@conference {281,
	title = {Autonomous underwater grasping using multi-view laser reconstruction},
	booktitle = {OCEANS 2017 - Aberdeen},
	year = {2017},
	month = {10/2017},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Aberdeen (UK)},
	abstract = {<p>Autonomous manipulation in underwater scenarios is a highly complex task which is still poorly studied, but with a growing interest in the last years. Two of the main phases of this problem are the detection and characterization of the object which is going to be manipulated, and the planning of this manipulation. This paper presents, on the one hand, the results of a multi-view laser reconstruction approach used in a real system. This approach consists in attaching a laser emitter and a camera in the forearm of a robotic arm. Then, moving the arm, the scene is scanned and reconstructed. This configuration allows the user to reconstruct autonomously a scene from different points of view and with a high precision. On the other hand, a grasp planning algorithm has been described. This method makes possible to autonomously detect the object of interest from a scene with multiple objects, and to choose which is the best arm configuration in order to manipulate it.</p>
},
	keywords = {arm configuration, Autonomous Manipulation, autonomous underwater grasping, autonomous underwater vehicles, camera, Cameras, grasp planning algorithm, Grasping, image reconstruction, laser emitter, Lasers, manipulators, multiview laser reconstruction approach, object characterization, object detection, Planning, robot vision, Robot vision systems, robotic arm, scene reconstruction, Three-dimensional displays},
	isbn = {978-1-5090-5278-3 },
	doi = {10.1109/OCEANSE.2017.8084797},
	url = {https://doi.org/10.1109/OCEANSE.2017.8084797},
	author = {Antonio Pe{\~n}alver and J. J. Fern{\'a}ndez and Sanz, Pedro J.}
}
@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 = {<p>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.</p>
},
	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.}
}
