@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 {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} } @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 {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 {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 {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} } @conference {235, title = {Multi-view underwater 3D reconstruction using a stripe laser light and an eye-in-hand camera}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

Autonomous manipulation in unestructured underwater scenarios is a high challenging skill that has been poorly studied and is becoming more and more important in the last years. One of the main problems regarding the autonomous manipulation, is to find out the characteristics of the object which is going to be manipulated. This paper presents a new approach to obtain an accurate 3D reconstruction of this object. This approach consists in attaching a laser stripe emitter and a camera in the forearm of a robotic arm. Moving the arm, the laser scans the scene where the object is and, at the same time, the camera records the scan. Thanks to the arm and the position of the camera, the scene can be reconstructed from different views and from a position close to the object. The recorded images are processed to obtain the 3D position of the part of the scene projected by the laser. Before the intervention, a process of calibration is needed to calculate the relationship between each part of the system. Furthemore, in order to reduce the time of processing of the images recorded during the scan, an optimization algorithm is presented which consists in discarding, before the processing, the pixels of the image which do not contain relevant information. The approach herein presented and the optimization algorithm are tested using an underwater simulator.

}, keywords = {3D reconstruction, autonomous grasping, Laser-Camera Calibration, Optimization Algorithm, Underwater Laser Scanning}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271497}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271497}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Sales, 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} } @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 {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.} } @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 {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} } @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} } @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} } @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 {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 {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} } @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 {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.} } @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 {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} } @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.} }