@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 {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 {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 {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.} } @conference {194, title = {Casos de uso y mejoras de un robot humanoide de bajo coste}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Garc{\'\i}a, Juan Carlos and Felip, J. and Veiga, Carlos 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 {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} }