@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.} } @conference {318, title = {Experiencias en el dise{\~n}o de robots educacionales submarinos}, 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.9788497497169.032}, url = {http://hdl.handle.net/2183/22858http://hdl.handle.net/2183/23658}, author = {Pe{\~n}alver, Antonio and Mar{\'\i}n, Josep and Ponce, Javier and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jos{\'e} V. and Casa{\~n}, Gustavo A. and Sanz, Pedro J.} } @article {315, title = {Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets}, journal = {Sensors}, volume = {19}, year = {2019}, month = {Jan-07-2019}, pages = {3220}, doi = {10.3390/s19143220}, url = {https://www.mdpi.com/1424-8220/19/14/3220https://www.mdpi.com/1424-8220/19/14/3220/pdf}, author = {Veiga Almagro, Carlos and Di Castro, Mario and Lunghi, Giacomo and Mar{\'\i}n Prades, Raul and Sanz Valero, Pedro Jos{\'e} and P{\'e}rez, Manuel Ferre and Masi, Alessandro} } @conference {301, title = {A Multidimensional RSSI Based Framework for Autonomous Relay Robots in Harsh Environments}, booktitle = {2019 Third IEEE International Conference on Robotic Computing (IRC)2019 Third IEEE International Conference on Robotic Computing (IRC)}, year = {2019}, publisher = {IEEE}, organization = {IEEE}, address = {Naples, Italy}, doi = {10.1109/IRC.2019.00035}, url = {https://ieeexplore.ieee.org/document/8675673/http://xplorestaging.ieee.org/ielx7/8666629/8675422/08675673.pdf?arnumber=8675673}, author = {Di Castro, Mario and Lunghi, Giacomo and Masi, Alessandro and Ferre, Manuel and Prades, Raul Marin} } @article {319, title = {Multimodal Human-Robot Interface for Accessible Remote Robotic Interventions in Hazardous Environments}, journal = {IEEE Access}, year = {2019}, month = {Jan-01-2019}, pages = {1 - 1}, doi = {10.1109/Access.628763910.1109/ACCESS.2019.2939493}, url = {https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639}, author = {Lunghi, G. and Mar{\'\i}n, Ra{\'u}l and Di Castro, M. and Masi, A. and Sanz, Pedro J.} } @article {316, title = {Underwater Wireless Communications for Cooperative Robotics with UWSim-NET}, journal = {Applied Sciences}, volume = {9}, year = {2019}, month = {Jan-09-2019}, pages = {3526}, doi = {10.3390/app9173526}, url = {https://www.mdpi.com/2076-3417/9/17/3526}, author = {Centelles, Diego and Soriano-Asensi, Antonio and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {329, title = {UWSIM-NET: AN OPEN-SOURCE EDUCATIONAL TOOL FOR LEARNING ROBOTICS AND COMMUNICATIONS}, year = {2019}, month = {03}, doi = {10.21125/inted.2019.2390}, author = {Centelles, Diego and Soriano, Antonio and Mar{\'\i}n Prades, Raul and Mart{\'\i}-Avil{\'e}s, Jos{\'e} and Valero, Pedro} } @conference {328, title = {UWSim-NET: An Open-Source Framework for Experimentation in Communications for Underwater Robotics}, year = {2019}, month = {06}, doi = {10.1109/OCEANSE.2019.8867460}, author = {Centelles, Diego and Soriano, Antonio and Mart{\'\i}-Avil{\'e}s, Jos{\'e} and Mar{\'\i}n Prades, Raul and Sanz, Pedro} } @article {302, title = {A general scheme for finding the static rate{\textendash}distortion optimized ordering for the bits of the coefficients of all subbands of an N-level dyadic biorthogonal DWT}, journal = {Signal Processing: Image Communication}, volume = {67}, year = {2018}, month = {Jan-09-2018}, pages = {210 - 230}, issn = {09235965}, doi = {10.1016/j.image.2018.06.017}, url = {https://linkinghub.elsevier.com/retrieve/pii/S0923596518306003}, author = {Rubino, Eduardo M. and Alvares, Alberto J. and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @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.} } @article {322, title = {A Natural Interface for Remote Operation of Underwater Robots}, journal = {IEEE Computer Graphics and Applications}, volume = {37}, year = {2017}, month = {Jan-01-2017}, pages = {34 - 43}, issn = {0272-1716}, doi = {10.1109/MCG.2015.118}, url = {http://ieeexplore.ieee.org/document/7325202/http://xplorestaging.ieee.org/ielx7/38/7819376/07325202.pdf?arnumber=7325202}, author = {Garcia, Juan C. and Patr{\~a}o, Bruno and Almeida, Lu{\'\i}s and P{\'e}rez, Javier and Menezes, Paulo and Dias, Jorge and Sanz, Pedro J.} } @conference {285, title = {Progressive image compression and transmission with region of interest in underwater robotics}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

The increasing demand for underwater robotic intervention systems around the world in several application domains requires more versatile and inexpensive systems. By using a wireless communication system, supervised semi-autonomous robots have freedom of movement and, at the same time, allows the operator to get camera feedback and supervise the intervention. Moreover, the limited and varying bandwidth of underwater radio frequency (RF) and underwater acoustic modem channels is a major obstacle. This paper proposes the use of progressive (embedded) image compression and region of interest (ROI) for the design of an underwater image sensor to be installed in an Autonomous Underwater Vehicle, specially when there are constraints on the available bandwidth, allowing a more agile data exchange between the vehicle and a human operator supervising the underwater intervention.

