@article {304, title = {UWSim, an underwater robotic simulator on the cloud as educational tool}, journal = {RIAI - Revista Iberoamericana de Automatica e Informatica Industrial}, volume = {15}, year = {2018}, month = {01}, pages = {70-78}, author = {P{\'e}rez, Javier and Fornas, David and Mar{\'\i}n Prades, Raul and Sanz, Pedro J.} } @conference {283, title = {A benchmarking study on single image dehazing techniques for underwater autonomous vehicles}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

Enhancing the underwater images is of utmost importance for autonomous underwater vehicles. This kind of robots usually have to deal with highly degraded images from which it is extremely difficult to accurately find, recognise or manipulate targets of interest. For this reason, a single image dehazing fast enough to run in a real time system would be an important tool facilitating image processing. In this paper, an study of different dehazing techniques is presented, experimenting with the most suitable algorithms for this context. A benchmark is described testing dark channel prior based methodologies establishing an objective evaluation of these techniques from a real time application perspective.

}, keywords = {Atmospheric modeling, autonomous underwater vehicles, Cameras, Estimation, Image color analysis, image dehazing techniques, image denoising, image processing, Image restoration, Mathematical model, Scattering, underwater images}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084771}, url = {https://doi.org/10.1109/OCEANSE.2017.8084771}, author = {P{\'e}rez, Javier and Sanz, Pedro J. and M. Bryson and S. B. Williams} } @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 {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 {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.} } @conference {269, title = {UWSim, un simulador submarino como herramienta educacional}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = {978-84-617-4298-1}, author = {Javier P{\'e}rez and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {243, title = {A benchmarking perspective of underwater intervention systems}, booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles}, year = {2015}, month = {04/2015}, address = {Girona (Spain)}, doi = {10.1016/j.ifacol.2015.06.002}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Garc{\'\i}a, Juan Carlos} } @conference {233, title = {Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

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

}, keywords = {benchmarking, free floating control, I-AUV, simulation, underwater autonomous intervention, UWSim}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271514}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271514}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Sanz, Pedro J.} } @article {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.} } @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} } @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.} } @article {242, title = {Visually-guided manipulation techniques for robotic autonomous underwater panel interventions}, journal = {Annual Reviews in Control}, volume = {40}, year = {2015}, month = {10/2015}, chapter = {201-211}, keywords = {3D Simulation, Autonomous Manipulation, I-AUV, Panel Intervention, Robot Kinematics, Underwater Intervention, Vision Guidance}, issn = {1367-5788}, doi = {10.1016/j.arcontrol.2015.09.012}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, Jorge and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} } @conference {182, title = {Autonomous Intervention on an Underwater Panel mockup by using Visually-Guided Manipulation Techniques}, booktitle = {19th IFAC World Congress}, year = {2014}, month = {08/2014}, address = {Cape Town (South Africa)}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J. and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} } @conference {187, title = {Avances recientes en manipulaci{\'o}n subacu{\'a}tica en el subproyecto GRASPER}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Sales, J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {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 {186, title = {Improving autonomous underwater grasp specification using primitive shape fitting in point clouds}, booktitle = {Seventeenth International Conference of the Catalan Association of Artificial Intelligence (CCIA 2014)}, year = {2014}, month = {10/2014}, publisher = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, organization = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, address = {Barcelona (Spain)}, abstract = {
This paper presents a research in progress towards autonomous under-
water robot manipulation. Current research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction.\ Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and\ adverse conditions that affect the robot perception and control systems in various\ degrees. To tackle those issues, we propose the use of vision and segmentation\ techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to\ gather 3D information in order to obtain a model of the object. Using a RANSAC\ primitive shape recognition algorithm, the model parameters are estimated and a\ set of feasible grasps are computed. This approach is validated in simulation and\ the quality of different 3D reconstructions from both real and virtual scenarios is\ analyzed.
}, keywords = {grasp specification, point cloud, RANSAC, shape fitting, underwater autonomous grasping, UWSim underwater realistic simulator}, isbn = {978-1-61499-451-0 (print) | 978-1-61499-452-7 (online)}, doi = {10.3233/978-1-61499-452-7-45}, author = {Fornas, David and Sales, J. and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @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 {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 {175, title = {GRASPER: A Multisensory Based Manipulation System for Underwater Operations}, booktitle = {IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2013}, year = {2013}, month = {10/2013}, publisher = {IEEE}, organization = {IEEE}, address = {Manchester, UK}, doi = {10.1109/SMC.2013.689}, author = {Sanz, Pedro J. and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Bernab{\'e}, Jos{\'e} Antonio} } @conference {176, title = {GRASPER: Un Proyecto Dirigido a Incrementar la Autonomi?a de la Manipulacio?n Submarina}, booktitle = {XXXIV Jornadas de Automa?tica}, year = {2013}, month = {09/2013}, publisher = {CEA}, organization = {CEA}, address = {Terrassa, Spain}, isbn = {978-84-616-5063-7}, author = {Sanz, Pedro J. and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Garc{\'\i}a, Juan Carlos and Fornas, David and Sales, Jorge and Bernab{\'e}, Jos{\'e} Antonio and Mar{\'\i}n, Ra{\'u}l} } @conference {177, title = {HIL Simulation Towards Autonomous Manipulation of an Underwater Panel in a Permanent Observatory}, booktitle = {Oceans{\textquoteright}13 MTS/IEEE San Diego}, year = {2013}, month = {09/2013}, publisher = {IEEE}, organization = {IEEE}, address = {San Diego, USA}, isbn = {978-0-933957-40-4}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l} } @conference {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 {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 {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} } @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} }