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Distributed Discrete-Time Dynamic Outer Approximation of the Intersection of Ellipsoids
Eduardo Sebastián;Rodrigo Aldana-López;Rosario Aragüés;Eduardo Montijano;Carlos Sagüés
IEEE Transactions on Automatic Control
Year: 2025 | Early Access Article |
This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an undirected network, we consider a setup where each node measures an ellipsoid, defined as a time-varying positive semidefinite matrix. The goal is to devise a distributed algorithm to track the tightest outer approximatio...Show More
CLIPSwarm: Generating Drone Shows from Text Prompts with Vision-Language Models
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
This paper introduces CLIPSwarm, a new algorithm designed to automate the modeling of swarm drone formations based on natural language. The algorithm begins by enriching a provided word, to compose a text prompt that serves as input to an iterative approach to find the formation that best matches the provided word. The algorithm iteratively refines formations of robots to align with the textual de...Show More
SpectralWaste Dataset: Multimodal Data for Waste Sorting Automation
Sara Casao;Fernando Peña;Alberto Sabater;Rosa Castillón;Darío Suárez;Eduardo Montijano;Ana C. Murillo
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
The increase in non-biodegradable waste is a worldwide concern. Recycling facilities play a crucial role, but their automation is hindered by the complex characteristics of waste recycling lines like clutter or object deformation. In addition, the lack of publicly available labeled data for these environments makes developing robust perception systems challenging. Our work explores the benefits of...Show More
Dynamics-Aware Fast Multi-Drone Exploration of Unknown Environments
Juan Zacarías Bardají;David Morilla-Cabello;Eduardo Montijano
2024 7th Iberian Robotics Conference (ROBOT)
Year: 2024 | Conference Paper |
Tasks such as surveillance, search and rescue operations, or disaster mapping require exploring unknown environments in the shortest possible time. Furthermore, when these tasks are performed by multiple robots, team coordination is crucial to achieve the desired efficiency. In this spirit, this paper proposes a method that introduces notions about each robot's dynamics into the planning process. ...Show More
Vision-Based Feedback on Correct Sensor Placement in Medical Studies
Nerea Gallego;Carlos Plou;Luis Montesano;Ana C. Murillo;Eduardo Montijano
2024 7th Iberian Robotics Conference (ROBOT)
Year: 2024 | Conference Paper |
Wearable sensors simplify complex tasks involving continuous monitoring of physiological and environmental data or user interaction with smart systems. Automatic recognition of correct placement of these sensors is essential in situations where non-expert users are employing them. However, this is a very challenging problem because of the different environment conditions, heterogeneous people feat...Show More
Perceptual Factors for Environmental Modeling in Robotic Active Perception
David Morilla-Cabello;Jonas Westheider;Marija Popović;Eduardo Montijano
2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
Cited by: Papers (2)
Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning about high-level scene understanding using measurements from vision-based neural networks. Due to appearance-based reasoning, the measurements are susceptible to several environmental effects such as the presence of occlude...Show More
Accelerated Alternating Direction Method of Multipliers Gradient Tracking for Distributed Optimization
Eduardo Sebastián;Mauro Franceschelli;Andrea Gasparri;Eduardo Montijano;Carlos Sagüés
This letter presents a novel accelerated distributed algorithm for unconstrained consensus optimization over static undirected networks. The proposed algorithm combines the benefits of acceleration from momentum, the robustness of the alternating direction method of multipliers, and the computational efficiency of gradient tracking to surpass existing state-of-the-art methods in convergence speed,...Show More
CineMPC: A Fully Autonomous Drone Cinematography System Incorporating Zoom, Focus, Pose, and Scene Composition
Pablo Pueyo;Juan Dendarieta;Eduardo Montijano;Ana Cristina Murillo;Mac Schwager
We present CineMPC, a complete cinematographic system that autonomously controls a drone to film multiple targets recording user-specified aesthetic objectives. Existing solutions in autonomous cinematography control only the camera extrinsics, namely, its position and orientation. In contrast, CineMPC is the first solution that includes the camera intrinsic parameters in the control loop, which a...Show More