}, keywords = {Acoustics, agile data exchange, Autonomous Underwater Vehicle, autonomous underwater vehicles, Bandwidth, camera feedback, Cameras, control system synthesis, data compression, image coding, Image Compression, image sensors, Image Transmission, Low Bandwidth Communications, mobile robots, Modems, progressive image compression, Radio frequency, region of interest, Region of Interest (ROI), remotely operated vehicles, robot vision, Robots, ROI, supervised semiautonomous robots, telerobotics, underwater acoustic communication, underwater acoustic modem channels, underwater image sensor design, underwater radio frequency, underwater RF, underwater robotic intervention systems, Underwater Vehicles for Intervention, Wavelet Transforms, Wireless communication, wireless communication system}, isbn = {978-1-5090-5278-3}, doi = {10.1109/OCEANSE.2017.8084999}, url = {https://doi.org/10.1109/OCEANSE.2017.8084999}, author = {E. M. Rubino and Centelles, Diego and Sales, Jorge and Jos{\'e} Vicente Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and A. J. Alvares} } @article {290, title = {Sistema de Visi{\'o}n Subacu{\'a}tico Inal{\'a}mbrico Usando un Algoritmo de Compresi{\'o}n Progresivo con Regi{\'o}n de Inter{\'e}s}, journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica industrial}, volume = {15}, year = {2017}, month = {May-12-2017}, pages = {46}, issn = {1697-7912}, doi = {10.4995/riai.2017.8953}, url = {https://polipapers.upv.es/index.php/RIAI/article/view/8953https://polipapers.upv.es/index.php/RIAI/article/viewFile/8953/8990https://polipapers.upv.es/index.php/RIAI/article/viewFile/8953/8990}, author = {Rubino, Eduardo M and Centelles, Diego and Sales, Jorge and J. V. Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and Alvares, Alberto J. and Sanz, Pedro J.} } @article {293, title = {Underwater radio frequency image sensor using progressive image compression and region of interest}, journal = {Journal of the Brazilian Society of Mechanical Sciences and Engineering}, volume = {39}, year = {2017}, pages = {4115{\textendash}4134}, author = {Rubino, Eduardo M and Centelles, Diego and Sales, Jorge and Mart{\i}, Jos{\'e} V and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and {\'A}lvares, Alberto J} } @conference {284, title = {Wireless HROV control with compressed visual feedback over an acoustic link}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

This paper presents the current state of the development of a Wireless HROV (Hybrid Remotely Operated Vehicle HROV), providing feedback of both, camera and telemetry data to the operator, over an acoustic communication link. This experiment is part of the MERBOTS Spanish national project (www.irs.uji.es/merbots). This work has as main objective the design of a bidirectional transport protocol for wireless teleoperation of an underwater robot using high level commands and a progressive image compression algorithm. Preliminary Hardware In the Loop results combining two S2CR 18/34 modems in a scenario with high level of multi-path, a freshwater pool, and the UWSim simulator are presented. Finally, a ROS-based network simulator that is still in an early stage of development is presented. This simulator will be useful for modeling high-level behavior of any communication device, and to improve high level protocols when the real modems are not available.

}, keywords = {acoustic communication link, acoustic link, Acoustics, bidirectional transport protocol, camera, Cameras, communication device, compressed visual feedback, data compression, hardware in the loop, high level protocols, hybrid remotely operated vehicle, image coding, image compression algorithm, MERBOTS Spanish national project, mobile robots, Modems, network simulator, remotely operated vehicles, robot vision, Robots, ROS-based network simulator, S2CR 18/34 modems, telemetry data, telerobotics, transport protocols, underwater acoustic communication, underwater robot, underwater vehicles, UWSim simulator, Wireless communication, wireless HROV control, wireless teleoperation}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084979}, url = {https://doi.org/10.1109/OCEANSE.2017.8084979}, author = {Centelles, Diego and E. Moscoso and G. Vallicrosa and N. Palomeras and J. Sales and J. V. Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and P. Ridao and Sanz, Pedro J.} } @article {323, title = {CompaRob: The Shopping Cart Assistance Robot}, journal = {International Journal of Distributed Sensor Networks}, volume = {12}, year = {2016}, month = {Nov-02-2016}, pages = {4781280}, 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.

}, issn = {1550-1477}, doi = {10.1155/2016/4781280}, url = {http://downloads.hindawi.com/journals/ijdsn/2016/4781280.pdf}, author = {Sales, Jorge and Mart{\'\i}, Jos{\'e} V. and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Sanz, Pedro J.} } @conference {272, title = {A control architecture for hybrid underwater intervention systems}, booktitle = {2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016)}, year = {2016}, month = {10/2016}, address = {Budapest (Hungary)}, isbn = {978-1-5090-1897-0/16}, author = {Garc{\'\i}a, Juan Carlos and Javier P{\'e}rez and Menezes, Paulo and Sanz, Pedro J.} } @conference {273, title = {Evaluaci{\'o}n on de la arquitectura ARMv7-A para el desarrollo de HROV{\textquoteright}s e ficientes}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, abstract = {

Este trabajo pretende dar a conocer la viabilidad
del uso de los mini-ordenadores basados en la ar-
quitectura de procesador ARMv7-A o similar co-
mo ordenadores de a bordo de HROV\’s, destina-
dos a realizar una tarea rob\ótica espec??fica. El ba-
jo consumo energ\ético de los ordenadores basados
en estos procesadores y su bajo coste despierta el
inter\és por utilizar estos dispositivos para imple-
mentar veh??culos submarinos inal\ámbricos de alta
autonom??a. Los resultados demuestran que reali-
zando una implementaci\ón a medida de los algo-
ritmos de procesado de imagen t??picos en rob\ótica,
aprovechando las ventajas del juego de instruccio-
nes SIMD del procesador y el multi-n\úcleo, es po-
sible conseguir una reducci\ón considerable de los
tiempos de ejecuci\ón.

}, author = {Centelles, Diego and Mayo, Rafael and Moscoso, E. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {308, 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}, volume = {28}, year = {2016}, month = {Mar-03-2016}, pages = {369 - 384}, issn = {0952-813X}, doi = {10.1080/0952813X.2015.1024495}, url = {http://www.tandfonline.com/doi/full/10.1080/0952813X.2015.1024495http://www.tandfonline.com/doi/pdf/10.1080/0952813X.2015.1024495}, author = {Fornas, D. and Sales, J. and Pe{\~n}alver, A. and P{\'e}rez, J. and {\'a}ndez, J.J. and Marin, R. and Sanz, Pedro J.} } @article {271, title = {I-AUV Docking and Panel Intervention at Sea}, journal = {Sensors}, volume = {16}, year = {2016}, month = {12 October 2016}, type = {Open Access}, abstract = {

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.

