MIRIAMM - Micro Aerial Vehicles by IRI and ASCAMM
Organisation: Institut de Robòtica i Informàtica Industrial, CSIC-UPC
Address: Parc Tecnològic de Barcelona 4-6, C/ Llorens i Artigas, 08028 Barcelona, Spain
Contact: Joan Solà (Tel: +93 4017337, jsola(at)iri.upc.edu)
- Juan Andrade Cetto (Institut de Robòtica i Informàtica Industrial, CSIC-UPC)
- Àngel Santamaria (Institut de Robòtica i Informàtica Industrial, CSIC-UPC)
- Daniel Serrano (Fundació Privada ASCAMM)
- Santi Vilardaga (Fundació Privada ASCAMM)
- Ernesto H. Teniente (Fundació Privada ASCAMM)
Two research groups are teaming up:
The Institut de Robòtica i Informàtica Industrial (IRI) focuses its activity in human-centered robotics research with expertise in various areas of robotics, such as computational kinematics and geometry, computer vision, mobile robotics (aerial, legged and wheeled robots), artificial intelligence. It has been involved in numerous EU FP7 projects, among which ARCAS, ECHORD++, and CargoANTS.
The Unmanned Systems unit at ASCAMM Technology Centre focuses on aerial and ground robotics for civil applications, sensor data fusion and seamless navigation. The group is involved in the FP7 ICARUS project developing outdoor quadrotors for collaborative mapping and victims search.
Thanks to the complementarity of backgrounds, partners will share their expertise by taking charge of one track each, IRI taking track 1 and ASCAMM track 2.
Joan Solà (PhD) is the project leader. Joan holds a Ramon y Cajal research grant, hosted by IRICSIC. He is the recipient of the 2nd Best thesis award for the GDR Robotique in France (2007). He holds a BSEE from UPC (1995), a MSc (2003) and a PhD in Robotics (2007) from the University of Toulouse. His areas of interest cover sensor fusion for robotics, with a focus on systems with IMU.
Juan Andrade-Cetto (PhD) is Associate Researcher of CSIC and Director at IRI. He is the recipient of the 2004 EURON Georges Giralt Best PhD Award. Holds a BSEE from CETYS Univ. (1993), a MSEE from Purdue Univ. (1995), and a PhD in Robotics from UPC (2003). Interested in SLAM, mobile robot exploration, and perception and action under uncertainty in robotics. Involved in several national and EU projects, he currently leads the role of CSIC in the EU FP7 project CargoAnts.
Àngel Santamaria-Navarro (PhD student) is a Telecomunications engineer specialized in electronic systems and also holds an Industrial Management diploma with an Automation and Robotics master degree. He is currently enrolled in the FP-7 EU project “ARCAS: Aerial Robotics Cooperative Assembly System” and his current research topics involve mobile robotics and computer vision.
Daniel Serrano is a Software Engineer with industrial experience on infrastructure inspections with robots supporting the post-Katrina decommissioning of damaged Oil&Gas platforms (2006-2009). Since 2009, he works on autonomous aerial robots.
Ernesto Teniente (PhD student) works on ground and aerial robots, focusing on path planning and SLAM. His PhD thesis is about "Autonomous 3D map building for urban settings with range data".
Scientific publications of the Team:
- Konolige, K., Agrawal, M. and Solа, J. "Large-Scale Visual Odometry for Rough Terrain", in Kaneko, M. and Nakamura, Y., ed.,'Robotics Research', Springer Berlin Heidelberg, 2011, pp. 201-212.
- Solа, J., Vidal-Calleja, T., Civera, J. and Montiel, J. M. M. "Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines," International Journal of Computer Vision (97), 2012, pp. 339-368.
- A. Penate-Sanchez, J. Andrade-Cetto, and F. Moreno-Noguer. Exhaustive linearization for robust camera pose and focal length estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 35(10):2386-2400, 2013.
- V. Ila, J. M. Porta, and J. Andrade-Cetto. Information-based compact Pose SLAM. IEEE Transactions on Robotics, 26(1):78-93, February 2010.
- D. Serrano, et al. “Seamless Indoor-Outdoor navigation for unmanned multi-sensor serial platforms”, The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-3/W1, 2014
- A. Nolan, D. Serrano, et al. “Obstacle mapping module for quadrotors on outdoor Search and Rescue operations”, IMAV2013