Publications
2022
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
Bavle Hriday, Sanchez-Lopez Jose Luis, Shaheer Muhammad, Civera Javier, Voos Holger
arXiv preprint arXiv:2212.11770, 2022
A Review of Radio Frequency Based Localisation for Aerial and Ground Robots with 5G Future Perspectives,
Kabiri Meisam, Cimarelli Claudio, Bavle Hriday, Sanchez-Lopez Jose Luis, Voos, Holger
Sensors, 23, 1, 188, 2022, MDPI
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments
Bavle Hriday, Sanchez-Lopez Jose Luis, Shaheer Muhammad, Civera Javier, Voos, Holger
arXiv preprint arXiv:2211.08754, 2022 (IROS 2022 Workshop)
Visual SLAM: What Are the Current Trends and What to Expect?
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez, Holger Voos
Sensors 22 (23), 9297
Unclonable human-invisible machine vision markers leveraging the omnidirectional chiral Bragg diffraction of cholesteric spherical reflectors
Agha Hakam, Geng Yong, Ma, Xu, Avşar Deniz Işınsu, Kizhakidathazhath Rijeesh, Zhang Yan-Song, Tourani Ali, Bavle Hriday, Sanchez-Lopez Jose-Luis, Voos Holger
Light: Science & Applications, 11,1,309,2022, Nature Publishing Group UK London
Robot Localization using Situational Graphs and Building Architectural Plans
Muhammad Shaheer, Hriday Bavle, Jose Luis Sanchez-Lopez, Holger Voos
arXiv preprint arXiv:2209.11575
Situational graphs for robot navigation in structured indoor environments
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, Holger Voos
IEEE Robotics and Automation Letters
Performance Analysis of Localization Algorithms for Inspections in 2D and 3D Unstructured Environments Using 3D Laser Sensors and UAVs
Paul Espinosa Peralta, Marco Andrés Luna, Paloma De la Puente, Pascual Campoy, Hriday Bavle, Adrián Carrio, Christyan Cruz Ulloa
Sensors 22 (14), 5122
RAUM-VO: Rotational Adjusted Unsupervised Monocular Visual Odometry
Claudio Cimarelli, Hriday Bavle, Jose Luis Sanchez-Lopez, Holger Voos
Sensors 22 (7), 2651
Complete List of Publications on
2024
Millan-Romera, Jose Andres; Bavle, Hriday; Shaheer, Muhammad; Voos, Holger; Sanchez-Lopez, Jose Luis
Metric-Semantic Factor Graph Generation based on Graph Neural Networks Journal Article
In: arXiv preprint arXiv:2409.11972, 2024.
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title = {Metric-Semantic Factor Graph Generation based on Graph Neural Networks},
author = {Jose Andres Millan-Romera and Hriday Bavle and Muhammad Shaheer and Holger Voos and Jose Luis Sanchez-Lopez},
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journal = {arXiv preprint arXiv:2409.11972},
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Fernandez-Cortizas, Miguel; Bavle, Hriday; Perez-Saura, David; Sanchez-Lopez, Jose Luis; Campoy, Pascual; Voos, Holger
Multi s-graphs: an efficient real-time distributed semantic-relational collaborative slam Journal Article
In: arXiv preprint arXiv:2401.05152, 2024.
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year = {2024},
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Radwan, Ahmed; Tourani, Ali; Bavle, Hriday; Voos, Holger; Sanchez-Lopez, Jose Luis
UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments Journal Article
In: arXiv preprint arXiv:2402.07537, 2024.
@article{radwan2024uav,
title = {UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments},
author = {Ahmed Radwan and Ali Tourani and Hriday Bavle and Holger Voos and Jose Luis Sanchez-Lopez},
year = {2024},
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Kabiri, Meisam; Cimarelli, Claudio; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Graph-Based vs. Error State Kalman Filter-Based Fusion of 5G and Inertial Data for MAV Indoor Pose Estimation Journal Article
In: Journal of Intelligent & Robotic Systems, vol. 110, no. 2, pp. 87, 2024.
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Tourani, Ali; Bavle, Hriday; Ejaz, Saad; Morilla-Cabello, David; LOPEZ, Jose Luis SANCHEZ; Voos, Holger
Late Breaking Results on vS-Graphs: Integrating Visual SLAM and Situational Graphs for Multi-level Scene Understanding Inproceedings
In: 2024 IEEE International Conference on Robotics and Automation (ICRA'24), 2024.
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Fernandez-Cortizas, Miguel; Bavle, Hriday; Perez-Saura, David; Sanchez-Lopez, Jose Luis; Campoy, Pascual; Voos, Holger
Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM Journal Article
In: IEEE Robotics and Automation Letters, 2024.