ECO-DKF: Event-Triggered and Certifiable Optimal Distributed Kalman Filter Under Unknown Correlations
This article presents ECO-DKF, the first Event-Triggered and Certifiable Optimal Distributed Kalman Filter. Our algorithm addresses two major issues inherent to distributed Kalman filters: fully distributed and scalable optimal estimation and reduction of the communication bandwidth usage. The first requires to solve an NP-hard optimization problem, forcing relaxations that lose optimality guarant...Show More
Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks
Eduardo Sebastián;Thai Duong;Nikolay Atanasov;Eduardo Montijano;Carlos Sagüés
2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)
Year: 2023 | Conference Paper |
The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the behavior of a node is coupled to all the other nodes by the unknown interaction model. Besides, high-dimensional and nonlinear state trajectories make it difficult to identify if two nodes are connected. Current solutions...Show More
Robust Fusion for Bayesian Semantic Mapping
David Morilla-Cabello;Lorenzo Mur-Labadia;Ruben Martinez-Cantin;Eduardo Montijano
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2023 | Conference Paper |
Cited by: Papers (4)
The integration of semantic information in a map allows robots to understand better their environment and make high-level decisions. In the last few years, neural networks have shown enormous progress in their perception capabilities. However, when fusing multiple observations from a neural network in a semantic map, its inherent overconfidence with unknown data gives too much weight to the outlie...Show More
CineTransfer: Controlling a Robot to Imitate Cinematographic Style from a Single Example
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2023 | Conference Paper |
Cited by: Papers (2)
This work presents CineTransfer, an algorithmic framework that drives a robot to record a video sequence that mimics the cinematographic style of an input video. We propose features that abstract the aesthetic style of the input video, so the robot can transfer this style to a scene with visual details that are significantly different from the input video. The framework builds upon CineMPC, a tool...Show More
LEMURS: Learning Distributed Multi-Robot Interactions
Eduardo Sebastián;Thai Duong;Nikolay Atanasov;Eduardo Montijano;Carlos Sagüés
2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (2)
This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints in interconnected systems and achieve closed-loop stability. We represent a multi-robot control policy using an architecture that combines self-attention mechan...Show More
A Framework for Fast Prototyping of Photo-realistic Environments with Multiple Pedestrians
Sara Casao;Andrés Otero;Álvaro Serra-Gómez;Ana C. Murillo;Javier Alonso-Mora;Eduardo Montijano
2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
Robotic applications involving people often require advanced perception systems to better understand complex real-world scenarios. To address this challenge, photo-realistic and physics simulators are gaining popularity as a means of generating accurate data labeling and designing scenarios for evaluating generalization capabilities, e.g., lighting changes, camera movements or different weather co...Show More
Accelerated Multi-Stage Discrete Time Dynamic Average Consensus
Eduardo Sebastián;Eduardo Montijano;Carlos Sagüés;Mauro Franceschelli;Andrea Gasparri
This letter presents a novel solution for the discrete time dynamic average consensus problem. Given a set of time-varying input signals over the nodes of an undirected graph, the proposed algorithm tracks, at each node, the input signals’ average. The algorithm is based on a sequence of consensus stages combined with a second order diffusive protocol. The former overcomes the need of k-th order d...Show More
Distributed Outer Approximation of the Intersection of Ellipsoids
Rodrigo Aldana-López;Eduardo Sebastián;Rosario Aragüés;Eduardo Montijano;Carlos Sagüés
The outer Löwner-John method is widely used in sensor fusion applications to find the smallest ellipsoid that can approximate the intersection of a set of ellipsoids, described by positive definite covariance matrices modeling the quality of each sensor. We propose a distributed algorithm to solve this problem when these matrices are defined over the network’s nodes. This is of particular signific...Show More
Active Classification of Moving Targets With Learned Control Policies
Álvaro Serra-Gómez;Eduardo Montijano;Wendelin Böhmer;Javier Alonso-Mora
