Publications
- See also: Google Scholar profile.
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2025
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Advanced State Variable Representations
SLAM Handbook. From Localization and Mapping to Spatial Intelligence, Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert, ch. 2, 2025.
A flexible framework for accurate LiDAR odometry, map manipulation, and localization
The International Journal of Robotics Research (IJRR), vol. 44, no. 9, pp. 1553-1599, 2025, (Q1, T1).
2024
Autonomous collaborative mobile robot for greenhouses: Design, development, and validation tests
Smart Agricultural Technology, vol. 9, no. 100606, 2024, (Q1, T1).
Mechanism and Machine Theory, vol. 198, pp. 105657, 2024, (Q1, T1).
Preliminary Results of a Low-Cost Portable Terrestrial LiDAR Based on ICP-SLAM Algorithms. Application to Automatic Forest Digital Inventory
6th Euro-Mediterranean Conference for Environmental Integration (EMCEI-2024), Marrakech, 2024.
Mobile Robotic Dataset for a Typical Mediterranean Greenhouse: The GREENBOT Dataset
Sensors, 2024, (Q2, T2).
2023
Robot tipo Ackermann para tareas de monitorización en edificio bioclimático (in Spanish)
XXIV Congreso Nacional de Ingeniería Mecánica, Las Palmas de Gran Canarias, 2023.
IEEE Robotics & Automation Magazine, vol. 30, no. 4, pp. 91-97, 2023, (Q1, T1).
OpenBeam: Off-Line and On-Line Tools to Solve Static Analysis of Mechanical Structures
Proceedings of the XV Ibero-American Congress of Mechanical Engineering, IACME 2022, pp. 57--63, 2023.
General-Purpose Software Tools in Teaching MMS
Trends in Educational Activity in the Field of Mechanism and Machine Theory, Mechanisms and Machine Science, vol. 128, pp. 201--222, 2023.
SoftwareX, vol. 23, pp. 101443, 2023, (Q2, T2).
2022
OpenBeam: Herramienta offline y online para análisis estático de estructuras (in Spanish)
XV Congreso Iberoamericano de Ingeniería Mecánica, Madrid, 2022. 
Load Disaggregation Through Particle Filtering of Harmonic Features
2022 20th International Conference on Harmonics & Quality of Power (ICHQP), 2022.
2021
A Factor Graph-based approach to vehicle sideslip angle estimation
Sensors, vol. 21, no. 16, pp. 5409, 2021, (Q2, T1).
A general framework for modeling and dynamic simulation of multibody systems using factor graphs
Nonlinear Dynamics, vol. 105, no. 3, pp. 2031-2053, 2021, (Q1, T1).
2020
Modelado y control multivariable del vehículo urbano eléctrico UAL-eCARM (in Spanish)
Revista Iberoamericana de Automática e Informática industrial, vol. 17, no. 2, 2020, (Q4, T3). 
Ultraviolet index (UVI) inside an Almería-type greenhouse (Southeastern Spain)
Agronomy, vol. 10, no. 1, pp. 145, 2020, (Q1, T1).
2019
A topological entropy‐based approach for damage detection of civil engineering structures
CMMoST 2019: 5th International Conference on Mechanical Models in Structural Engineering, Madrid, pp. 35-42, 2019.
Soporte a tres alturas para equipos de medida de parámetros ambientales [National patent ES-2661542_B1]
, 2019.
Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization
Sensors, vol. 19, pp. 3155, 2019, (Q1, T1).
OLAE-ICP: Robust and fast alignment of geometric features with the optimal linear attitude estimator
arXiv preprint 1906.10783 [cs.RO], University of Almeria, 2019.
A Modular Optimization Framework for Localization and Mapping
Robotics: Science and Systems, Freiburg (Germany), 2019.
Uncertainty-aware Calibration of a Hot-Wire Anemometer with Gaussian Process Regression
IEEE Sensors Journal, vol. 19, no. 17, pp. 7515--7524, 2019, (Q1, T1).
2018
Simulador sísmico de bajo coste para uso en prácticas de docencia (in Spanish)
XXXIX Jornadas de Automática, Badajoz, CEA, pp. 299-305, 2018. 
Computers and Electronics in Agriculture, 2018, (Q1, T1).
Computers and Electronics in Agriculture, vol. 145C, pp. 105--121, 2018, (Q1, T1).
2017
Accuracy and efficiency comparison of various nonlinear Kalman filters applied to multibody models
Nonlinear Dynamics, vol. 88, no. 3, pp. 1935--1951, 2017, (Q1, T1).
Vehicle parameter estimation using a model-based estimator
Mechanical Systems and Signal Processing, vol. 87, pp. 227-241, 2017, (Q1, T1).
2016
Analysis and validation of grid DEM generation based on Gaussin Markov Random Field
ISPRS - The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. XLI-B2, pp. 277-284, 2016, (Q3, T2).
