@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 = {

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.

}, 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 {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 {132, title = {An approach for Semi-Autonomous Recovery of Unknown Objects in Underwater Environments}, booktitle = {13th International Conference on Optimization of Electrical and Electronic Equipment}, year = {2012}, month = {05/2012}, address = {Brasov, Romania}, isbn = {978-1-4673-1653-8}, author = {Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @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 {103, title = {ARIEL: Advanced radiofrequency indoor environment localization: Smoke conditions positioning}, booktitle = {Performance Control in Wireless Sensor Networks (IEEE International Conference on Distributed Comput.}, year = {2011}, month = {06/2011}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Barcelona}, abstract = {

Indoor sensor location is a complex task. In normal circumstances laser meters, ultrasonic meters or even image processing may be used to estimate the position of a given node at a particular moment. Indoor localization in low-visibility conditions due to smoke is one of the goals that has been studied within the EU GUARDIANS project (http://vision.eng.shu.ac.uk/mmvlwiki/index.php/GUARDIANS). When the density of the smoke grows beyond the 25\%, optical sensors such as laser and cameras are not efficient anymore. In these scenarios other sensors must be studied, such as sonar, radar or radiofrequency signals. In this paper we describe the ARIEL method, which uses ZigBee and Wifi signals combinations to localize a mobile sensor in a building such as a warehouse, office or campus. Moreover, the system presents a high intensity LED panel that can be activated via ZigBee in order to have a fine grained localization to get into doors and other points of interest. In addition, a digital compass and a RFID reader are used as a help to the above. Fingerprinting methods are an alternative to accurate localization of mobile sensors and actuators in indoor environments, which learn a radio map for a given scenario and use this information for calculating the position of a given node. In fact, when using other conventional methods in complex scenarios that may present irregular geometries and materials, fingerprinting techniques can be a very good alternative. Moreover, although they need a previous training of a knowledge database for each scenario, once this is done the method runs in a quite stable and accurate manner without needing any sophisticated hardware.

}, keywords = {Circuits, Communication, Components, Computing \& Processing (Hardware/Software), Devices \& Systems, Networking \& Broadcasting, Signal Processing \& Analysis}, isbn = {978-1-4577-0511-3}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l} } @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 {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 {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} }