In this paper, we consider the problem where a drone has to collect semantic information to classify multiple moving targets. In particular, we address the challenge of computing control inputs that move the drone to informative viewpoints, position and orientation, when the information is extracted using a “black-box” classifier, e.g., a deep learning neural network. These algorithms typically la...Show More
Sweep-Your-Map: Efficient Coverage Planning for Aerial Teams in Large-Scale Environments
David Morilla-Cabello;Luca Bartolomei;Lucas Teixeira;Eduardo Montijano;Margarita Chli
The efficiency of path-planning in robot navigation is crucial in tasks such as search-and-rescue and disaster surveying, but this is emphasized even more when considering multi-rotor aerial robots due to the limited battery and flight time. In this spirit, this work proposes an efficient, hierarchical planner to achieve comprehensive visual coverage of large-scale outdoor scenarios for small dron...Show More
CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography
2022 International Conference on Robotics and Automation (ICRA)
Year: 2022 | Conference Paper |
Cited by: Papers (5)
We present CineMPC, an algorithm to autonomously control a UAV-borne video camera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls both the position and orientation of the camera-the camera extrinsics-as well as the lens focal length, focal distance, and aperture-the camera intrinsics. While some existing solutions autonomously control the position and orientation of the camera,...Show More
Adaptive Multirobot Implicit Control of Heterogeneous Herds
IEEE Transactions on Robotics
Cited by: Papers (8)
This article presents a novel control strategy to herd groups of noncooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous reactive dynamics, which makes the development of flexible control solutions a challenging problem. In this context, we propose Implicit Control, an approach that...Show More
Nonlinear Implementable Control of a Dual Active Bridge Series Resonant Converter
Eduardo Sebastián;Eduardo Montijano;Estanis Oyarbide;Carlos Bernal;Rubén Gálvez
This article presents a novel control strategy for a dual active bridge series resonant converter. The strategy seeks to ensure the stability of the converter over its entire dynamic range while enhances the transient response. Both properties allow the use of the converter in new applications, where fast dynamics are required, surpassing the performance of existing feedback loops. Starting from t...Show More
All-in-one: Certifiable Optimal Distributed Kalman Filter under Unknown Correlations
2021 60th IEEE Conference on Decision and Control (CDC)
Year: 2021 | Conference Paper |
Cited by: Papers (9)
The optimal fusion of estimates in a Distributed Kalman Filter (DKF) requires tracking of the complete network error covariance, problematic in terms of memory and communication. A scalable alternative is to fuse estimates under unknown correlations, doing the update by solving an optimisation problem. Unfortunately, this problem is NP-hard, forcing relaxations that lose optimality guarantees. Mot...Show More
Multi-robot Implicit Control of Herds
2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (5)
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics, escaping from the herders. Many applications demand the herding of numerous and/or heterogeneous entities, making the development of flexible control solutions cha...Show More
Distributed Multi-Target Tracking in Camera Networks
2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (8)
Most recent works on multi-target tracking with multiple cameras focus on centralized systems. In contrast, this paper presents a multi-target tracking approach implemented in a distributed camera network. The advantages of distributed systems lie in lighter communication management, greater robustness to failures and local decision making. On the other hand, data association and information fusio...Show More
Probabilistic Multi-Robot Path Planning with High-Level Specifications using Petri Net Models
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
This paper considers the path planning problem of a multi-robot system in an uncertain environment with high-level specifications. The specification that the team of robots has to satisfy is given in form of a Boolean formula over the set of regions of interest. Opposed to the majority of solutions for this type of problem, in this paper we consider that the robots do not know with precision the l...Show More
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