@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} } @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.} } @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 {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 {148, title = {Recent Progress in HRI for Underwater Robotic Intervention}, 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 = {Garc{\'\i}a, Juan Carlos and Pe{\~n}alver, Antonio and Prats, Mario and Sanz, Pedro J.} } @conference {180, title = {Semi-autonomous grasping approach of unknown objects in underwater environments combining structured light and a virtual simulation environment}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girnoa (Spain)}, abstract = {

Many scientific and industrial works that take place
underwater are increasingly demanding for technology to allow
their autonomous execution. Autonomous grasping of unknown
objects by a robotic arm is a task that is being highly studied by
researchers in the last years. This is a really difficult task in itself,
but the problem is bigger if the grasp is done in underwater
environments, where the sensors that can be installed in the arm,
decrease their performance drastically. This paper describes an
approach for semi-autonomous grasping of underwater unknown
objects using a robotic arm. To achieve this purpose, a scan of the
scene is performed using a structured laser beam attached to the
forearm of the manipulator. At the same time, a digital video
camera is used to capture the scene. The laser stripes are
triangulated to obtain a 3D point cloud. The entire process is
shown inside an underwater simulator, acting in this case as a
virtual representation of the real environment. This virtual
representation allows the user to specify the grasp, to see how the
grasp will be executed, and to monitor the final process in real
time. To validate the good performance of the proposed
approach, several grasping experiments with two different objects
have been performed in water tank conditions with a real I-AUV
system.

}, keywords = {3D reconstruction, Intervention AUV, semiautonomous grasping, underwater recovery}, isbn = {978-84-616-5764-3}, author = {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.} } @conference {132, title = {An approach for Semi-Autonomous Recovery of Unknown Objects in Underwater Environments}, booktitle = {13th International Conference on Optimization of Electrical and Electronic Equipment}, year = {2012}, month = {05/2012}, address = {Brasov, Romania}, isbn = {978-1-4673-1653-8}, author = {Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {96, title = {Combining Template Tracking and Laser Peak Detection for 3D Reconstruction and Grasping in Underwater Environments}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2012}, month = {10/2012}, address = {Vilamoura, Algarve, Portugal}, isbn = {978-4673-1736-8}, author = {Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {78, title = {An integration perspective of the TRIDENT project}, booktitle = {5th International Conference on Cognitive Systems}, year = {2012}, month = {02/2012}, address = {Vienna (Austria)}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel} } @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 {83, title = {Multipurpose Autonomous Underwater Intervention: A Systems Integration Perspective}, booktitle = {20th Mediterranean Conference on Control \& Automation (MED 2012)}, year = {2012}, month = {07/2012}, address = {Barcelona (Spain)}, isbn = {978-1-4673-2529-5/12}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Wirth, Stephan and Ribas, David and Sanz, Pedro J. and Ridao, Pere and Gracias, Nuno and Oliver, Gabriel} } @conference {97, title = {An Open Source Tool for Simulation and Supervision of Underwater Intervention Missions}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2012}, month = {10/2012}, address = {Vilamoura, Algarve, Portugal}, isbn = {978-1-4673-1736-8}, author = {Prats, Mario and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {134, title = {Proyecto RAUVI: Historia y Resultados}, booktitle = {XXXIII Jornadas de Autom{\'a}tica}, year = {2012}, month = {09/2012}, address = {Vigo, Spain}, isbn = {978-84-8158-583-4}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel} } @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.} } @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 {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 {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 {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.} } @conference {77, title = {Una nueva herramienta para la simulaci{\'o}n y supervisi{\'o}n 3D de misiones de intervenci{\'o}n submarinas}, booktitle = {III Workshop de rob{\'o}tica: rob{\'o}tica experimental}, year = {2011}, month = {11/2011}, abstract = {

