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 

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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

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 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)

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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

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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

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Robot Localization using Situational Graphs and Building Architectural Plans

Muhammad Shaheer, Hriday Bavle, Jose Luis Sanchez-Lopez, Holger Voos
arXiv preprint arXiv:2209.11575

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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

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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

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RAUM-VO: Rotational Adjusted Unsupervised Monocular Visual Odometry

Claudio Cimarelli, Hriday Bavle, Jose Luis Sanchez-Lopez, Holger Voos
Sensors 22 (7), 2651

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62 entries « 1 of 2 »

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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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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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

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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.

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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.

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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.

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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.

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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.

BibTeX

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.

BibTeX

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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62 entries « 1 of 2 »