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Jose Luis Sanchez Lopez

Jose Luis Sanchez Lopez

Research scientist

Faculty or Centre Interdisciplinary Centre for Security, Reliability and Trust
Department Automation
Postal Address Université du Luxembourg
29, avenue JF Kennedy
L-1855 Luxembourg
Campus Office JFK Building, E04-425
Email
Telephone (+352) 46 66 44 5380
Fax (+352) 46 66 44 35380

Dr. Jose-Luis SANCHEZ-LOPEZ joined the Automation & Robotics Research Group (ARG) of the Interdisciplinary Centre for Security Reliability and Trust (SnT) of the University of Luxembourg UL as a Postdoc Research Associate in June 2017, being promoted to Postdoc Research Scientist in January 2021.

He is currently the leader of the Aerial Robotics Lab (AeRoLab) and other robotics laboratories of the ARG, headed by Prof. Holger VOOS.

Jose-Luis received his Ph.D. in Robotics (May 2017), his Master's degree in Automation and Robotics (Oct. 2012), and his Engineering degree in Industrial Engineering (Sep. 2010), at the Technical University of Madrid (Madrid, SPAIN).

During his Ph.D. studies, he was a research fellow at the Computer Vision and Aerial Robotics Research Group (CVAR) of the Centre for Automation and Robotics (CAR) of the CSIC-UPM (Madrid, SPAIN), led by Prof. Pascual CAMPOY. In addition, he was a visiting research fellow for six months (Jul. – Dec. 2012) at Arizona State University (AZ, USA) under the supervision of Prof. Srikanth SARIPALLI, and for thirteen months (Sep. – Dec. 2014 & Nov. 2015 – Oct. 2016) at LAAS-CNRS (Toulouse, FRANCE), under the supervision of Prof. Simon LACROIX and Prof. Antonio FRANCHI, respectively.

His main research goal is to provide robots, with a special focus on aerial robots, with the maximum level of autonomy allowing them to perform different missions without human intervention.

His research interests can be summarized in three main topics: (1) intelligent and cognitive system architectures for multi-agent robotic systems; (2) situational awareness for intelligent robots, including sensor fusion and state estimation, localization and mapping, computer vision, and machine learning; and (3) trajectory and path planning and control of autonomous robots.

He has authored more than 56 publications in peer-reviewed international journals and proceedings of international conferences, related to his research fields with more than 1150 citations and an h-index of 18 (source Google Scholar).

He has contributed, with different roles, in multiple research projects, including European, Luxembourg National, Spain National, and Technology Transfer and Innovation projects. He has participated in several international robotics competitions, such as the IMAV 2012, IMAV 2013, or IARC 2014, with very successful results.

Among his teaching activities, he had lecturer responsibilities in different courses in both MICS, BiCS, and BING programs of the UL, and in the GITI program of the UPM.

In parallel, he has acted as projects evaluator, Ph.D. thesis reviewer, journal editor, conference program committee, and reviewer of journal and conference papers.

Besides, Jose-Luis is committed to the scientific dissemination to the general public, being one of the Luxembourg National Coordinators of the Robotics European Week, and having participated in multiple educational / general public events, as well as being linked to several high-schools to teach robotics.

His researcher and professional profiles are:

Last updated on: Tuesday, 09 February 2021

Here is my updated CV (09/02/2021)

Curriculum Vitae (pdf)



Last updated on: 09 Feb 2021

Title: A General Architecture for Autonomous Navigation of Unmanned Aerial Systems

Author: Jose-Luis SANCHEZ-LOPEZ

Supervisors: Prof. Pascual Campoy Cervera and Prof. Martin Molina Gonzalez

University: Technical University of Madrid (Madrid, Spain)

Defense date: May 2017

Download: http://oa.upm.es/46302/1/JOSE_LUIS_SANCHEZ_LOPEZ_5.pdf

Aerostack open-source SW: https://github.com/vision4uav/aerostack

 

Abstract:

Achieving a fully autonomous navigation of a fleet of aerial robots when performing complex dynamic missions in challenging unstructured environments is an essential requirement to simplify the use of micro aerial vehicles and to extend their utilization to a greater number of applications. The development of a multi-robot fully autonomous intelligent system is still an open problem with partial and incomplete solutions in aerial robotics, and only some open source architecture frameworks for aerial systems have been developed so far, which present limitations in their autonomy level and in their versatility.

