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
2022
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: arXiv preprint arXiv:2212.11770, 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.
@article{cimarelli2022raum,
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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.
@article{bavle2022situational,
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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.
@article{espinosa2022performance,
title = {Performance Analysis of Localization Algorithms for Inspections in 2D and 3D Unstructured Environments Using 3D Laser Sensors and UAVs},
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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.
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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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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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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.
@article{bavle2022advanced,
title = {Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments},
author = {Hriday Bavle and Jose Luis Sanchez-Lopez and Muhammad Shaheer and Javier Civera and Holger Voos},
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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,
title = {A Review of Radio Frequency Based Localisation for Aerial and Ground Robots with 5G Future Perspectives},
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2021
Jurado, Andrés Solares; Fonzo, Germán Andrés Di; Pérez, Rafael; Bavle, Hriday; Fernandez-Cortizas, Miguel; Rodriguez-Vázquez, Javier; Robledo, Guillermo; Campoy, Pascual
Indoor Visual Semantic SLAM improves VIO and RGBD for narrow space navigation Journal Article
In: 2021.
@article{juradoindoor,
title = {Indoor Visual Semantic SLAM improves VIO and RGBD for narrow space navigation},
author = {Andrés Solares Jurado and Germán Andrés Di Fonzo and Rafael Pérez and Hriday Bavle and Miguel Fernandez-Cortizas and Javier Rodriguez-Vázquez and Guillermo Robledo and Pascual Campoy},
year = {2021},
date = {2021-07-01},
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; Schmidt, Eduardo F; Voos, Holger
From slam to situational awareness: Challenges and survey Journal Article
In: arXiv preprint arXiv:2110.00273, 2021.
@article{bavle2021slam,
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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},
year = {2020},
date = {2020-01-01},
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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,
title = {Building the executive system of autonomous aerial robots using the Aerostack open-source framework},
author = {Martin Molina and Abraham Carrera and Alberto Camporredondo and Hriday Bavle and Alejandro Rodriguez-Ramos and Pascual Campoy},
year = {2020},
date = {2020-01-01},
journal = {International Journal of Advanced Robotic Systems},
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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.
@article{bavle2020vps,
title = {VPS-SLAM: Visual planar semantic SLAM for aerial robotic systems},
author = {Hriday Bavle and Paloma De La Puente and Jonathan P How and Pascual Campoy},
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journal = {IEEE Access},
volume = {8},
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2019
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.
@article{molina2019execution,
title = {An execution control method for the Aerostack aerial robotics framework},
author = {Martin Molina and Alberto Camporredondo and Hriday Bavle and Alejandro Rodriguez-Ramos and Pascual Campoy},
year = {2019},
date = {2019-01-01},
journal = {Frontiers of Information Technology & Electronic Engineering},
volume = {20},
number = {1},
pages = {60--75},
publisher = {Zhejiang University Press},
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Bavle, Hriday
Positioning and mapping for aerial robots using on-board perception for autonomous missions PhD Thesis
Industriales, 2019.
@phdthesis{bavle2019positioning,
title = {Positioning and mapping for aerial robots using on-board perception for autonomous missions},
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year = {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.
@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.
@article{sampedro2019fully,
title = {A fully-autonomous aerial robot for search and rescue applications in indoor environments using learning-based techniques},
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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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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,
title = {Stereo visual odometry and semantics based localization of aerial robots in indoor environments},
author = {Hriday Bavle and Stephan Manthe and Paloma De La Puente and Alejandro Rodriguez-Ramos and Carlos Sampedro and Pascual Campoy},
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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.
@inproceedings{sampedro2018laser,
title = {Laser-based reactive navigation for multirotor aerial robots using deep reinforcement learning},
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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.
@inproceedings{rodriguez2018deep,
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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.
@article{carrio2018attitude,
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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.
@article{bavle2018fast,
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2017
Molina, Martin; Frau, Pedro; Maraval, Dario; Lopez, Jose Luis Sanchez; Bavle, Hriday; Campoy, Pascual
Human-robot cooperation in surface inspection aerial missions Journal Article
In: 2017.
@article{molina2017human,
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Bavle, Hriday; Sanchez-Lopez, Jose Luis; Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Campoy, Pascual
A flight altitude estimator for multirotor UAVs in dynamic and unstructured indoor environments Inproceedings
In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1044–1051, IEEE 2017.
