@conference {280, title = {Benchmarking water turbidity effect on tracking algorithms}, booktitle = {20th IFAC World Congress}, year = {2017}, month = {07/2017}, publisher = {IFAC-PapersOnLine}, organization = {IFAC-PapersOnLine}, address = {Toulouse (France)}, abstract = {

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

}, keywords = {Underwater simulator Benchmarking Underwater intervention Robotics Dehazing}, doi = {https://doi.org/10.1016/j.ifacol.2017.08.1243}, author = {P{\'e}rez, Javier and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {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 {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} } @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 {239, title = {Toward the Robot Butler: The HUMABOT Challenge}, journal = {IEEE ROBOTICS \& AUTOMATION MAGAZINE}, volume = {22}, year = {2015}, month = {06/2015}, chapter = {8-17}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2418511}, author = {Cervera, Enric and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J.} } @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 {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.} } @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 {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 {173, title = {Increasing the Autonomy Levels for Underwater Intervention Missions by Using Learning and Probabilistic Techniques}, booktitle = {ROBOT2013: First Iberian Robotics Conference}, year = {2013}, month = {11/2013}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Madrid, Spain}, isbn = {978-3-319-03412-6}, doi = {10.1007/978-3-319-03413-3_2}, author = {Sales, Jorge and Santos, Luis and Sanz, Pedro J. and Dias, Jorge and Garc{\'\i}a, Juan Carlos} } @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 {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 {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} } @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 {69, title = {Using Humanoids for Teaching Robotics and Artificial Intelligence Issues. The UJI Case Study}, booktitle = {III Workshop de rob{\'o}tica: rob{\'o}tica experimental}, year = {2011}, month = {11/2011}, address = {Sevilla (Spain)}, isbn = {978-84-615-6787-4}, author = {Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Cervera, Enric} } @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} } @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} } @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 {Garc{\'\i}a08, title = {The 2007 Spanish Humanoids Competition: From the Winners Point of View}, booktitle = {8th Conference on Autonomous Robot Systems and Competitions}, year = {2008}, month = {04/2008}, address = {Aveiro (Portugal)}, keywords = {humanoid robot, learning, robot competitions}, isbn = {978-972-96895-3-6}, author = {Garc{\'\i}a, Juan Carlos and Felip, J. and Sanz, Pedro J.} }