Recent Submissions

  • Cellular-enabled collaborative robots planning and operations for search-and-rescue scenarios 

    Romero Sepúlveda, Arnau; Delgado Pinillos, Carmen; Zanzi, Lanfranco; Suárez Feijóo, Raúl; Costa Pérez, Xavier (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    Mission-critical operations, particularly in the context of Search-and-Rescue (SAR) and emergency response situations, demand optimal performance and efficiency from every component involved to maximize the success probability ...
  • Hybrid stereo dense depth estimation for robotic tasks in industrial automation 

    Singh, Suhani; Suppa, Michael; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    We introduce a simple yet effective approach for dense depth reconstruction that operates directly on raw disparity data, eliminating the need for additional disparity refinement stages. By leveraging disparity maps generated ...
  • Software package for efficient use of a robotic anthropomorphic hand 

    Pujol Closa, Marina; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    The aim of this work is the development of a complete software package to exploit a robotic anthropomorphic hand, such as the Allegro Robotic Hand, allowing to easily perform accurate grasps. It includes the Inverse and ...
  • Evaluation of grasp quality measures in real grasps 

    Zakariapour, Pouria; Palomo Avellaneda, Leopold; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    This paper presents the implementation of grasp quality measures in a real-world robotic setup. Specifically, the largest wrench that a grasp can resist due to perturbations in any direction has been computed considering ...
  • PI Passivity-based control of a stand-alone three-phase current source inverter 

    Boira Pujol, Pau; Ortega Martínez, Romeo; Dòria Cerezo, Arnau; Griñó Cubero, Robert (Elsevier, 2024)
    Conference report
    Open Access
    This paper presents the design of a Proportional-Integral Passivity-based Controller (PI-PBC) for a current source inverter feeding a resistive load. Thanks to the definition of a new passive output, the closed-loop system ...
  • Averaged models and analysis of a three-phase CSI as a dual of a three-phase VSI 

    Boira Pujol, Pau; Dòria Cerezo, Arnau; Griñó Cubero, Robert (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    The averaged model of a current source inverter (CSI) as a voltage source inverter (VSI) dual is presented in this paper. The differential equations defining the CSI are in-troduced in matrix representation for phase-to-phase ...
  • Improved dynamic resource reservation-based AGV traffic control with optimized task allocation 

    Verma, Parikshit; Olm Miras, Josep Maria; Suárez Feijóo, Raúl; Toldrà Fernández, Pol (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    Traffic management of multi-AGV fleets through improved dynamic resource reservation (IDRR) has been recently proven to be an interesting alternative within zone control-based approaches in terms of time completion efficiency ...
  • Dual-arm robotic manipulation using visual guidance 

    Ramon Canyameres, Pol; Palomo Avellaneda, Leopold; Zaplana Agut, Isiah; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    Dual-arm manipulation poses many challenges in order to actually perform manipulation tasks with enough efficiency. To cope with this challenges, this work-in-progress describes a system for motion coordination of a mobile ...
  • Analytical approach to reorient unknown objects via in-hand manipulation 

    Shirzadi Maryan, Morad; Zaplana Agut, Isiah; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2024)
    Conference report
    Open Access
    This paper introduces a novel strategy to enhance the dexterous in-hand manipulation capabilities of robotic hands, focusing on reorienting unknown objects around any specified axis. The proposed method leverages tactile ...
  • Optimal recharge sequencing in multi-AGV systems: A mixed ILP approach 

    Lo Iudice, Francesco; Olm Miras, Josep Maria; Suárez Feijóo, Raúl (2024-10)
    Article
    Open Access
    Battery level is a critical issue in AGV transportation systems, as AGVs cannot run out of power while operating. Hence, at some point they will be forced to stop and recharge at any of the charging stations available in ...
  • Distributed control for collaborative robotic systems using 5G edge computing 

    Urbaniak, Dominik; Bro Damsgaard, Sebastian; Zhang, Weifan; Rosell, Jan; Suárez Feijóo, Raúl; Suppa, Michael (Institute of Electrical and Electronics Engineers (IEEE), 2024-01-01)
    Article
    Open Access
    Collaborative and mobile robotics for industrial environments promise to enable autonomous and flexible production processes. However, this vision also poses significant challenges to the robotic systems, requiring them ...
  • Effect of layout discretization on the performance of zone control-based multi-AGV traffic management systems 

    Verma, Parikshit; Olm Miras, Josep Maria; Suárez Feijóo, Raúl (Multidisciplinary Digital Publishing Institute, 2024-09-03)
    Article
    Open Access
    Automatic Guided Vehicles (AGVs) are widely used in flexible manufacturing systems for material handling inside the factory. Traffic management strategies, required to guarantee a conflict-free operation of the overall ...

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