A ROS Reactive navigation system for ground vehicles based on TP-Space transformations
XXXVII Jornadas de Automatica, 2016.
Caracterización de mesa de vibraciones mediante análisis espectral
XXI Congreso Nacional de Ingeniería Mecánica, Elche, Spain, 2016.
3D Coastal Monitoring from very dense UAV-based Photogrammetric Point Clouds
International Joint Conference on Mechanics, Design Engineering & Advanced Manufacturing, Catania (Italy), 2016.
Analysis and Validation of Grid DEM Generation Based on Gaussian Markov Random Field (GMRF)
ISPRS Congress, Praga, 2016.
Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
Sensors, vol. 16, no. 3, pp. 333, 2016, (Q1, T1).
A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM
International Journal of Robotics Research, no. 35, pp. 1036-1056, 2016, (Q1, T1).
Time-Variant Gas Distribution Mapping with Obstacle Information
Autonomous Robots, vol. 40, no. 1, pp. 1--16, 2016, (Q2, T2).
Odor recognition in robotics applications by discriminative time-series modeling
Pattern Analysis and Applications, vol. 19, no. 1, pp. 207-220, 2016, (Q3, T2).
2015
Sensors, vol. 15, no. 10, pp. 27374-27392, 2015, (Q1, T1).
A 3D Printed Power-Split Device for Testing Energy Management Strategies Applied to Hybrid Vehicles
3rd IFAC Workshop on Internet Based Control Education (IBCE), 2015.
Design and analysis of a flexible linkage for robot safe operation in collaborative scenarios
Mechanism and Machine Theory, vol. 92, pp. 1-16, 2015, (Q2, T1).
Efficient Reactive Navigation with Exact Collision Determination for 3D Robot Shapes
International Journal of Advanced Robotic Systems, vol. 12, no. 63, 2015, (Q4, T3).
Testing the efficiency and accuracy of multibody-based state observers
ECCOMAS Thematic Conference on Multibody Dynamics, pp. 1595-1606, 2015.
A testbed for benchmarking state observers in Multibody Dynamics
ECCOMAS Thematic Conference on Multibody Dynamics, 2015.
TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles
International Journal of Advanced Robotic Systems, vol. 12, no. 55, 2015, (Q4, T3).
Multibody dynamic systems as Bayesian Networks: applications to robust state estimation of mechanisms
Multibody System Dynamics, vol. 34, no. 2, pp. 103-128, 2015, (Q3, T2).
2014
A proposed software framework aimed at energy-efficient autonomous driving of electric vehicles
International Conference on Simulation, Modelling, and Programming for Autonomous Robots (SIMPAR 2014), D. Brugali et al. (Eds.): SIMPAR 2014, Lecture Notes in Artificial Intelligence, Bergamo (Italy), vol. 8810, pp. 219-230, 2014.
Acoplamiento flexible de seguridad para la interacción hombre-robot (in Spanish)
XX Congreso Nacional de Ingeniería Mecánica, Málaga, 2014.
Towards Benchmarking of State Estimators for Multibody Dynamics
The 3rd Joint International Conference on Multibody System Dynamics, 2014.
The Málaga Urban Dataset: High-rate Stereo and Lidars in a realistic urban scenario
International Journal of Robotics Research, vol. 33, no. 2, pp. 207-214, 2014, (Q1, T1).
2013
ES2389802 B1,
2013.
Robots that can smell: motivation and problems
15th International Symposium on Olfaction and Electronic Nose (ISOEN), Daegu, South Korea, 2013.
An Open Source Framework for Simulating Mobile Robotics Olfaction
15th International Symposium on Olfaction and Electronic Nose (ISOEN), Daegu, South Korea, 2013.
Sensors and Actuators B: Chemical, vol. 188, no. 0, pp. 298--312, 2013, (Q1, T1).
ECCOMAS Multibody Dynamics, ECCOMAS, pp. 167-168, 2013.
IEEE International Conference on Robotics and Automation (ICRA), 2013.
ERODE: An Efficient and Robust Outlier Detector and its Application to Stereovisual Odometry
IEEE International Conference on Robotics and Automation (ICRA), 2013.
An instrumented vehicle for efficient and accurate 3D mapping of roads
Computer-Aided Civil and Infrastructure Engineering (CACAIE), vol. 28, no. 6, 2013, (Q1, T1).
A Robust, Multi-Hypothesis Approach to Matching Occupancy Grid Maps
Robotica, vol. 31, no. 5, pp. 687-701, 2013, (Q3, T2).
A Kalman Filter Based Approach to Probabilistic Gas Distribution Mapping
Proceedings of the 28th Annual ACM Symposium on Applied Computing, Coimbra, Portugal, pp. 217--222, 2013.