}, keywords = {autonomous underwater vehicles, field robotics, manipulation, Underwater Intervention}, doi = {10.3390/s16101673}, url = {http://www.mdpi.com/1424-8220/16/10/1673/html}, author = {Palomeras, Narc{\'\i}s and Pe{\~n}alver, Antonio and Massot-Campos, Miquel and Negre, Pep Llu{\'\i}s and Fern{\'a}ndez, Jos{\'e} Javier and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel} } @conference {264, title = {Mejoras en la arquitectura de control e interfaz de usuario para el control de un HROV}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = {978-84-617-4298-1}, author = {Garc{\'\i}a, Juan Carlos and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Menezes, Paulo and Sanz, Pedro J.} } @article {311, title = {The Robot Programming Network}, journal = {Journal of Intelligent \& Robotic Systems}, volume = {81}, year = {2016}, month = {Jan}, pages = {77{\textendash}95}, chapter = {77}, abstract = {

The Robot Programming Network (RPN) is an initiative for creating a network of robotics education laboratories with remote programming capabilities. It consists of both online open course materials and online servers that are ready to execute and test the programs written by remote students. Online materials include introductory course modules on robot programming, mobile robotics and humanoids, aimed to learn from basic concepts in science, technology, engineering, and mathematics (STEM) to more advanced programming skills. The students have access to the online server hosts, where they submit and run their programming code on the fly. The hosts run a variety of robot simulation environments, and access to real robots can also be granted, upon successful achievement of the course modules. The learning materials provide step-by-step guidance for solving problems with increasing level of difficulty. Skill tests and challenges are given for checking the success, and online competitions are scheduled for additional motivation and fun. Use of standard robotics middleware (ROS) allows the system to be extended to a large number of robot platforms, and connected to other existing tele-laboratories for building a large social network for online teaching of robotics.

}, issn = {1573-0409}, doi = {10.1007/s10846-015-0201-7}, url = {https://doi.org/10.1007/s10846-015-0201-7}, author = {Cervera, Enric and Martinet, Philippe and Mar{\'\i}n, Ra{\'u}l and Moughlbay, Amine A. and del Pobil, Angel P. and Alemany, Jaime and Esteller, Roger and Casa{\~n}, Gustavo A.} } @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} } @article {241, 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 {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.} } @article {217, 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 {292, title = {Image compression with region of interest for underwater robotic archaeological applications}, journal = {XXXVI Jornadas de Autom{\'a}tica. Bilbao, Spain Google Scholar}, year = {2015}, author = {Rubino, Eduardo M. and Centelles, Diego and Sales, Jorge and Mart{\'\i}, Jos{\'e} V. 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 {251, 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.} } @conference {225, title = {Towards an immersive and natural gesture controlled interface for intervention underwater robots}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

During underwater intervention missions, one of the critical issues, from the human-machine interaction perspective, concerns the operator\&$\#$39;s stress, which should be able to control the intervention system, mainly due to the high complexity of information displayed through specifically designed Graphical User Interface, and the usually available master-slave control architecture. So, this paper introduces a new approach with the aim to minimize the aforementioned drawbacks and, in the meantime, increasing the user\&$\#$39;s immersive feeling. Preliminary results are discussed highlighting the pros and cons of this novel procedure.

}, keywords = {autonomous underwater vehicle for intervention, human-machine interaction, I-AUV, immersive interface, intervention underwater robots, natural gesture controlled interface}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271501}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271501}, 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.} } @conference {266, title = {Underwater radio frequency based localization and image transmission system, including specific compression techniques, for autonomous manipulation}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genoa (Italy)}, abstract = {

Autonomous manipulation in real underwater environments presents many unexpected situations, such as lack of visibility due to light reflections or presence of particles in the water. Moreover, the use of cameras is still very important, considering that they provide a natural sensor input to the operator, and many robust and efficient underwater manipulation algorithms have been implemented using this kind of sensor. Moreover, underwater applications, especially the ones that may involve interacting with artificial structures like panels, or even with other robots, would be very much improved if the umbilical cable could be substituted by a wireless system, improving so mobility. In that sense, Radio Frequency connection, allowing the transmission of camera input to the operator, would be a potential improvement. The present article describes the system implemented at the TRITON project (www.irs.uji.es/triton) in order to localize a robot arm related to a panel with a valve and a connector, using sonar and radiofrequency techniques, in order to experiment autonomous manipulation under lack of visibility conditions. Moreover, the Radio Frequency system enables the transmission of camera monitoring information at small distances, which has previously been compressed using specific techniques.

