IFAC-PapersOnLine}, organization = {IFAC-PapersOnLine}, address = {Toulouse (France)}, abstract = {

Field experiments in underwater robotics research require a big amount of resources in order to be able to test the system in sea conditions. Moreover, sea conditions are constantly changing making impossible to reproduce specific situations. For these reasons, testing, comparing and evaluating different algorithms in similar conditions is an utopic situation. In order to deal with this, a framework that mixes real experiments and a simulated environment is proposed to allow objective comparison of algorithms in an scenario as close as possible to field experiments. This is possible using real sensors in a controllable environment, for instance a water tank, adding simulated hostile conditions difficult to reproduce in a controlled environment such as water turbidity, composing a Hardware In the Loop (HIL) framework. This framework is formed by UWSim, an underwater simulator, and a benchmarking module able to measure the performance of external software. This setup is used in a search and recovery use case to compare different tracking algorithms, predicting the effect of water turbidity in them. The results allow to choose the best option without the need of dealing with field experiments.

}, keywords = {Underwater simulator Benchmarking Underwater intervention Robotics Dehazing}, doi = {https://doi.org/10.1016/j.ifacol.2017.08.1243}, author = {P{\'e}rez, Javier and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {282, title = {Increasing underwater manipulation autonomy using segmentation and visual tracking}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

The present research in underwater robotics aims to increase the autonomy of manipulation operations in fields such as archaeology or biology, that cannot afford costly underwater interventions using traditional Remote Operated Vehicles (ROV). This paper describes a work towards the long term goal of autonomous underwater manipulation. Autonomous grasping, with limited sensors and water conditions which affect the robot systems, is a growing skill in underwater scenarios. Here we present a framework that uses vision, segmentation, user interfaces and grasp planning to perform visually guided manipulation to improve the specification of grasping operations. With it, a user commands and supervises the robot to recover cylinder shaped objects, a very common restriction in archaeological scenarios. This framework, though, can be expanded to detect other kind of objects. Information of the environment is gathered with stereo cameras and laser reconstruction methods to obtain a model of the object\&$\#$39;s graspable area. A RANSAC segmentation algorithm is used to estimate the model parameters and the best grasp is presented to the user in an intuitive user interface. The grasp is then executed by the robot. This approach has been tested in simulation and in water tank conditions.

}, keywords = {archaeological scenarios, archaeology, autonomous grasping, autonomous underwater manipulation, Cameras, Computational modeling, cylinder shaped objects, grasping operations, image reconstruction, image segmentation, intuitive user interface, manipulation operations, manipulators, mobile robots, RANSAC segmentation algorithm, Remote Operated Vehicles, remotely operated vehicles, robot systems, robot vision, Robots, ROV, stereo image processing, Storage tanks, Three-dimensional displays, underwater interventions, underwater manipulation autonomy, underwater robotics, underwater scenarios, underwater vehicles, user interfaces, visual tracking, Visualization, visually guided manipulation, water conditions, water tank conditions}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084762}, url = {https://doi.org/10.1109/OCEANSE.2017.8084762}, author = {Fornas, David and Sanz, Pedro J. and M. Vincze} } @conference {270, title = {Improving local symmetry estimations in rgb-d images by fiting superquadrics}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = { 978-84-617-4298-1}, author = {Fornas, David and Sanz, Pedro J. and Porta, Josep M. and THomas, Federico} } @conference {269, title = {UWSim, un simulador submarino como herramienta educacional}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = {978-84-617-4298-1}, author = {Javier P{\'e}rez and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {243, 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 {233, 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 = {09/2015}, publisher = {IEEE}, organization = {IEEE}, 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 control, I-AUV, simulation, underwater autonomous intervention, UWSim}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271514}, url = {https://doi.org/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 {238, 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 Pe{\~n}alver, Antonio and Fornas, David 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 {250, 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.} } @conference {240, 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 {234, 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 and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l} } @article {242, 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} } @conference {182, title = {Autonomous Intervention on an Underwater Panel mockup by using Visually-Guided Manipulation Techniques}, booktitle = {19th IFAC World Congress}, year = {2014}, month = {08/2014}, address = {Cape Town (South Africa)}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J. and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} } @conference {187, title = {Avances recientes en manipulaci{\'o}n subacu{\'a}tica en el subproyecto GRASPER}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Sales, J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {189, title = {Desarrollo de un sensor subacu{\'a}tico ultras{\'o}nico y RF para posicionamiento en tareas de manipulaci{\'o}n rob{\'o}tica}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Centelles, Diego and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Fornas, David and Sanz, Pedro J.} } @conference {186, title = {Improving autonomous underwater grasp specification using primitive shape fitting in point clouds}, booktitle = {Seventeenth International Conference of the Catalan Association of Artificial Intelligence (CCIA 2014)}, year = {2014}, month = {10/2014}, publisher = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, organization = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, address = {Barcelona (Spain)}, abstract = {
This paper presents a research in progress towards autonomous under-
water robot manipulation. Current research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction.\ 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 in various\ degrees. To tackle those 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\ primitive shape recognition algorithm, the model parameters are estimated and a\ set of feasible grasps are computed. This approach is validated in simulation and\ the quality of different 3D reconstructions from both real and virtual scenarios is\ analyzed.
}, keywords = {grasp specification, point cloud, RANSAC, shape fitting, underwater autonomous grasping, UWSim underwater realistic simulator}, isbn = {978-1-61499-451-0 (print) | 978-1-61499-452-7 (online)}, doi = {10.3233/978-1-61499-452-7-45}, author = {Fornas, David and Sales, J. and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @inbook {183, title = {Robotic Manipulation within the Underwater Mission Planning context: A Use Case for Benchmarking}, booktitle = {Motion and Operation Planning of Robotics System: Background and Practical Approaches}, year = {2014}, pages = {483-510}, abstract = {