This thesis presents a versatile system architecture for aerial robotics that enables the fully autonomous operation of an aerial multi-robot system and fulfills the requirements of being mission, platform, and environment agnostic. It has been characterized in an abstract and general level, defining its seven subsystems, their functionalities, and their interfaces in a top-level way that guarantees the versatility and flexibility. The seven proposed subsystems are: Feature Extraction System, Motor System, Situation Awareness System, Executive System, Planning System, Supervision System, and Communication System. This system architecture provides system designers the initial architecture for developing their own fully autonomous intelligent aerial multi-robot systems. The validation of the proposed system architecture is a complex task since the performance of the complete system is highly dependent on the mission, the environment, the hardware setup, the employed algorithms, and their software implementation. Three kinds of scenarios were successfully used to provide a global evaluation of the complete system, validating the performance of the proposed system architecture: (1) international aerial robotics competitions, (2) self-proposed challenges, and (3) public demonstrations.

In addition, this thesis presents several algorithms, with different level of detail, that yield to an increased level of autonomy of the aerial robotic systems, developed in the context of particular applications. These algorithms can be gathered in the following five groups: (1) perception, (2) control, (3) planning and task execution, (4) intelligence and cognition, and (5) communication and interaction. All these components have been evaluated isolatedly, demonstrating their individual performance. Nevertheless, their importance stands out when integrated into the complete system. The most important components presented in this thesis, analyzed with a high level of detail, are the following: (1) helipad detection and reconstruction for shipboard landing, (2) perception based on odometry and visual markers with environment reconstruction, (3) perception based on odometry and computer vision for gridded maps, (4) perception based on multi-sensor fusion with environment reconstruction, and (5) collision-free path planning for dynamic environments.

This thesis presents as well, an open-source software framework, called Aerostack, that facilitates a cost and time effective implementation of the designed system architecture and the developed algorithms by means of software components. This framework is modularly organized in software packages gathered by their functionality, their dependencies, and their life state. The proposed software framework relies on the widely used ROS middleware for interprocess communication and uses an asynchronous multiprocess paradigm where every elementary functionality is implemented as a single process, easing the development and allowing a distributed processing. The proposed software framework has demonstrated to be versatile and scalable, being the developers capable of reusing its software modules as needed, and modifying or developing new modules without adaptations of any other components.



Last updated on: 09 Feb 2021

You can find my open-source software in:

 



Last updated on: 09 Feb 2021

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2020

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See detailA Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles
Castillo Lopez, Manuel; Ludivig, Philippe; Sajadi-Alamdari, Seyed Amin; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel; Voos, Holger

in IEEE Robotics and Automation Letters (2020), 5(2), 3620-3625

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See detailA Survey of Computer Vision Methods for 2D Object Detection from Unmanned Aerial Vehicles
Cazzato, Dario; Cimarelli, Claudio; Sanchez Lopez, Jose Luis; Voos, Holger; Leo, Marco

in Journal of Imaging (2020), 6(8), 78

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See detailTrajectory Tracking for Aerial Robots: an Optimization-Based Planning and Control Approach
Sanchez Lopez, Jose Luis; Castillo Lopez, Manuel; Olivares Mendez, Miguel Angel; Voos, Holger

in Journal of Intelligent and Robotic Systems (2020), 100

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See detailSemantic situation awareness of ellipse shapes via deep learning for multirotor aerial robots with a 2D LIDAR
Sanchez Lopez, Jose Luis; Castillo Lopez, Manuel; Voos, Holger

in 2020 International Conference on Unmanned Aircraft Systems (ICUAS) (2020, September)

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2019

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See detailReal-Time Human Head Imitation for Humanoid Robots
Cazzato, Dario; Cimarelli, Claudio; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel; Voos, Holger

in Proceedings of the 2019 3rd International Conference on Artificial Intelligence and Virtual Reality (2019, July)

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See detailVision-Based Aircraft Pose Estimation for UAVs Autonomous Inspection without Fiducial Markers
Cazzato, Dario; Olivares Mendez, Miguel Angel; Sanchez Lopez, Jose Luis; Voos, Holger

in IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society (2019, October)

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See detailDeep learning based semantic situation awareness system for multirotor aerial robots using LIDAR
Sanchez Lopez, Jose Luis; Sampedro, Carlos; Cazzato, Dario; Voos, Holger

in 2019 International Conference on Unmanned Aircraft Systems (ICUAS) (2019, June)