}, keywords = {Autonomy, Image Compression, Image Transmission, RF signal, Underwater Robotics Intervention, Wireless Communications}, isbn = {978-1-4799-8736-8 }, doi = {10.1109/OCEANS-Genova.2015.7271626}, url = {https://doi.org/10.1109/OCEANSE.2017.8084762}, author = {Centelles, Diego and E. Rubino and M. Soler and Mart{\'\i}, Jose Vicente and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @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} } @article {291, title = {Wireless Image Compression and Transmission for Underwater Robotic Applications?}, journal = {IFAC-PapersOnLine}, volume = {48}, year = {2015}, month = {Jan-01-2015}, pages = {288 - 293}, issn = {24058963}, doi = {10.1016/j.ifacol.2015.06.047}, url = {http://linkinghub.elsevier.com/retrieve/pii/S2405896315002864http://api.elsevier.com/content/article/PII:S2405896315002864?httpAccept=text/xmlhttp://api.elsevier.com/content/article/PII:S2405896315002864?httpAccept=text/plain}, author = {Rubino, Eduardo M. and Centelles, Diego and Sales, Jorge and Marti, Jose Vte. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {268, title = {Wireless Image Compression and Transmission for Underwater Robotic Applications}, booktitle = {NGCUV}, year = {2015}, author = {E. Rubino and Centelles, Diego and Sales, Jorge and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {267, title = {Wireless RF Camera Monitoring for Underwater Cooperative Robotic Archaeological Applications}, booktitle = {MARTECH}, year = {2015}, author = {Centelles, Diego and E. Rubino and Sales, Jorge and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @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 {188, title = {Configuraci{\'o}n y ejecuci{\'o}n de benchmarks de intervenci{\'o}n rob{\'o}tica submarina en UWSim mediante herramientas Web}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Javier P{\'e}rez and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric 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 {197, title = {I-AUV Docking and Intervention in a Subsea Panel}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2014}, month = {09/2014}, address = {Chicago, USA}, isbn = {978-1-4799-6933-3}, author = {Palomeras, Narc{\'\i}s and Pe{\~n}alver, Antonio and Massot-Campos, Miquel and Villacrosa, Guillem and Negre, Pep Llu{\'\i}s and Fern{\'a}ndez, Jos{\'e} Javier and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel and Palomer, Albert} } @conference {265, title = {Online Tool for Benchmarking of Simulated Intervention Autonomous Underwater Vehicles: Evaluating Position Controllers in Changing Underwater Currents}, booktitle = {Artificial Intelligence, Modelling and Simulation (AIMS), 2014 2nd International Conference on}, year = {2014}, publisher = {IEEE}, organization = {IEEE}, author = {Javier P{\'e}rez and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l 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 {190, title = {Survey on Progressive Image Compression and Transmission and its application in Underwater Intervention Missions}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Moscoso, E. and Mar{\'\i}n, Ra{\'u}l and Sales, J. and Sanz, Pedro J.} } @conference {181, title = {Web-based configuration tool for benchmarking of simulated intervention autonomous underwater vehicles}, booktitle = {IEEE International Conference on Autonomous Robot Systems and Competitions {\textendash} ROB{\'O}TICA 2014}, year = {2014}, month = {05/2014}, address = {Espinho (Portugal)}, abstract = {

Benchmarking is nowadays an issue on robotic
research platforms, due to the fact that it is not easy to reproduce
previous experiments and knowing in detail in which real condi-
tions other algorithms have been performed. Having a web-based
tool to configure and execute benchmarks opens the door to new
opportunities as the design of virtual tele-laboratories that permit
the implementation of new algorithms using specific and detailed
constraints. This is fundamental for designing benchmarks that
allow the experiments to be made in a more scientific manner,
taking into account that these experiments should be able to be
reproduced again by other people under the same circumstances.
In the context of underwater interventions with semi-autonomous
robots, the situation gets even more interesting. Experiments
performed by other researchers normally do not include the
whole set of real conditions such as visibility or even water
currents data that would allow the best scientific procedure.
Underwater interventions and specially those performed on real
sea scenarios are expensive, difficult to perform and reproduce.
The contribution of this work is an online configuration tool for
benchmarking using UWSim simulator which can provide an
enormous help for this particular scenario, as will be shown in
this paper.

}, isbn = {978-1-4799-4254-1}, author = {Javier P{\'e}rez and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {149, title = {Benchmarking on UWSim, an open source tool for developing and evaluating underwater robots experiments}, booktitle = {Workshop on Human Robot Interaction (HRI), 2013 IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}13)}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, author = {Javier P{\'e}rez and Sales, Jorge and Prats, Mario and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @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} } @article {178, title = {Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention}, journal = {IEEE Robotics \& Automation Magazine}, volume = {20}, year = {2013}, month = {10/2013}, pages = {121 - 130}, publisher = {IEEE}, doi = {10.1109/MRA.2013.2248307}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Prats, Mario and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Robinson, Mike and Ribas, David and Ridao, Pere} } @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} } @article {313, title = {Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas}, journal = {International Journal of Advanced Robotic Systems}, volume = {10}, year = {2013}, month = {Jul-04-2014}, pages = {211}, issn = {1729-8814}, doi = {10.5772/55808}, url = {http://journals.sagepub.com/doi/10.5772/55808http://journals.sagepub.com/doi/pdf/10.5772/55808http://journals.sagepub.com/doi/full-xml/10.5772/55808http://journals.sagepub.com/doi/pdf/10.5772/55808}, author = {Mart{\'\i}, Jose Vicente and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro 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.} } @article {312, title = {Localization of Mobile Sensors and Actuators for Intervention in Low-Visibility Conditions: The ZigBee Fingerprinting Approach}, journal = {International Journal of Distributed Sensor Networks}, volume = {8}, year = {2012}, month = {01/2012}, issn = {1550-1477}, doi = {10.1155/2012/951213}, url = {http://journals.sagepub.com/doi/full-xml/10.1155/2012/951213}, author = {Mart{\'\i}, Jos{\'e} V. and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Jimenez-Ruiz, Ernesto} } @conference {120, title = {Manipulation in the Seabed: A New Underwater Robot Arm for Shallow Water Intervention}, booktitle = {Conference on Embedded Systems, Computational Intelligence and Telematics in Control}, year = {2012}, month = {04/12}, address = {W{\"u}rzburg, Germany}, doi = {10.3182/20120403-3-DE-3010.00029}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Prats, Mario and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Pe{\~n}alver, Antonio} } @conference {101, title = {Proposal of a REST-Based Architecture Server to Control a Robot}, booktitle = {Sixth International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing}, year = {2012}, month = {07/2012}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Palermo}, isbn = {978-1-4673-1328-5}, author = {Esteller, Roger and Cervera, Enric and del Pobil, Angel P. and Mar{\'\i}n, Ra{\'u}l} } @conference {133, title = {Puesta a punto de sensores t{\'a}ctiles y adaptaci{\'o}n a una mano rob{\'o}tica sumergible}, booktitle = {XXXIII Jornadas de Autom{\'a}tica}, year = {2012}, month = {09/2012}, address = {Vigo, Spain}, isbn = {978-84-8158-583-4}, author = {Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @book {131, title = {Recent advances in underwater robotics for intervention mission}, year = {2012}, pages = {36}, issn = {978-84-940663-7-5}, author = {Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Sales, Jorge and Oliver, Gabriel and Ridao, Pere} } @article {14, title = {Reconfigurable AUV for intervention missions: a case study on underwater object recovery}, journal = {Intelligent Service Robotics}, volume = {5}, year = {2012}, note = {To be published}, month = {01/2012}, chapter = {19-31}, issn = {1861-2776}, doi = {10.1007/s11370-011-0101-z}, author = {Prats, Mario and Ribas, David and Palomeras, Narc{\'\i}s and Garc{\'\i}a, Juan Carlos and Nannen, Volker and Wirth, Stephan and Fern{\'a}ndez, Jos{\'e} Javier and Beltr{\'a}n, Joan P. and Campos, Ricard and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel and Carreras, Marc and Gracias, Nuno and Mar{\'\i}n, Ra{\'u}l and Ortiz, Alberto} } @conference {99, title = {A Test-Bed Internet Based Architecture Proposal for Benchmarking of Visual servoing Techniques}, booktitle = {Sixth International Conference on Innovative Mobile and Internet Services in Ubiquitous computing}, year = {2012}, month = {07/2012}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Palermo}, keywords = {Benchmark testing, benchmarking, Cameras, Computer architecture, Internet, MATLAB, REST, robotics, system architecture, Visual servoing}, isbn = {978-1-4673-1328-5}, author = {Esteller, Roger and del Pobil, Angel P. and Cervera, Enric and Mar{\'\i}n, Ra{\'u}l} } @conference {6003619, title = {Advances in the specification and execution of underwater autonomous manipulation tasks}, booktitle = {IEEE OCEANS 2011}, year = {2011}, month = {06/2011}, pages = {1 -5}, abstract = {