2012
ES patent -ES2380472 A1,
2012. 
Overcoming the slow recovery of MOX gas sensors through a system modeling approach
Sensors, vol. 12, no. 10, pp. 13664--13680, 2012, (Q1, T1).
Integración de actividades docentes en la materia Teoría de Estructuras: entre la teoría y el ejercicio profesional (in Spanish)
III Jornadas sobre innovación docente y adaptación al EEES en las titulaciones técnicas, 2012. 
Calibration of MOX gas sensors in open sampling systems based on Gaussian Processes
IEEE Sensors, Taipei, Taiwan, pp. 1--4, 2012.
A Lego Mindstorms NXT approach for teaching at data acquisition, control systems engineering and real-time systems undergraduate courses
Computers & Education, vol. 59, no. 3, 2012, (Q1, T1).
An alternative to the Mahalanobis distance for determining optimal correspondences in data association
IEEE Transactions on Robotics (T-RO), vol. 28, no. 4, 2012, (Q1, T1).
2011
Navegación Reactiva de un Robot Móvil usando Kinect
Actas ROBOT 2011, 2011.
Vehículo robotizado para el levantamiento automático de carreteras en 3D (in Spanish)
ROBOT 2011 (III Workshop de Robótica), Sevilla, 2011.
The Multi-Chamber Electronic Nose--An Improved Olfaction Sensor for Mobile Robotics
Sensors, vol. 11, no. 6, pp. 6145--6164, 2011, (Q1, T1).
The Multi-Chamber Electronic Nose (MCE-nose)
IEEE International Conference on Mechatronics, Istambul, Turkey, 2011.
2010
Innovación en las asignaturas relativas a sistemas de control mediante robots Lego Mindstorms NXT
IV Jornadas de Innovación Educativa y Enseñanza Virtual (Universidad de Málaga), Málaga, 2010.
A tutorial on SE(3) transformation parameterizations and on-manifold optimization
University of Malaga, pp. 0-0, 2010.
Design of a novel MOS-based electronic nose for changing gas concentrations
1st INTERNATIONAL CONFERENCE ON APPLIED BIONICS AND BIOMECHANICS (ICABB 2010), 2010.
An Experimental Comparison of Image Feature Detectors and Descriptors applied to Grid Map Matching
University of Malaga, 2010.
Optimal Filtering for Non-Parametric Observation Models: Applications to Localization and SLAM
The International Journal of Robotics Research (IJRR), vol. 29, no. 14, 2010, (Q1, T1).
2009
ES2308920 B1,
2009.
Vehículo terrestre para el análisis topográfico de firmes de infraestructuras lineales (in Spanish)
ES1069405 U,
2009. 
A Collection of Outdoor Robotic Datasets with centimeter-accuracy Ground Truth
Autonomous Robots, vol. 27, no. 4, pp. 327--351, 2009, (Q2, T2).
A Statistical Approach to Gas Distribution Modelling with Mobile Robots - The Kernel DM+V Algorithm
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
Stereo vision-specific models for Particle Filter-based SLAM
Robotics and Autonomous Systems, vol. 57, no. 9, pp. 955--970, 2009, (Q2, T2).
SANCHO, a Fair Host Robot. A Description
IEEE International Conference on Mechatronics (ICM'09), Malaga (Spain), 2009.
Mobile Robot Localization based on Ultra-Wide-Band Ranging: A Particle Filter Approach
Robotics and Autonomous Systems, vol. 57, no. 5, pp. 496--507, 2009, (Q2, T2).
Subjective Local Maps for Hybrid Metric-Topological SLAM
Robotics and Autonomous Systems, vol. 57, no. 1, pp. 64--74, 2009, (Q2, T2).
2008
Efficient Probabilistic Range-Only SLAM
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS08), Nice (France), pp. 1017--1022, 2008.
Derivation and Implementation of a Full 6D EKF-based Solution to Bearing-Range SLAM
University of Malaga, 2008.
An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization
IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, CA (USA), pp. 461--466, 2008.
A Pure Probabilistic Approach to Range-Only SLAM
IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, CA (USA), pp. 1436--1441, 2008.
La Silla Robótica SENA: un Enfoque Basado en la Interacción Hombre-Máquina (in spanish)
RIAI, Revista Iberoamericana de Automática e Informática Industrial, vol. 5, no. 2, pp. 38--47, 2008.
A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao-Blackwellized Particle Filters
International Journal of Robotics Research, vol. 27, no. 1, pp. 73--81, 2008, (Q1, T1).
Foundations of Parameterized Trajectories-based Space Transformations for Obstacle Avoidance
Mobile Robots Motion Planning: New Challenges, ch. 2, 2008.
Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations
Autonomous Robots, vol. 24, no. 1, pp. 29--48, 2008, (Q2, T2).