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See detailA Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Sanchez Lopez, Jose Luis; Wang, Min; Olivares Mendez, Miguel Angel; Molina, Martin; Voos, Holger

in Journal of Intelligent and Robotic Systems (2019), 93(1-2), 33-53

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2018

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See detailFast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors
Bavle, Hriday; Sanchez Lopez, Jose Luis; de la Puente, Paloma; Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Campoy, Pascual

in Aerospace (2018), 5(3),

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See detailModel Predictive Control for Aerial Collision Avoidance in Dynamic Environments
Castillo Lopez, Manuel; Sajadi Alamdari, Seyed Amin; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel; Voos, Holger

in 26th Mediterranean Conference on Control and Automation (MED), Zadar, Croatia, 19-22 June 2018 (2018, June)

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See detailTowards trajectory planning from a given path for multirotor aerial robots trajectory tracking
Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel; Castillo Lopez, Manuel; Voos, Holger

in 2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018 (2018, June)

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2017

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See detailA flight altitude estimator for multirotor UAVs in dynamic and unstructured indoor environments
Bavle, Hriday; Sanchez Lopez, Jose Luis; Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Campoy, Pascual

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)

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See detailHuman-Robot Cooperation in Surface Inspection Aerial Missions
Molina, Martin; Frau, Pedro; Maraval, Dario; Sanchez Lopez, Jose Luis; Bavle, Hriday; Campoy, Pascual

Scientific Conference (2017, September 21)

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See detailTML: a language to specify aerial robotic missions for the framework Aerostack
Molina, Martin; Suarez-Fernandez, Ramon; Sampedro, Carlos; Sanchez Lopez, Jose Luis; Campy, Pascual

in International Journal of Intelligent Computing and Cybernetics (2017), 10(4), 491-512

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See detailA fully-autonomous aerial robotic solution for the 2016 International Micro Air Vehicle competition
Sampedro, Carlos; Bavle, Hriday; Rodríguez-Ramos, Alejandro; Carrio, Adrian; Suárez Fernández, Ramon; Sanchez Lopez, Jose Luis; Campoy, Pascual

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)

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See detailVisual Marker based Multi-Sensor Fusion State Estimation
Sanchez Lopez, Jose Luis; Arellano-Quintana, Victor; Tognon, Marco; Campoy, Pascual; Franchi, Antonio

in IFAC-PapersOnLine (2017, July), 50(1), 16003-16008

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See detailA Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework
Sanchez Lopez, Jose Luis; Molina, Martin; Bavle, Hriday; Sampedro, Carlos; Suarez-Fernandez, Ramon A.; Palacios, David; Diaz-Moreno, Alberto; Campoy, Pascual

in Journal of Intelligent and Robotic Systems (2017), 88(2), 638-709

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See detailA robust real-time path planner for the collision-free navigation of multirotor aerial robots in dynamic environments
Sanchez Lopez, Jose Luis; Pestana, Puerta; Campoy, Pascual

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)

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2016

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See detailUBRISTES: UAV-based building rehabilitation with visible and thermal infrared remote sensing
Carrio, Adrian; Pestana, Jesus; Sanchez Lopez, Jose Luis; Suarez-Fernandez, Ramon; Campoy, Pascual; Tendero, Ricardo; Garcia-De-Viedma, Maria; Gonzalez-Rodrigo, Beatriz; Bonatti, Javier; Rejas-Ayuga, Juan Gregorio

in Robot 2015: Second Iberian Robotics Conference (2016, November)

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See detailHistorical evolution of the unmanned aerial vehicles to the present
Cuerno-Rejado, Cristina; Garcia-Hernandez, Luis; Sanchez-Carmona, Alejandro; Carrio, Adrian; Sanchez Lopez, Jose Luis; Campoy, Pascual

in Dyna (2016), 91(3), 282--288

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See detailThermal monitoring of facades by UAV: applications for building rehabilitation
Gonzalez-Rodrigo, Beatriz; Tendero-Caballero, Ricardo; Garcia-De-Viedma, Maria; Pestana-Puerta, Jesus; Carrio-Fernandez, Adrian; Sanchez Lopez, Jose Luis; Suarez-Fernandez, Ramon; Campoy-Cervera, Pascual; Bonatti-Gonzalez, Javier; Gregorio Rejas-Ayuga, Juan

in Dyna (2016), 91(5), 571--577

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See detailSpecifying complex missions for aerial robotics in dynamic environments
Molina, Martin; Diaz-Moreno, Adrian; Palacios, David; Suarez-Fernandez, Ramon A; Sanchez Lopez, Jose Luis; Sampedro, Carlos; Bavle, Hriday; Campoy, Pascual