In this paper we show how techniques that have been applied during the last years for autonomous manipulation in the air can be successfully adapted to a new challenging scenario: the underwater environment. Specifically, the developed techniques include among others: visual tracking of objects in the seabed, vision-based arm control and sensor-based grasping. Furthermore, a graphical user interface for specifying underwater manipulation actions and providing the corresponding task specification to the execution modules is also presented. This research is enclosed in the framework of our two ongoing projects in autonomous underwater intervention: RAUVI and TRIDENT.

}, keywords = {computer vision, formal specification, graphical user interface, graphical user interfaces, mobile robots, object tracking, object visual tracking, RAUVI, remotely operated vehicles, sensor-based grasping, sensors, TRIDENT, underwater autonomous manipulation tasks, underwater vehicles, vision-based arm control}, isbn = {978-1-4577-0086-6}, doi = {10.1109/Oceans-Spain.2011.6003619}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {103, title = {ARIEL: Advanced radiofrequency indoor environment localization: Smoke conditions positioning}, booktitle = {Performance Control in Wireless Sensor Networks (IEEE International Conference on Distributed Comput.}, year = {2011}, month = {06/2011}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Barcelona}, abstract = {

Indoor sensor location is a complex task. In normal circumstances laser meters, ultrasonic meters or even image processing may be used to estimate the position of a given node at a particular moment. Indoor localization in low-visibility conditions due to smoke is one of the goals that has been studied within the EU GUARDIANS project (http://vision.eng.shu.ac.uk/mmvlwiki/index.php/GUARDIANS). When the density of the smoke grows beyond the 25\%, optical sensors such as laser and cameras are not efficient anymore. In these scenarios other sensors must be studied, such as sonar, radar or radiofrequency signals. In this paper we describe the ARIEL method, which uses ZigBee and Wifi signals combinations to localize a mobile sensor in a building such as a warehouse, office or campus. Moreover, the system presents a high intensity LED panel that can be activated via ZigBee in order to have a fine grained localization to get into doors and other points of interest. In addition, a digital compass and a RFID reader are used as a help to the above. Fingerprinting methods are an alternative to accurate localization of mobile sensors and actuators in indoor environments, which learn a radio map for a given scenario and use this information for calculating the position of a given node. In fact, when using other conventional methods in complex scenarios that may present irregular geometries and materials, fingerprinting techniques can be a very good alternative. Moreover, although they need a previous training of a knowledge database for each scenario, once this is done the method runs in a quite stable and accurate manner without needing any sophisticated hardware.

}, keywords = {Circuits, Communication, Components, Computing \& Processing (Hardware/Software), Devices \& Systems, Networking \& Broadcasting, Signal Processing \& Analysis}, isbn = {978-1-4577-0511-3}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l} } @conference {68, title = {Avances en la especificaci{\'o}n y ejecuci{\'o}n de tareas aut{\'o}nomas de manipulaci{\'o}n submarina}, booktitle = {XXXII Jornadas de Autom{\'a}tica (CEA)}, year = {2011}, month = {09/2011}, address = {Sevilla (Spain)}, isbn = {978-84-694-6454-0}, author = {Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Prats, Mario and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {105, title = {Development of a person-following shopping cart assistance robot}, booktitle = {Assistance robots for the elderly (European Robotics Forum 2011)}, year = {2011}, month = {04-2011}, address = {V{\"a}ster{\r a}s (Sweden}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Cervera, Enric and Oliver, Gabriel} } @conference {prats11, title = {Towards specification, planning and sensor-based control of autonomous underwater intervention}, booktitle = {IFAC 2011}, year = {2011}, note = {

