Angel Santamaria-Navarro — accepted AI-conference papers

2022

ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity

Maira Saboia, Lillian Clark, Vivek Thangavelu, Jeffrey A. Edlund, Kyohei Otsu, Gustavo J. Correa +13

RA-L 2022

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to to

Cited by 35 Source ↗Scholar ↗

2021

Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter With Adaptive Behaviors

Seyed Abolfazl Fakoorian, Angel Santamaria-Navarro, Brett Thomas Lopez, Dan Simon, Ali-akbar Agha-mohammadi

RA-L 2021

This work proposes a resilient and adaptive state estimation framework for robots operating in perceptually-degraded environments. The approach, called Adaptive Maximum Correntropy Criterion Kalman Filtering (AMCCKF), is inherently robust to corrupted measurements, such as those containing jumps or

Cited by 28 Source ↗Scholar ↗

2021

Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments

Yasin Almalioglu, Angel Santamaria-Navarro, Benjamin Morrell, Ali-Akbar Agha-Mohammadi

IROS 2021poster

In recent years, unsupervised deep learning approaches have received significant attention to estimating the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging environments due to perceptual degradation, occlusions, and rapi…

Cited by 10 Source ↗Scholar ↗

2020

Multi-task closed-loop inverse kinematics stability through semidefinite programming

Josep Marti-Saumell, Angel Santamaria-Navarro, Carlos Ocampo-Martinez, Juan Andrade-Cetto

ICRA 2020poster

Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the local stability problem of a hierarchical closed-loop inverse kinematics algorithm for such…

Cited by 5 Source ↗Scholar ↗

2020

Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments

Andrew Kramer, Carl Stahoviak, Angel Santamaria-Navarro, Ali-akbar Agha-mohammadi, Christoffer Heckman

ICRA 2020poster

We present an approach for estimating the body-frame velocity of a mobile robot. We combine measurements from a millimeter-wave radar-on-a-chip sensor and an inertial measurement unit (IMU) in a batch optimization over a sliding window of recent measurements. The sensor suite employed is lightweight…

Cited by 112 Source ↗Scholar ↗

2020

Squash-Box Feasibility Driven Differential Dynamic Programming

Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro

IROS 2020poster

Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that they have a lower computational cost per iteration when compared with off-the-she…

Cited by 25 Source ↗Scholar ↗

2017

Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming

Roberto Rossi, Angel Santamaria-Navarro, Juan Andrade-Cetto, Paolo Rocco

RA-L 2017

In this paper, a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e., for the control of an aerial vehicle equipped with a robot arm. The proposed approach applies the online active set strategy to generate a feasible trajectory of the joints, in ord

Cited by 33 Source ↗Scholar ↗

2016

Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation

Vincenzo Lippiello, Jonathan Cacace, Angel Santamaria-Navarro, Juan Andrade-Cetto, Miguel Angel Trujillo, Yamnia Rodríguez Esteves +1

RA-L 2016

In this letter, a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e., for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits

Cited by 136 Source ↗Scholar ↗

2015

High-frequency MAV state estimation using low-cost inertial and optical flow measurement units

Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

IROS 2015poster

This paper develops a simple and low-cost method for 3D, high-rate vehicle state estimation, specially designed for free-flying Micro Aerial Vehicles (MAVs). We fuse observations from inertial measurement units and the recently appeared low-cost optical flow smart cameras. These smart cameras integr…

Cited by 37 Source ↗Scholar ↗