Scientific Conference (2016, October)

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See detailVision-Based Steering Control, Speed Assistance and Localization for Inner-CityVehicles
Olivares Mendez, Miguel Angel; Sanchez Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi Alamdari, Seyed Amin; Voos, Holger

in Sensors (2016), 16(3), 362

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See detailA vision-based quadrotor multi-robot solution for the indoor autonomy challenge of the 2013 international micro air vehicle competition
Pestana, Jesus; Sanchez Lopez, Jose Luis; De La Puente, Paloma; Carrio, Adrian; Campoy, Pascual

in Journal of Intelligent and Robotic Systems (2016), 84(1-4), 601--620

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See detailA flexible and dynamic mission planning architecture for UAV swarm coordination
Sampedro, Carlos; Bavle, Hriday; Sanchez Lopez, Jose Luis; Suarez-Fernandez, Ramon; Rodríguez-Ramos, Alejandro; Molina, Martin; Campoy, Pascual

in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)

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See detailA reliable open-source system architecture for the fast designing and prototyping of autonomous multi-uav systems: Simulation and experimentation
Sanchez Lopez, Jose Luis; Pestana, Jesus; De La Puente, Paloma; Campoy, Pascual

in Journal of Intelligent and Robotic Systems (2016), 84(1-4), 779-797

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See detailAEROSTACK: An architecture and open-source software framework for aerial robotics
Sanchez Lopez, Jose Luis; Suárez Fernández, Ramon; Bavle, Hriday; Sampedro, Carlos; Molina, Martin; Pestana, Jesus; Campoy, Pascual

in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)

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See detailNatural user interfaces for human-drone multi-modal interaction
Suárez Fernández, Ramon; Sanchez Lopez, Jose Luis; Sampedro, Carlos; Bavle, Hriday; Molina, Martin; Campoy, Pascual

in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)

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2015

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See detailAutomated low-cost smartphone-based lateral flow saliva test reader for drugs-of-abuse detection
Carrio, Adrian; Sampedro, Carlos; Sanchez Lopez, Jose Luis; Pimienta, Miguel; Campoy, Pascual

in Sensors (2015), 15(11), 29569--29593

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See detailFuseon: A low-cost portable multi sensor fusion research testbed for robotics
Sanchez Lopez, Jose Luis; Fu, Changhong; Campoy, Pascual

in Robot 2015: Second Iberian Robotics Conference (2015, November)

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See detailA vision based aerial robot solution for the Mission 7 of the International Aerial Robotics Competition
Sanchez Lopez, Jose Luis; Pestana, Jesus; Collumeau, Jean-Francois; Suarez-Fernandez, Ramon; Campoy, Pascual; Molina, Martin

in 2015 International Conference on Unmanned Aircraft Systems (ICUAS) (2015, June)

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2014

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See detailHMPMR strategy for real-time tracking in aerial images, using direct methods
Martinez, Carol; Campoy, Pascual; Fernando Mondragon, Ivan; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel

in Machine Vision and Applications (2014), 25(5), 1283-1308

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See detailA general purpose configurable controller for indoors and outdoors gps-denied navigation for multirotor unmanned aerial vehicles
Pestana, Jesus; Mellado-Bataller, Ignacio; Sanchez Lopez, Jose Luis; Fu, Changhong; Mondragon, Ivan; Campoy, Pascual

in Journal of Intelligent and Robotic Systems (2014), 73(1-4), 387--400

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See detailA Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition
Pestana, Jesus; Sanchez Lopez, Jose Luis; de la Puente, Paloma; Carrio, Adrian; Campoy, Pascual

in 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May)

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See detailComputer vision based general object following for GPS-denied multirotor unmanned vehicles
Pestana, Jesus; Sanchez Lopez, Jose Luis; Saripalli, Srikanth; Campoy, Pascual

in 2014 American Control Conference (2014, June)

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See detailA vision based aerial robot solution for the IARC 2014 by the Technical University of Madrid
Pestana, Jesus; Sanchez Lopez, Jose Luis; Suarez-Fernandez, Ramon; Collumeau, Jean-Francois; Campoy, Pascual; Martin-Cristobal, J; Molina, Martin; De Lope, J; Maravall, Dario