To be published

}, month = {08/2011}, pages = {10361-10366}, address = {Milano, Italy}, isbn = {978-3-902661-93-7}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {67, title = {User interface oriented to the specification of underwater robotic interventions}, journal = {Journal of Maritime Research}, volume = {8}, year = {2011}, month = {08/2011}, chapter = {47-62}, address = {Cartagena (Spain)}, issn = {1697-4840}, url = {http://www.jmr.unican.es/index.php/jmr/article/view/151}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @conference {108, title = {Ambient Intelligence for Elder People Applications: state of the art}, booktitle = {II Jornadas de Mayores y Nuevas Tecnolog{\'\i}as}, year = {2010}, month = {04/2010}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n}, isbn = {978-84-8021- 854-2}, author = {Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Sales, Jorge and Javier P{\'e}rez and Nu{\~n}ez, Manuela} } @conference {107, title = {Elderly Robotic Assistant: Person-Following Shopping Cart}, booktitle = {II Jornadas de Mayores y Nuevas Tecnolog{\'\i}as}, year = {2010}, month = {04/2010}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n}, isbn = {978-84-8021-854-2}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente} } @inbook {128, title = {Estimation of the distance by using the signal strength for localization of networked mobile sensors}, booktitle = {Using robots in hazardous environments: Landmine detection, de-mining and other applications}, year = {2010}, publisher = {UK: Woodhead Publishing Limited}, organization = {UK: Woodhead Publishing Limited}, address = {Sawston, Cambridge, UK}, issn = {1-84569-786-3}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Nomdedeu, Leonardo and Cervera, Enric} } @conference {20, title = {Exploring Multimodal Interfaces For Underwater Intervention Systems}, booktitle = {Proceedings of the ICRA 2010 Workshop on Multimodal Human Robot Interfaces}, year = {2010}, month = {05/2010}, address = {Anchorage (Alaska)}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and O. Belmonte} } @conference {garcia10, title = {Increasing Autonomy within Underwater Intervention Scenarios: The User Interface Approach}, booktitle = {2010 IEEE International Systems Conference}, year = {2010}, month = {4}, pages = {71{\textendash}75}, address = {San Diego, CA, USA}, isbn = {978-1-4244-5883-7}, author = {Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @conference {66, title = {Incrementando el nivel de Autonom{\'\i}a en los Sistemas Rob{\'o}?ticos de Intervenci{\'o}n Submarina: punto de vista de la Interfaz de Usuario}, booktitle = {XXXI Jornadas de Autom{\'a}tica (CEA)}, year = {2010}, month = {09/2010}, address = {Ja{\'e}n (Spain)}, keywords = {autonomous underwater vehicle for intervention, graphical user interface, multimodal interface, simulator}, isbn = {978-84-693-0715-1}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @conference {111, title = {Localization of networker mobile sensors and actuators in low- visibility condition}, booktitle = {Robotics for Risky Interventions and Environmental Surveillance (RISE)}, year = {2010}, month = {01/2010}, publisher = {Sheffield Hallam University}, organization = {Sheffield Hallam University}, address = {Sheffield}, abstract = {

Localization of networked mobile sensors and actuators is an active research field. One traditional approach in order to localize a mobile node has been the use of laser sensors. In some special circumstances, like a smoky environment, the use of this type of optical sensor is not a good solution. The use of radio and ultrasound signals can be used as a feasible alternative to node localization. Within the context of the EU GUARDIANS Project (Group of Unmanned Assistant Robots Deployed In Aggregative Navigation supported by Scent detection) one essential aspect is having a simple localization method of a firefighter followed by a squad of robots, that allows tracking their instant position in the space related to the base station. The authors of this paper have been developing hardware devices capable of obtaining relative positions among them and the firefighter, and have studied several networking protocols that can be useful in those situations, using wireless links provided by Wi-Fi cards of the mobile nodes, as well as the sonar sensors and radio synchronization signals.

}, isbn = {978-84387-3181}, author = {Sales, Jorge and El-Habbal, M. and Mar{\'\i}n, Ra{\'u}l and Witkowski, U. and Cervera, Enric and Nomdedeu, Leonardo and R{\"u}ckert, U.} } @article {127, title = {Multi-Sensor Person Fellowing in Low-Visibility Scenarios}, journal = {Sensors}, volume = {10}, year = {2010}, month = {12/2010}, pages = {14}, chapter = {10953}, doi = {10.3390/s101210953}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Rodr{\'\i}guez, Sergio and Javier P{\'e}rez} } @article {5638803, title = {New approach for a Reconfigurable Autonomous Underwater Vehicle for Intervention}, journal = {Aerospace and Electronic Systems Magazine, IEEE}, volume = {25}, number = {11}, year = {2010}, month = {11/2010}, pages = {32 -36}, keywords = {acoustic sensors, acoustic signal detection, manipulators, optic sensors, optical sensors, RAUVI, reconfigurable autonomous underwater vehicle, remotely operated vehicles, robotic arm, underwater vehicles}, issn = {0885-8985}, doi = {10.1109/MAES.2010.5638803}, author = {De Novi, G. and Melchiorri, C. and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel} } @conference {109, title = {Pattern Recognition Comparative Analysis applied to Fingerprint Indoor Mobile Sensors Localization}, booktitle = {10th IEEE International Conference on computer and Information Technology (CIT 2010)}, year = {2010}, month = {06/2010}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Bradford (UK)}, abstract = {

Location\ Fingerprinting\ methods are an alternative\ to\ accurate\ localization\ of\ mobilesensors\ and actuators inindoor\ environments, which learn a radio map for a given scenario and use this information for recognizing the position of a given node at a particular moment. In fact, when using other conventional methods in complex scenarios that may present irregular geometries and materials,\ fingerprinting\ techniques can be a very good alternative. Moreover, although they need a previous training of a knowledge database for each scenario, once this is done the method runs in a quite stable and accurate manner without needing any sophisticated hardware. In this paper we present a comparation between the CC2431 Texas Instruments Location Engine and two\ patternrecognition\ methods\ appliedtofingerprintinglocalization\ in several\ indoor\ scenarios in our university. Results show that this kind of technique is very interesting for known environments such as warehouses, universities and so on.