@inproceedings{bavle2017flight,
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Sampedro, Carlos; Bavle, Hriday; Rodr'iguez-Ramos, Alejandro; Carrio, Adrian; Fernández, Ramon A Suárez; Sanchez-Lopez, Jose Luis; Campoy, Pascual
A fully-autonomous aerial robotic solution for the 2016 International Micro Air Vehicle competition Inproceedings
In: 2017 International conference on unmanned aircraft systems (ICUAS), pp. 989–998, IEEE 2017.
@inproceedings{sampedro2017fully,
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Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Bavle, Hriday; Milosevic, Zorana; Garcia-Vaquero, Alejandro; Campoy, Pascual
Towards fully autonomous landing on moving platforms for rotary unmanned aerial vehicles Inproceedings
In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 170–178, IEEE 2017.
@inproceedings{rodriguez2017towards,
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Sanchez-Lopez, Jose Luis; Molina, Martin; Bavle, Hriday; Sampedro, Carlos; Fernández, Ramón A Suárez; Campoy, Pascual
A multi-layered component-based approach for the development of aerial robotic systems: The aerostack framework Journal Article
In: Journal of Intelligent & Robotic Systems, vol. 88, pp. 683–709, 2017.
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2016
Fernandez, Ramon A Suarez; Sanchez-Lopez, Jose Luis; Sampedro, Carlos; Bavle, Hriday; Molina, Martin; Campoy, Pascual
Natural user interfaces for human-drone multi-modal interaction Inproceedings
In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1013–1022, IEEE 2016.
@inproceedings{fernandez2016natural,
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Sanchez-Lopez, Jose Luis; Fernández, Ramón A Suárez; Bavle, Hriday; Sampedro, Carlos; Molina, Martin; Pestana, Jesus; Campoy, Pascual
Aerostack: An architecture and open-source software framework for aerial robotics Inproceedings
In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 332–341, IEEE 2016.
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Sampedro, Carlos; Bavle, Hriday; Sanchez-Lopez, Jose Luis; Fernández, Ramon A Suárez; Rodr'iguez-Ramos, Alejandro; Molina, Martin; Campoy, Pascual
A flexible and dynamic mission planning architecture for uav swarm coordination Inproceedings
In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 355–363, IEEE 2016.
@inproceedings{sampedro2016flexible,
title = {A flexible and dynamic mission planning architecture for uav swarm coordination},
author = {Carlos Sampedro and Hriday Bavle and Jose Luis Sanchez-Lopez and Ramon A Suárez Fernández and Alejandro Rodr'iguez-Ramos and Martin Molina and Pascual Campoy},
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Rodr'iguez-Ramos, A; Sampedro, Carlos; Carrio, Adrian; Bavle, Hriday; Fernández, RA; Miloševi'c, Z; Campoy, Pascual
A monocular pose estimation strategy for uav autonomous navigation in gnss-denied environments Inproceedings
In: Proceedings of the International Micro Air Vehicle Conference and Flight Competition, Beijing, China, pp. 17–22, 2016.
@inproceedings{rodriguez2016monocular,
title = {A monocular pose estimation strategy for uav autonomous navigation in gnss-denied environments},
author = {A Rodr'iguez-Ramos and Carlos Sampedro and Adrian Carrio and Hriday Bavle and RA Fernández and Z Miloševi'c and Pascual Campoy},
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Molina, Martin; Diaz-Moreno, Adrian; Palacios, David; Suarez-Fernandez, Ramon A; Lopez, Jose Luis Sanchez; Sampedro, Carlos; Bavle, Hriday; Campoy, Pascual
Specifying complex missions for aerial robotics in dynamic environments Journal Article
In: 2016.
@article{molina2016specifying,
title = {Specifying complex missions for aerial robotics in dynamic environments},
author = {Martin Molina and Adrian Diaz-Moreno and David Palacios and Ramon A Suarez-Fernandez and Jose Luis Sanchez Lopez and Carlos Sampedro and Hriday Bavle and Pascual Campoy},
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Sanchez-Lopez, JL; Fernandez, RAS; Bavle, H; Sampedro, C; Molina, M; Pestana, J; Campoy, P
Aerostack: An architecture and open-source framework for aerial robotics Inproceedings
In: International Conference on Unmanned Aircraft Systems (ICUAS 2016), Arlington, USA, 2016.
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title = {Aerostack: An architecture and open-source framework for aerial robotics},
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