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Tourani, Ali; Bavle, Hriday; Avşar, Deniz Işinsu; Sanchez-Lopez, Jose Luis; Munoz-Salinas, Rafael; Voos, Holger
Vision-based situational graphs exploiting fiducial markers for the integration of semantic entities Journal Article
In: Robotics, vol. 13, no. 7, pp. 106, 2024.
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Shaheer, Muhammad; Millan-Romera, Jose Andres; Bavle, Hriday; Giberna, Marco; Sanchez-Lopez, Jose Luis; Civera, Javier; Voos, Holger
Real-time Localization and Mapping in Architectural Plans with Deviations Journal Article
In: arXiv preprint arXiv:2408.01737, 2024.
@article{shaheer2024real,
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Tourani, Ali; Ejaz, Saad; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Towards Localizing Structural Elements: Merging Geometrical Detection with Semantic Verification in RGB-D Data Journal Article
In: arXiv preprint arXiv:2409.06625, 2024.
@article{tourani2024towards,
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2023
Bavle, Hriday; Sanchez-Lopez, Jose Luis; Civera, Javier; Voos, Holger
Faster optimization in s-graphs exploiting hierarchy Journal Article
In: arXiv preprint arXiv:2308.11242, 2023.
@article{bavle2023faster,
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author = {Hriday Bavle and Jose Luis Sanchez-Lopez and Javier Civera and Holger Voos},
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; Shaheer, Muhammad; Civera, Javier; Voos, Holger
S-graphs+: Real-time localization and mapping leveraging hierarchical representations Journal Article
In: IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4927–4934, 2023.
@article{bavle2023s,
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Tourani, Ali; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Salinas, Rafael Munoz; Voos, Holger
Marker-based Visual SLAM leveraging Hierarchical Representations Journal Article
In: arXiv preprint arXiv:2303.01155, 2023.
@article{tourani2023marker,
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Shaheer, Muhammad; Millan-Romera, Jose Andres; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Civera, Javier; Voos, Holger
Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs Journal Article
In: arXiv preprint arXiv:2303.02076, 2023.
@article{shaheer2023graph,
title = {Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs},
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Shaheer, Muhammad; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Robot Localization Using Situational Graphs (S-Graphs) and Building Architectural Plans Journal Article
In: Robotics, vol. 12, no. 3, pp. 65, 2023.
@article{shaheer2023robot,
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; Cimarelli, Claudio; Tourani, Ali; Voos, Holger
From slam to situational awareness: Challenges and survey Journal Article
In: Sensors, vol. 23, no. 10, pp. 4849, 2023.
@article{bavle2023slam,
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Fernandez-Cortizas, Miguel; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Campoy, Pascual; Voos, Holger
Multi S-graphs: A Collaborative Semantic SLAM architecture Journal Article
In: arXiv preprint arXiv:2305.03441, 2023.
@article{fernandez2023multi,
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Lu, Liang; Fasano, Giancarmine; Carrio, Adrian; Lei, Maolin; Bavle, Hriday; Campoy, Pascual
A comprehensive survey on non-cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection Journal Article
In: Journal of Field Robotics, 2023.
@article{lu2023comprehensive,
title = {A comprehensive survey on non-cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection},
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Shaheer, Muhammad; Millan-Romera, Jose Andres; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Civera, Javier; Voos, Holger
Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans Journal Article
In: arXiv preprint arXiv:2305.09295, 2023.
@article{shaheer2023graphb,
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Cortizas, Miguel Fernandez; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Campoy, Pascual; Voos, Holger
Multi S-graphs: A Collaborative Semantic SLAM architecture. Inproceedings
In: Workshop on Distributed Graph Algorithms for Robotics at ICRA 2023, 2023.
@inproceedings{cortizas2023multi,
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Tourani, Ali; Bavle, Hriday; Lopez, Jose Luis Sanchez; Salinas, Rafael Munoz; Voos, Holger
Hierarchical Visual SLAM based on Fiducial Markers Journal Article
In: 2023.
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Bavle, Hriday; LOPEZ, Jose Luis SANCHEZ; Shaheer, Muhammad; Civera, Javier; Voos, Holger
Real-time Localization and Mapping leveraging Hierarchical Representations Inproceedings
In: ICRA Workshop 2023, 2023.
@inproceedings{bavle2023real,
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Kabiri, Meisam; Cimarelli, Claudio; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Pose Graph Optimization for a MAV Indoor Localization Fusing 5GNR TOA with an IMU Journal Article
In: arXiv preprint arXiv:2306.09826, 2023.