}, keywords = {Fingerprint, Location, RSSI, Transmitter, ZigBee}, isbn = {978-0-7695-4108-2}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l} } @conference {110, title = {Remote and in-situ multirobot interaction for firefighters interventions under smoke conditions}, booktitle = {Second IFAC Symposium on Telematics Applications (TA 2010)}, year = {2010}, month = {10/2010}, publisher = {2010 Editura Politechnica}, organization = {2010 Editura Politechnica}, address = {Timisoara (Rumania)}, abstract = {

This paper describes a real-world demonstration that involves two kinds of human-robot interaction: (1) In-situ interaction between a team of robots and a firefighter, and (2) the interaction between a remote operator and the whole system from a base station. The team of robots can provide the firefighter with environmental information to support and enhance its operation in situations where smoke can be present. First of all, the paper describes the overall system, focusing on the devices that are used, and the hardware/software architecture. Then, the paper explains the in-situ human-system interaction which is the way the firefighter interacts with the robot team, by obtaining the information directly to its helmet and by setting up a firefighter following behaviour using both laser and sonar/radio techniques. After that, the paper describes the way the whole system can be monitored and controlled remotely via a base station.

}, doi = {10.3182/20101005-4-RO-2018.00036}, author = {Nagash, A and Saez-Pons, J and Penders, J and Gancet, J. and Motard, E. and Nomdedeu, Leonardo and Sales, Jorge and Cervera, Enric and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and Sebasti{\`a}, R.} } @inbook {129, title = {Sensing capabilities for mobile robotics}, booktitle = {Using robots in hazardous environments: Landmine detection, de-mining and other applications}, year = {2010}, publisher = {UK: Woodhead Publishing Limited}, organization = {UK: Woodhead Publishing Limited}, address = {Sawston, Cambridge, UK}, issn = {1-84569-786-3}, author = {Nomdedeu, Leonardo and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Saez-Pons, J} } @conference {sanz10a, title = {TRIDENT: A Framework for Autonomous Underwater Intervention Missions with Dexterous Manipulation Capabilities}, booktitle = {7th Symposium on Intelligent Autonomous Vehicles IAV-2010}, year = {2010}, publisher = {IFAC}, organization = {IFAC}, isbn = {978-3-902661-87-6}, doi = {10.3182/20100906-3-IT-2019.00034}, author = {Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, C. and G. Casalino and C. Silvestre and Y. Petillot and A. Turetta} } @conference {102, title = {TRIDENT: Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions}, booktitle = {7th IFAC Symposium on Intelligent Autonomous Vehicles}, year = {2010}, month = {09/2010}, isbn = {10.31/20100906-3-IT-2019.00034}, author = {Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, C. and G. Casalino and C. Silvestre and Y. Petillot} } @article {126, title = {Bidirectional Transport Protocol for Teleoperated Robots}, journal = {IEE Transactions on Industrial Electronics}, volume = {56}, year = {2009}, month = {10/2009}, pages = {10}, chapter = {3772}, doi = {10.1109/TIE.2009.2025291}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Ferre, Manuel and Barrio, Jorge and Claver, Jos{\'e} M. and Ortego, Javier} } @inbook {122, title = {Design and Educational Issues within the UJI Robotics Telelaboratory: A User Interface Approach}, booktitle = {Web-Based Control and Robotics Education}, volume = {38}, year = {2009}, pages = {227-247}, publisher = {Springer Netherlands}, organization = {Springer Netherlands}, issn = {978-90-481-2504-3}, doi = {10.1007/978-90-481-2505-0_10}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {23, title = {Remote Programming of Network Robots Within the UJI Industrial Robotics Telelaboratory: FPGA Vision and SNRP Network Protocol}, journal = {IEEE Transactions on Industrial Electronics}, volume = {56}, year = {2009}, month = {12/2009}, pages = {4806 - 4816}, issn = {0278-0046}, doi = {10.1109/TIE.2009.2013250}, author = {Mar{\'\i}n, Ra{\'u}l and Leon, G. and Wirz, Raul and Sales, J. and Claver, J.M. and Sanz, Pedro J. and Fern{\'a}ndez, Jos{\'e} Javier} } @conference {112, title = {TDoA indoor Localization within the EU GUARDIANS project}, booktitle = { II Workshop de Rob{\'o}tica (ROBOT{\textquoteright}2009)}, year = {2009}, month = {11/2009}, address = {Barcelona, Universitat Polit{\`e}cnica de Catalunya}, author = {Sales, Jorge and El-Habbal, M. and Mar{\'\i}n, Ra{\'u}l and Witkowski, U. and Cervera, Enric and R{\"u}ckert, U.} } @inbook {24, title = {Web-Based Control and Robotics EducationDesign and Educational Issues within the UJI Robotics Telelaboratory: A User Interface Approach}, booktitle = {Web-Based Control and Robotics Education}, volume = {38}, year = {2009}, pages = {227 - 247}, publisher = {Springer Netherlands}, organization = {Springer Netherlands}, edition = {Intelligent Systems, Control and Automation: Science and Engineering}, address = {Dordrecht}, isbn = {978-90-481-2504-3}, doi = {10.1007/978-90-481-2505-010.1007/978-90-481-2505-0_10}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.}, editor = {Tzafestas, Spyros} } @conference {114, title = {Agent at Play: Off-the-shelf Software for Practical Multi-robot Applications}, booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Niza (Francia)}, abstract = {

A practical solution based on multi-agent protocols for the development of real-world multi-robot applications is presented. FIPA standard protocols implemented by the JADE library provide the standard functionality for a number of tasks. Robot behaviors are built upon the player middleware. Such components provide off-the-shelf tools which allow a straightforward implementation of indoor localization and navigation tasks for a team of mobile robots. Such integration combines proven mobile robot algorithms with a distributed infrastructure, and extends the capabilities from a robot alone to a whole team of robots, thus allowing the development of cooperative applications. As a proof of concept, an auction-like goal assignment task is presented: the robot team is given a goal, and each robot proposes an estimated cost for achieving it, then the best proposal is selected. Most of the control flow is automated by the standard interaction protocols. Experimental evaluation demonstrates the advantages of combining both frameworks, for a practical yet sound development of multi-robot applications.

