The Institut de Robòtica i Informàtica Industrial was created in November 1995 as a Joint Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC).

The Institute was created with three main objectives: a) to promote a multidisciplinary center where CSIC and UPC researchers from different fields can combine efforts to carry out research on robotics and applied informatics; b) to offer to the community an Institute for fundamental and pre‐industrial technological research, offering also scientific education through doctorate and postgraduate courses; and c) to promote a quality‐based center being competitive enough to join other partners to participate in local, national and European research programs.

Pàgina web del Departament

Recent Submissions

  • Skill-oriented designer of conceptual robotic structures 

    Ramos, Francisco; Scrob, Cristian O.; Vázquez Fernández-Pacheco, Andrés S.; Fernández Rodríguez, Raúl; Olivares Alarcos, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This communication presents an application for the use of ontologies in the generation of robot structures. The ontology developed for this app relies on the IEEE Standard Ontologies for Robotics and Automation (ORA) and ...
  • Personalized robot assistant for support in dressing 

    Jevtic, Aleksandar; Flores Valle, Andrés; Alenyà Ribas, Guillem; Chance, Greg; Caleb-Solly, Praminda; Dogramadzi, Sanja; Torras, Carme (2019)
    Article
    Open Access
    Robot-assisted dressing is performed in close physical interaction with users who may have a wide range of physical characteristics and abilities. Design of user adaptive and personalized robots in this context is still ...
  • Adapting robot task planning to user preferences: an assistive shoe dressing example 

    Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (2019-08-01)
    Article
    Open Access
    Healthcare robots will be the next big advance in humans’ domestic welfare, with robots able to assist elderly people and users with disabilities. However, each user has his/her own preferences, needs and abilities. ...
  • Optimal state observation using quadratic boundedness: application to UAV disturbance estimation 

    Cayero Becerra, Julián Francisco; Rotondo, Damiano; Morcego Seix, Bernardo; Puig Cayuela, Vicenç (2019-03-01)
    Article
    Open Access
    This paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability analysis, the convergence rate and the ultimate (steady-state) error ...
  • Robust and real-time detection and tracking of moving objects with minimum 2d LiDAR information to advance autonomous cargo handling in ports 

    Vaquero Gómez, Víctor; Repiso Polo, Ely; Sanfeliu Cortés, Alberto (Multidisciplinary Digital Publishing Institute (MDPI), 2018-12-29)
    Article
    Open Access
    Detecting and tracking moving objects (DATMO) is an essential component for autonomous driving and transportation. In this paper, we present a computationally low-cost and robust DATMO system which uses as input only 2D ...
  • Frequency-based detection of replay attacks: application to a multiple tank system 

    Sánchez Corrales, Helem Sabina; Rotondo, Damiano; Escobet Canal, Teresa; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2018-01-01)
    Article
    Open Access
    This paper presents a benchmark for the detection and isolation of cyber attacks, which is a non-linear controlled interconnected system based on a two tank system. In this benchmark, a malicious attacker wants to remain ...
  • Resource-based modality selection in robot-assisted cognitive training 

    Taranovic, Aleksandar; Jevtic, Aleksandar; Hernández Farigola, Joan; Tantinyà, Natalia; Abdelnour, Carla; Torras, Carme (2018)
    Conference report
    Open Access
    The majority of socially assistive robots interact with their users using multiple modalities. Multimodality is an important feature that can enable them to adapt to the user behavior and the environment. In this work, we ...
  • Visual semantic re-ranker for text spotting 

    Sabir, Ahmed; Moreno-Noguer, Francesc; Padró, Lluís (2018)
    Conference report
    Open Access
    Many current state-of-the-art methods for text recognition are based on purely local information and ignore the semantic corre- lation between text and its surrounding visual context. In this paper, we propose a post-processing ...
  • A distributed set-membership approach based on zonotopes for interconnected systems 

    Wang, Ye; Álamo, Teodoro; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This paper proposes a distributed set-membership approach based on zonotopes for interconnected systems with coupled states and unknown-but-bounded uncertainties (both state disturbances and measurement noise). The objective ...
  • Fault-tolerant model predictive control applied to integrated urban drainage and sanitation systems for environmental protection 

    Meseguer Amela, Jordi; Joseph Duran, Bernat; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç (2018)
    Conference report
    Open Access
    This paper presents a FTC framework for a Real-Time MPC-based Controller applied to Integrated Urban Drainage and Sanitation Systems (UDSSs) which was proposed in the LIFE EFFIDRAIN project. This project deals with the ...
  • Health-aware LPV-MPC based on system reliability assessment for drinking water networks 

    Karimi Pour, Fatemeh; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This paper proposes a health-aware model predictive control (MPC) for drinking water networks that includes an additional goal to extend the components and system reliability. The components and system reliability are ...
  • Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers 

    Rotondo, Damiano; Cristofaro, Andrea; Johansen, Tor Arne; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç (2018-01-01)
    Article
    Open Access
    This paper proposes a linear parameter varying (LPV) interval unknown input observer (UIO) for therobust fault diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs) describedby an ...

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