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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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.

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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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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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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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.

BibTeX

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

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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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.

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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.

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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.

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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.

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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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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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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.

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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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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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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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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.

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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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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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.

BibTeX

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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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.

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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.

BibTeX

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.

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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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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.

BibTeX

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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