}, isbn = {978-1-4244-2058-2}, doi = {10.1109/IROS.2008.4650660}, author = {Cervera, Enric and Sales, Jorge and Nomdedeu, Leonardo and Mar{\'\i}n, Ra{\'u}l and Veysel, Gazi} } @inbook {98, title = {Case Study: Communication Technologies for the integration of Robotic Systems and sensor Networks at Home: Helping Elderly People}, booktitle = {Wearable Robots Biomechatron Exoskeletons}, year = {2008}, pages = {360}, publisher = {John Wiley \& Sons Ltd.}, organization = {John Wiley \& Sons Ltd.}, chapter = {Case Study: Communication Technologies for the integration of Robotic Systems and sensor Networks at Home: Helping Elderly Peopl}, address = {Madrid}, issn = {978-0-470-51294-4}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fern{\'a}dez, Joseph and Nu{\~n}ez, M. and Rajadell, Olga and Nomdedeu, Leonardo and Sales, Jorge and Agust{\'\i}, Pau and Fabregat, A. and del Pobil, Angel P.} } @conference {104, title = {Compliant physical interaction based on external vision-force control and tactile-force combination}, booktitle = {International Conference on Multisensor Fusion and Integration for Intelligent Systems}, year = {2008}, month = {08/2008}, address = {Seoul, Korea}, isbn = {978-1-4244-2144-2}, author = {Prats, Mario and Martinet, Philippe and Lee, Sukhan and Sanz, Pedro J.} } @conference {117, title = {Efficient Transport Protocol for Internet Remote Control of Devices}, booktitle = {XIX JORNADAS DE PARALELISMO}, year = {2008}, month = {09/2008}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n, Universitat Jaume I}, isbn = {978-84-8021-676- 0}, author = {Wirz, Raul and Claver, Jos{\'e} M. and Ferre, Manuel and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and Barrio, Jorge and Ortego, Javier} } @conference {113, title = {End-to-End Congestion Control Protocols for Robot Swarms using Ad-hoc Wireless Networks}, booktitle = {Robotics for Risky Interventions and Surveillance of the Environment (RISE 2008)}, year = {2008}, month = {01/2008}, address = {Castell{\'o}n, Universitat Jaume I}, isbn = {978-84-8021-645-6}, author = {Wirz, Raul and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Witkowski, U. and Mart{\'\i}, Jose Vicente and Nomdedeu, Leonardo} } @conference {115, title = {Improving manipulation capabilities by means of Radio Frequency Identification and Computer Vision}, booktitle = {11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile}, year = {2008}, month = {09/2008}, address = {Coimbra (Portugal)}, abstract = {

The present work shows recent results in the robotic manipulation context, after suitable integration between computer vision and radio frequency identification (RFID). The experimental validation has been carried out in a household environment, by using current manufactured objects, labeled previously, and processed through a RFID reader situated in the robot hand. A camera-in-hand also was used for segmentation and localization of the corresponding objects. The main problems solved in this work are those related with hardware integration between the robot and the RFID system, including the RFID reader, antenna and necessary interfaces. Furthermore, a graphical user interface was developed for displaying the results from visual processing, including both, segmentation and localization of the objects in the scene, visualizing at the same time the corresponding RFID labels associated which each previously identified object. These preliminary results have demonstrated the feasibility and reliability of this system to succeed with localization, identification and handling of daily objects, without predefined models at all, in household environments.


Read More:\ http://www.worldscientific.com/doi/abs/10.1142/9789812835772_0101

}, isbn = {978-981-283-576-5}, author = {Sales, Jorge and Gracia, X. and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Mar{\'\i}n, Ra{\'u}l and Falomir, Zoe} } @article {93, title = {Manipulaci{\'o}n aut{\'o}noma multiprop{\'o}sito en el robot de servicios JAUME-2}, journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica Industrial}, volume = {5}, year = {2008}, month = {04/2008}, pages = {12}, chapter = {25}, keywords = {arquitecturas de control, manipulaci{\'o}n, rob{\'o}tica de servicios}, issn = {1697-7912}, author = {Prats, Mario and Sanz, Pedro J. and Mart{\'\i}nez, Ester and Mar{\'\i}n, Ra{\'u}l and del Pobil, Angel P.} } @article {94, title = {Remote Programming of Multirobot Systems within the UPC-UJI Telelaboratories: System Architecture and Agent-Based Multirobot Control}, journal = {International Journal of Intelligent Control and Systems}, volume = {13}, year = {2008}, month = {06/2008}, pages = {8}, chapter = {120}, keywords = {artificial intelligents, E-learning, intel{\textperiodcentered}lig{\`e}ncia artificial, multirobot systems, robotics}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Fern{\'a}dez, Joseph and Sanz, Pedro J.} } @conference {124, title = {The UJI industrial robotics telelaboratory: Real-time vision and networking}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, address = {Nice, France}, isbn = {978-1-4244-2058-2}, author = {Sales, Jorge and Beltr{\'a}n, Reinel and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Wirz, Raul and Le{\'o}n, Germ{\'a}n and Claver, Jos{\'e} M. and Alemany, J} } @conference {116, title = {The UJI Robotics Manufacturing Cell: Web-based architecture and Real-time computer vision}, booktitle = {5th International Conference on Telecommunications, Electronics and Control (TELEC)}, year = {2008}, month = {07/2008}, address = {Santiago de Cuba (Cuba)}, isbn = {978-84-00-08680-0}, author = {Sales, Jorge and Beltr{\'a}n, Reinel and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Wirz, Raul and Le{\'o}n, Germ{\'a}n and Claver, Jos{\'e} M.} } @conference {123, title = {Vision-based grasp planning of 3D objects by extending 2D contour based algorithms}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, address = {Nice, France}, isbn = {978-1-4244-2058-2}, author = {Speth, J. and Morales, Antonio and Sanz, Pedro J.} } @inbook {121, title = {Vision-Based Grasp Tracking for Planar Objects}, booktitle = {IEE Transactions on Systems, Man, and Cybernetics}, volume = {38}, year = {2008}, chapter = {Part C, applications and reviews}, issn = {1094-6977}, author = {Recatal{\'a}, Gabriel and Carloni, Raffaella and Melchiori, Claudio and Sanz, Pedro J. and Cervera, Enric and del Pobil, Angel P.} }