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Kremer, Paul; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
S-nav: Semantic-geometric planning for mobile robots Journal Article
In: arXiv preprint arXiv:2307.01613, 2023.
@article{kremer2023s,
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Tourani, Ali; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Avsar, Deniz Isinsu; Salinas, Rafael Munoz; Voos, Holger
Vision-based situational graphs generating optimizable 3d scene representations Journal Article
In: arXiv preprint arXiv:2309.10461, 2023.
@article{tourani2023vision,
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Millan-Romera, Jose Andres; Bavle, Hriday; Shaheer, Muhammad; Oswald, Martin R; Voos, Holger; Sanchez-Lopez, Jose Luis
Better Situational Graphs by Inferring High-level Semantic-Relational Concepts Journal Article
In: arXiv preprint arXiv:2310.00401, 2023.
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Tourani, Ali; Bavle, Hriday; LOPEZ, Jose Luis SANCHEZ; VOOS, Holger; noz Salinas, Rafael Mu
Late Breaking Results on Visual S-Graphs for Robust Semantic Scene Understanding and Hierarchical Representation Inproceedings
In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'23), 2023.
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ROMERA, José Andrés MILLÁN; Bavle, Hriday; Voos, Holger; LOPEZ, Jose Luis SANCHEZ
Late breaking results on Graph Reasoning on Situational Graphs for higher-concepts generation Inproceedings
In: Internation Conference on Intelligent Robots and Systems 2023, 2023.
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Cortizas, Miguel Fernandez; Bavle, Hriday; Shaheer, Muhammad; LOPEZ, Jose Luis SANCHEZ; Campoy, Pascual; Voos, Holger
Late-breaking results on Multi S-graphs: A Collaborative Semantic SLAM architecture Inproceedings
In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
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2022
Agha, Hakam; Geng, Yong; Ma, Xu; Avşar, Deniz Işinsu; Kizhakidathazhath, Rijeesh; Zhang, Yan-Song; Tourani, Ali; Bavle, Hriday; Sanchez-Lopez, Jose-Luis; Voos, Holger; others,
Unclonable human-invisible machine vision markers leveraging the omnidirectional chiral Bragg diffraction of cholesteric spherical reflectors Journal Article
In: Light: Science & Applications, vol. 11, no. 1, pp. 309, 2022.
@article{agha2022unclonable,
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year = {2022},
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journal = {Light: Science & Applications},
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Kabiri, Meisam; Cimarelli, Claudio; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
A Review of Radio Frequency Based Localisation for Aerial and Ground Robots with 5G Future Perspectives Journal Article
In: Sensors, vol. 23, no. 1, pp. 188, 2022.
@article{kabiri2022review,
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; Shaheer, Muhammad; Civera, Javier; Voos, Holger
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments Journal Article
In: arXiv preprint arXiv:2211.08754, 2022.
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Tourani, Ali; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Visual SLAM: what are the current trends and what to expect? Journal Article
In: Sensors, vol. 22, no. 23, pp. 9297, 2022.
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Shaheer, Muhammad; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Robot localization using situational graphs and building architectural plans Journal Article
In: arXiv preprint arXiv:2209.11575, 2022.
@article{shaheer2022robot,
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Peralta, Paul Espinosa; Luna, Marco Andrés; la Puente, Paloma De; Campoy, Pascual; Bavle, Hriday; Carrio, Adrián; Ulloa, Christyan Cruz
Performance Analysis of Localization Algorithms for Inspections in 2D and 3D Unstructured Environments Using 3D Laser Sensors and UAVs Journal Article
In: Sensors, vol. 22, no. 14, pp. 5122, 2022.
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; Shaheer, Muhammad; Civera, Javier; Voos, Holger
Situational graphs for robot navigation in structured indoor environments Journal Article
In: IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9107–9114, 2022.
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Cimarelli, Claudio; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Voos, Holger
Raum-vo: Rotational adjusted unsupervised monocular visual odometry Journal Article
In: Sensors, vol. 22, no. 7, pp. 2651, 2022.
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2020
Fernandez, R Suarez; Ramos, A Rodr'iguez; Alvarez, A; Rodr'iguez-Vázquez, J; Bavle, H; Lu, L; Fernandez, M; Rodelgo, A; Cobano, A; Alejo, D; others,
The SkyEye team participation in the 2020 Mohamed Bin Zayed International Robotics Challenge Inproceedings
In: Mohamed Bin Zayed International Robotics Competition (MBZIRC) Symposium, 2020.