Towards a Unified Bayesian Approach to Hybrid Metric-Topological SLAM
IEEE Transactions on Robotics, vol. 24, no. 2, pp. 259--270, 2008, (Q2, T1).
2007
New experiment and final conclusions about localization techniques
System Engineering and Automation Dpt. - University of Málaga (Spain), 2007.
UWB-based Global localization: Comparison between Particle Filter and Triangulation approaches
System Engineering and Automation Dpt. - University of Málaga (Spain), 2007.
An Efficient Closed-form Solution to Probabilistic 6D Visual Odometry for a Stereo Camera
Advanced Concepts for Intelligent Vision Systems, LNCS (from Advanced Concepts for Intelligent Vision Systems), Delft (The Netherlands), vol. 4678, pp. 932-942, 2007.
Experimental kinematics for wheeled skid-steer mobile robots
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego (USA), 2007.
Creation and Visualization of 3D Scenes with the MRPT library
University of Malaga, 2007.
Una Formulacion Cerrada para Odometria Visual Probabilistica en 6D con una Camara Estereo (in Spanish)
XXVIII Jornadas de Automática, XXVIII Jornadas de Automática, 2007.
Ladar Scan Preprocessing for Robust Motion Estimation
International Symposium on Signal Processing and its Applications (ISSPA), Sharjah (United Arab Emirates), 2007.
A Probabilistic Observation Model for Stereo Vision Systems: Application to Particle Filter-Based Mapping and Localization
3rd Iberian Conference on Pattern Recognition and Image Analysis, LNCS (3rd Iberian Conference on Pattern Recognition and Im. An.), vol. 4477, pp. 346-353, 2007.
Localización de vehículos utilizando tecnología UWB y GPS en entornos interiores y exteriores (in Spanish)
XXVIII Jornadas de Automática, Huelva (Spain), 2007.
Mobile Robot Ego-Motion Estimation by Proprioceptive Sensor Fusion
International Symposium on Signal Processing and its Applications (ISSPA'07), Sharja (U.A.E.), 2007.
A New Approach for Large-Scale Localization and Mapping: Hybrid Metric-Topological SLAM
IEEE International Conference on Robotics and Automation (ICRA'07), Roma (Italy), 2007.
A Consensus-based Approach for Estimating the Observation Likelihood of Accurate Range Sensors
IEEE International Conference on Robotics and Automation (ICRA'07), Roma (Italy), 2007.
Silla de Ruedas Robótica para Dar más Independencia a su Usuario (in Spanish)
II Congreso Internacional de Robótica, Domótica y Teleasistencia (DRT4All'07), Madrid (Spain), pp. CD--ROM, 2007.
A new method for robust and efficient occupancy grid-map matching [3rd. Iberian Conference on Pattern Recognition and Image Analysis (IBPRIA'07)]
LNCS (3rd Iberian Conference on Pattern Recognition and Image An, vol. 4478, pp. 194--201, 2007.
Integrating SLAM into Gas Distribution Mapping
Proceedings of ICRA Workshop on Robotic Olfaction – Towards Real Applications, Rome (Italy), 2007.
A Rao-Blackwellisation Approach to GDM SLAM - Integrating SLAM and Gas Distribution Mapping
3rd European Conference on Mobile Robots, Freiburg (Germany), 2007.
Combination of UWB and GPS for indoor-outdoor vehicle localization
IEEE International Symposium on Intelligent Signal Processing, Alcala de Henares (Madrid), 2007.
Application of UWB and GPS Technologies for Vehicle Localization in Combined Indoor-Outdoor Environments
International Symposium on Signal Processing and its Applications (ISSPA), Sharjah (United Arab Emirates), 2007.
2006
High-resolution pursuit for detecting flaw echoes close to the material surface in ultrasonic NDT
NDT and E International, vol. 39, no. 6, pp. 487--492, 2006, (Q1, T1).
A Monte Carlo Approach for near-optimal and efficient AGV positioning that enables UWB and GPS sensor fusion. Mathematical basis and testing
System Engineering and Automation Dpt. - University of Málaga (Spain), 2006.
Particle Filters: Theory and Applications to Mobile Robots Localization and Mapping
University of Malaga, 2006.
A Derivation for the Maximum Value of the Mean Information
University of Malaga, 2006.
Using Windows Native Priorities for Developing Soft Real-Time Applications
University of Malaga, 2006.
Statistical Characterization of range measurements provided by the Time Domain PulsON P210 Development Kit
System Engineering and Automation Dpt. - University of Málaga (Spain), 2006.
Tests on the Time Domain PulsON 210 Evaluation Kit in static and dynamic performance
System Engineering and Automation Dpt. - University of Málaga (Spain), 2006.
Un Enfoque Probabilístico para la Estimación del Desplazamiento de un Robot Móvil Dotado de Visión Estéreo (in Spanish)