Este trabajo presenta UWSim: una nueva herramienta software para la visualizaci\ó?n y simulaci\ó?n de misiones rob?\óticas submarinas. El software visualiza un escenario virtual subacu\á?tico que puede ser configurado usando software de modelado est?\ándar. A este escenario se pueden a?\ñadir veh\í?culos submarinos, manipuladores rob?\óticos, simulaci\ó?n de sensores, etc., facilitando el acceso a los mismos a trav?\és de interfaces de red. Esto permite integrar f?cilmente la herramienta de visualizaci?\ón con arquitecturas de control ya existentes, dando lugar a simulaciones Hardware in the Loop (HIL). Recientemente, UWSim ha sido de gran utilidad, tanto para la simulaci?\ón de una misi\ó?n de intervenci\ó?n como para reproducci\ó?n de una misi?\ón real a partir de los datos capturados.

}, isbn = {978-84-615-6787-4}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos 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 {100, title = {A Distributed Architecture for Enabling Autonomous Underwater Intervention Missions}, booktitle = {4th Annual IEEE International Systems Conference 2010}, year = {2010}, month = {04/2010}, address = {San Diego, California, United States}, keywords = {Auntonomous Underwater Vehicle for Intervention, Behaviour Robotics, Distributed Architectures}, isbn = {978-1-4244-5883-7}, doi = {10.1109/SYSTEMS.2010.5482349}, author = {Palomeras, Narc{\'\i}s and Garc{\'\i}a, Juan Carlos and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Ridao, Pere} } @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} } @article {prats10a, title = {A Framework for Compliant Physical Interaction: the grasp meets the task}, journal = {Autonomous Robots}, volume = {28}, number = {1}, year = {2010}, pages = {89-111}, author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.} } @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 {sanz10b, title = {Recent progress in the RAUVI Project. A reconfigurable Autonomous Underwater Vehicle for Intervention}, booktitle = {52-th International Symphosium ELMAR-2010}, year = {2010}, month = {September}, pages = {471-474}, address = {Zadar, Croatia}, author = {Sanz, Pedro J. and Prats, Mario and Ridao, Pere and Ribas, David and Oliver, Gabriel and Ortiz, Alberto} } @article {Prats10, title = {Reliable non-prehensile door opening through the combination of vision, tactile and force feedback}, journal = {Autonomous Robots}, volume = {29(2)}, year = {2010}, pages = {201-218}, author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.} } @conference {5152515, title = {Vision-tactile-force integration and robot physical interaction}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2009}, month = {05/2009}, pages = {3975 -3980}, address = {Kobe (Japan)}, abstract = {

This paper presents an approach for integrating vision, tactile and force sensors in a robotic manipulation framework. Having an initial estimation of the object pose in the environment, a position-based visual servoing loop controls the hand for task execution, based on the input received from a model-based articular pose estimator following the Virtual Visual Servoing approach. The visual control is combined with another control signal obtained from tactile feedback, through a set of selection matrices that can be modified at runtime in order to select the best modality for a given cartesian degree of freedom. The result of the preliminary integration is modified by an impedance force controller, in charge of performing the task motion along the task direction, at the same time that forces are regulated on the rest of directions. The design of the controller allows to perform the task even if a sensor is not available or provides inaccurate data. Several experiments are performed, first by considering only force feedback, and then adding vision and, finally, tactile information. Errors in the estimation of the object initial position are manually introduced in the experiments, and results show how the vision-tactile-force combination is able to deal with them, performing much better than the vision-force and force-alone approaches.

}, issn = {1050-4729}, doi = {10.1109/ROBOT.2009.5152515}, author = {Prats, Mario and Sanz, Pedro J. 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 {106, title = {A framework for compliant physical interaction based on multisensor information}, 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 Sanz, Pedro J. and del Pobil, Angel P.} } @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.} } @book {95, title = {Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback}, series = {Applications to Assistive Robotics Series: Springer Tracts in Advanced Robotics}, volume = {84 }, year = {2008}, pages = {165}, publisher = {Springer}, organization = {Springer}, edition = {2013}, issn = {978-3-642-33240-1 (Print) 978-3-642-33241-8 (Online)}, author = {Prats, Mario and del Pobil, Angel P. and Sanz, Pedro J.} }