}, issn = {978-3-319-14705-5}, author = {Javier P{\'e}rez and Sales, J. and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fornas, David} } @conference {175, title = {GRASPER: A Multisensory Based Manipulation System for Underwater Operations}, booktitle = {IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2013}, year = {2013}, month = {10/2013}, publisher = {IEEE}, organization = {IEEE}, address = {Manchester, UK}, doi = {10.1109/SMC.2013.689}, author = {Sanz, Pedro J. and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Bernab{\'e}, Jos{\'e} Antonio} } @conference {176, title = {GRASPER: Un Proyecto Dirigido a Incrementar la Autonomi?a de la Manipulacio?n Submarina}, booktitle = {XXXIV Jornadas de Automa?tica}, year = {2013}, month = {09/2013}, publisher = {CEA}, organization = {CEA}, address = {Terrassa, Spain}, isbn = {978-84-616-5063-7}, author = {Sanz, Pedro J. and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Garc{\'\i}a, Juan Carlos and Fornas, David and Sales, Jorge and Bernab{\'e}, Jos{\'e} Antonio and Mar{\'\i}n, Ra{\'u}l} } @conference {177, title = {HIL Simulation Towards Autonomous Manipulation of an Underwater Panel in a Permanent Observatory}, booktitle = {Oceans{\textquoteright}13 MTS/IEEE San Diego}, year = {2013}, month = {09/2013}, publisher = {IEEE}, organization = {IEEE}, address = {San Diego, USA}, isbn = {978-0-933957-40-4}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l} } @conference {179, title = {Primitive shape fitting in point clouds for enabling autonomous underwater grasping}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girona (Spain)}, abstract = {

Autonomous grasping of unknown objects by a
robot is a highly challenging skill that is receiving increasing
attention in the last years, and is still more challenging in
underwater environments, with highly unstructured scenarios,
limited availability of sensors and adverse conditions that affect
the robot perception and control systems. This paper describes
an approach for increase the autonomy of grasping operations
on underwater primitive shaped objects from floating vehicles,
in particular cylinder shaped objects like an amphora. Various
sources of stereo information are used to gather 3D information in
order to obtain a model of the object. Using a RANSAC primitive
shape recognition algorithm the model parameters are obtained
and a set of feasible grasps are computed. Then the user specifies
the best one or it is specified using analytical constraints. This
approach is tested with the UWSim simulator.

}, keywords = {autonomous grasping, point cloud, RANSAC, shape fitting, underwater}, isbn = {978-84-616-5764-3}, author = {Fornas, David and Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J.} } @conference {174, title = {The Underwater Simulator UWSim - Benchmarking Capabilities on Autonomous Grasping.}, booktitle = {ICINCO (2)}, year = {2013}, month = {07/2013}, publisher = {SciTePress}, organization = {SciTePress}, address = {Reykjav{\'\i}k, Iceland}, isbn = {978-989-8565-71-6}, url = {http://dblp.uni-trier.de/db/conf/icinco/icinco2013-2.html$\#$PerezSPMFMS13}, author = {Javier P{\'e}rez and Sales, Jorge and Prats, Mario and Mart{\'\i}, Jose Vicente and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} }