Research

Autonomous Mobile Robots

Autonomous navigation in outdoor environments
Feature-based geo-Localization
LiDAR odometry
Visual control
Human-robot interaction

DualQuat-LOAM: LiDAR odometry and mapping parameterized on dual quaternions - 2025

Edison Velasco-Sánchez, Luis F. Recalde, Guanrui Li, Francisco A. Candelas, Santiago T. Puente, Fernando Torres

Robotics and Autonomous Systems, Elsevier

Geo-Localization Based on Dynamically Weighted Factor-Graph - 2024

Miguel Ángel Muñoz-Bañón, Alejandro Olivas, Edison Velasco-Sánchez, Francisco A. Candelas, Fernando Torres

IEEE Robotics and Automation Letters + IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection - 2024

Edison Velasco-Sánchez, Luis F. Recalde, Bryan S. Guevara José Varela-Aldás, Francisco A. Candelas, Santiago T. Puente, Daniel C. Gandolfo

IEEE Robotics and Automation Letters + IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Obstacle Detection with Differences of Normals in Unorganized Point Clouds for Mobile Robotics - 2023

Edison Velasco-Sánchez, Alejandro Olivas, Luis F. Recalde, Bryan S. Guevara, Francisco A. Candelas

IEEE Seventh Ecuador Technical Chapters Meeting (ECTM)

Robust Single Object Tracking and Following by Fusion Strategy - 2023

Alejandro Olivas, Miguel Ángel Muñoz-Bañón, Edison Velasco-Sánchez, Fernando Torres

International Conference on Informatics in Control, Automation and Robotics (ICINCO)

Robust Self-Tuning Data Association for Geo-Referencing Using Lane Markings - 2023

Miguel Ángel Muñoz-Bañón, Jan-Hendrik Pauls, Haohao Hu, Christoph Stiller, Francisco A. Candelas, Fernando Torres

IEEE Robotics and Automation Letters + IEEE International Conference on Robotics and Automation (ICRA)

OpenStreetMap-Based Autonomous Navigation With LiDAR Naive-Valley-Path Obstacle Avoidance - 2022

Miguel Ángel Muñoz-Bañón, Edison Velasco-Sánchez, Francisco A. Candelas, Fernando Torres

IEEE Transactions on Intelligent Transportation Systems

Intelligent Manipulation

Grasp stability
Tactile senssing
Reinforcement Learning
Cooperative manipulation

Grasping Force Estimation in Markerless Visuo-Tactile Sensors - 2024

Julio Castaño-Amorós, Pablo Gil

IEEE Sensors Journal

Measuring Object Rotation via Visuo-Tactile Segmentation of Grasping Region - 2023

Julio Castaño-Amorós, Pablo Gil

IEEE Robotics and Automation Letters (RA-L)

Detection and Depth Estimation for Domestic Waste in Outdoor Environments by Sensors Fusion - 2023

Ignacio de Loyola Páez-Ubieta, Edison Velasco-Sánchez, Santiago T. Puente, Francisco A. Candelas

22nd World Congress of the International Federation of Automatic Control (IFAC) & IFAC-PapersOnLine

Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments - 2023

Ignacio de Loyola Páez-Ubieta, Julio Castaño-Amorós, Santiago T. Puente, Pablo Gil

Journal of Intelligent and Robotic Systems (JINT)

Visual-Tactile Manipulation to Collect Household Waste in Outdoor - 2023

Julio Castaño-Amorós, Ignacio de Loyola Páez-Ubieta, Pablo Gil, Santiago T. Puente

Revista Iberoamericana de Automática e Informática Industrial (RIAI)

Theses

Pose Estimation and Control of Mobile Robots on Unstructured Environments

Edison Velasco-Sánchez Directors: Francisco A. Candelas, Santiago T. Puente

20-11-2024

Autonomous Navigation Based on Geo-Referenced Public Maps

Miguel Ángel Muñoz-Bañón Directors: Fernando Torres Medina, Francisco A. Candelas Herías

07-12-2022

Development of a Complete Autonomous Navigation System Based on GNSS and LiDAR for Ground Robots Operating in Dynamic and Unstructured Environments

Iván del Pino Bastida Directors: Fernando Torres Medina, Juan Andrade Cetto

02-09-2021

Robotic Manipulation Based on Visual and Tactile Perception

Brayan Stiven Zapata Impata Director: Pablo Gil Vázquez

17-09-2020

Tactile Recognition and Control Applied to Deformable Object Manipulation Tasks

Ángel Delgado Rodríguez Directors: Fernando Torres Medina, Carlos Alberto Jara Bravo

27-09-2017

Dynamic Visual Servoing of Robot Manipulators: Optimal Framework with Dynamic Perceptibility and Chaos Compensation

Javier Pérez Alepuz Directors: Jorge Pomares Baeza, Gabriel Jesús García Gómez

01-09-2017

Embedded Arquitecture in FPGA for Dynamic Visual Control of Robotic Manipulators Based on Image

Aiman Alabdo Directors: Jorge Pomares Baeza, Gabriel Jesús García Gómez

04-07-2017

Geometric Recognition of 3D Objects and Deformation Detection in Robotic Manipulation

Carlos Manuel Mateo Agulló Directors: Pablo Gil Vázquez, Fernando Torres Medina

03-07-2017

Safe Human-Robot Interaction Based on Multi-sensor Fusion and Dexterous Manipulation Planning

Juan A. Corrales Ramón Directors: Fernando Torres Medina, Francisco A. Candelas Herías

25-03-2010

Self-Calibrating Visual-Force Control for Trajectory Tracking in Cooperative Robotic Tasks

Gabriel Jesús García Gómez Directors: Jorge Pomares Baeza, Fernando Torres Medina

25-03-2010

Contributions to constructive and collaborative learning on the Internet. Application to virtual and remote industrial robotics laboratories.

Carlos A. Jara Bravo Directors: Francisco A. Candelas Herías, Fernando Torres Medina

22-01-2010

Strategies for Identifying Occlusions and Monocular Planning for Improved Visual Scene Perception

Pablo Gil Vázquez Directors: Fernando Torres Medina, Oscar Reinoso García

17-04-2008

Cooperative robot-robot and human-robot manipulation. Application to flexible automatic disassembly systems

Carolina S. Diaz Baca Directors: Fernando Torres Medina, Santiago T. Puente Méndez

11-10-2007

Indirect 2D visual control for timeless tracking of trajectories and its application to visual-force control strategies in manipulators

Jorge Pomares Baeza Director: Fernando Torres Medina

07-05-2004

Non-destructive automatic disassembly for component re-use. Application to PC disassembly

Santiago T. Puente Méndez Director: Fernando Torres Medina

16-12-2002

Morphological processing of colour images. Application to geodetic reconstruction

Francisco Gabriel Ortíz Zamora Director: Fernando Torres Medina

23-07-2002

Extending spatio-temporal planning techniques to computer vision systems

Francisco Andrés Candelas Herías Director: Fernando Torres Medina

16-11-2001