@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 = {<p>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.</p>
},
	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 {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 {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.}
}
@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 {96,
	title = {Combining Template Tracking and Laser Peak Detection for 3D Reconstruction and Grasping in Underwater Environments},
	booktitle = {International Conference on Intelligent Robots and Systems},
	year = {2012},
	month = {10/2012},
	address = {Vilamoura, Algarve, Portugal},
	isbn = {978-4673-1736-8},
	author = {Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.}
}
@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 {104,
	title = {Compliant physical interaction based on external vision-force control and tactile-force combination},
	booktitle = {International Conference on Multisensor Fusion and Integration for Intelligent Systems},
	year = {2008},
	month = {08/2008},
	address = {Seoul, Korea},
	isbn = {978-1-4244-2144-2},
	author = {Prats, Mario and Martinet, Philippe and Lee, Sukhan and Sanz, Pedro J.}
}