@inproceedings{suarez2020skyeye,
title = {The SkyEye team participation in the 2020 Mohamed Bin Zayed International Robotics Challenge},
author = {R Suarez Fernandez and A Rodr'iguez Ramos and A Alvarez and J Rodr'iguez-Vázquez and H Bavle and L Lu and M Fernandez and A Rodelgo and A Cobano and D Alejo and others},
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Bavle, Hriday; Puente, Paloma De La; How, Jonathan P; Campoy, Pascual
VPS-SLAM: Visual planar semantic SLAM for aerial robotic systems Journal Article
In: IEEE Access, vol. 8, pp. 60704–60718, 2020.
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Molina, Martin; Carrera, Abraham; Camporredondo, Alberto; Bavle, Hriday; Rodriguez-Ramos, Alejandro; Campoy, Pascual
Building the executive system of autonomous aerial robots using the Aerostack open-source framework Journal Article
In: International Journal of Advanced Robotic Systems, vol. 17, no. 3, pp. 1729881420925000, 2020.
@article{molina2020building,
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2019
Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Bavle, Hriday; Puente, Paloma De La; Campoy, Pascual
A deep reinforcement learning strategy for UAV autonomous landing on a moving platform Journal Article
In: Journal of Intelligent & Robotic Systems, vol. 93, pp. 351–366, 2019.
@article{rodriguez2019deep,
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Bavle, Hriday
Positioning and mapping for aerial robots using on-board perception for autonomous missions PhD Thesis
Industriales, 2019.
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Molina, Martin; Camporredondo, Alberto; Bavle, Hriday; Rodriguez-Ramos, Alejandro; Campoy, Pascual; Molina, A Martin; Camporredondo, A Alberto; Bavle, A Hriday; Rodriguez-Ramos, A Alejandro; Campoy, A Pascual
用于 Aerostack 空中机器人框架的一种执行控制方法 Journal Article
In: Frontiers, vol. 20, no. 1, pp. 60–75, 2019.
@article{molina2019用于,
title = {用于 Aerostack 空中机器人框架的一种执行控制方法},
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Rodriguez-Ramos, Alejandro; Alvarez-Fernandez, Adrian; Bavle, Hriday; Campoy, Pascual; How, Jonathan P
Vision-based multirotor following using synthetic learning techniques Journal Article
In: Sensors, vol. 19, no. 21, pp. 4794, 2019.
@article{rodriguez2019vision,
title = {Vision-based multirotor following using synthetic learning techniques},
author = {Alejandro Rodriguez-Ramos and Adrian Alvarez-Fernandez and Hriday Bavle and Pascual Campoy and Jonathan P How},
year = {2019},
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Sampedro, Carlos; Rodriguez-Ramos, Alejandro; Bavle, Hriday; Carrio, Adrian; Puente, Paloma; Campoy, Pascual
A fully-autonomous aerial robot for search and rescue applications in indoor environments using learning-based techniques Journal Article
In: Journal of Intelligent & Robotic Systems, vol. 95, pp. 601–627, 2019.
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Molina, Martin; Camporredondo, Alberto; Bavle, Hriday; Rodriguez-Ramos, Alejandro; Campoy, Pascual
An execution control method for the Aerostack aerial robotics framework Journal Article
In: Frontiers of Information Technology & Electronic Engineering, vol. 20, no. 1, pp. 60–75, 2019.
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2018
Bavle, Hriday; Manthe, Stephan; Puente, Paloma De La; Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Campoy, Pascual
Stereo visual odometry and semantics based localization of aerial robots in indoor environments Inproceedings
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1018–1023, IEEE 2018.
@inproceedings{bavle2018stereo,
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; la Puente, Paloma De; Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Campoy, Pascual
Fast and robust flight altitude estimation of multirotor UAVs in dynamic unstructured environments using 3D point cloud sensors Journal Article
In: Aerospace, vol. 5, no. 3, pp. 94, 2018.
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Carrio, Adrian; Bavle, Hriday; Campoy, Pascual
Attitude estimation using horizon detection in thermal images Journal Article
In: International Journal of Micro Air Vehicles, vol. 10, no. 4, pp. 352–361, 2018.
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Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Bavle, Hriday; Moreno, Ignacio Gil; Campoy, Pascual
A deep reinforcement learning technique for vision-based autonomous multirotor landing on a moving platform Inproceedings
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1010–1017, IEEE 2018.
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Sampedro, Carlos; Bavle, Hriday; Rodriguez-Ramos, Alejandro; Puente, Paloma La; Campoy, Pascual
Laser-based reactive navigation for multirotor aerial robots using deep reinforcement learning Inproceedings
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1024–1031, IEEE 2018.
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