Scientific Conference (2014, August)

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See detailA system for the design and development of vision-based multi-robot quadrotor swarms
Sanchez Lopez, Jose Luis; Pestana, Jesus; de la Puente, Paloma; Suarez-Fernandez, Ramon; Campoy, Pascual

in 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May)

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See detailAn approach toward visual autonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis; Pestana, Jesus; Saripalli, Srikanth; Campoy, Pascual

in Journal of Intelligent and Robotic Systems (2014), 74(1-2), 113--127

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2013

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See detailIdentificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012
Hernandez Hernandez, Lucia; Pestana, Jesus; Casares Palomeque, Daniel; Campoy, Pascual; Sanchez Lopez, Jose Luis

in RIAI - Revista Iberoamericana de Automatica e Informatica Industrial (2013), 10(3),

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See detailA Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
Martínez, Carol; Mondragón, Iván; Campoy, Pascual; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel

in Journal of Intelligent and Robotic Systems (2013), 72(3-4), 517-539

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See detailAutonomous Guided Car Using a Fuzzy Controller
Olivares Mendez, Miguel Angel; Campoy, Pascual; Mellado-Bataller, Ignacio; Mondragon, Ivan; Martinez, Carol; Sanchez Lopez, Jose Luis

in Sen Gupta, Gourab; Bailey, Donald; Demidenko, Serge; Carnegie, Dale (Eds.) Recent Advances in Robotics and Automation (2013)

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See detailA general purpose configurable navigation controller for micro aerial multirotor vehicles
Pestana, Jesus; Mellado-Bataller, Ignacio; Fu, Changhong; Sanchez Lopez, Jose Luis; Mondragon, Ivan; Campoy, Pascual

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

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See detailFloor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles
Pestana, Jesus; Mellado-Bataller, ignacio; Sanchez Lopez, Jose Luis; Fu; Mondragon, Ivan; Campoy, Pascual

in ROBOT2013: First Iberian Robotics Conference (2013, November)

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See detailVision based GPS-denied Object Tracking and following for unmanned aerial vehicles
Pestana, Jesus; Sanchez Lopez, Jose Luis; Campoy, Pascual; Saripalli, Srikanth

in 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013, October)

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See detailVisual quadrotor swarm for the IMAV 2013 indoor competition
Sanchez Lopez, Jose Luis; Pestana, Jesus; de la Puente, Paloma; Carrio, Adrian; Campoy, Pascual

in ROBOT2013: First Iberian Robotics Conference (2013, November)

See detailVisual quadrotor swarm for the IMAV 2013 indoor competition
Sanchez Lopez, Jose Luis; Pestana, Jesus; de la Puente, Paloma; Carrio, Adrian; Campoy, Pascual

Scientific Conference (2013, September)

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See detailAutonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis; Saripalli, Srikanth; Campoy, Pascual

in 69th American Helicopter Society International Annual Forum 2013 (2013, May)

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See detailToward visual autonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis; Saripalli, Srikanth; Campoy, Pascual; Pestana, Jesus; Fu, Changhong

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

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2012

See detailVisual identification and tracking for vertical and horizontal targets in the IMAV competition
Fu, Changhong; Pestana, Jesus; Mellado-Bataller, Ignacio; Sanchez Lopez, Jose Luis; Campoy, Pascual

Scientific Conference (2012, June)

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See detailA Hierarchical Strategy for Real-Time Tracking On-Board UAVs
Martinez, Carol; Campoy, Pascual; Mondragon, Ivan F.; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel

in ICUAS 2012 : 2012 International Conference on Unmanned Aircraft Systems (2012, June)

See detailA visual guided quadrotor for IMAV 2012 indoor autonomy competition and visual control of a quadrotor for the IMAV 2012 indoor dynamics competition
Pestana, Jesus; Mellado-Bataller, Ignacio; Fu, Changhong; Sanchez Lopez, Jose Luis; Mondragon, Ivan; Campoy, Pascual

Scientific Conference (2012, July)

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See detailAR Drone identification and navigation control at CVG-UPM
Pestana, Jesus; Sanchez Lopez, Jose Luis; Mellado-Bataller, Ignacio; Fu, Changhong; Campoy, Pascual

Scientific Conference (2012, September)

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See detailPath Following Control System for car-like Unmanned Ground Systems
Sanchez Lopez, Jose Luis

Bachelor/master dissertation (2012)

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See detailAdaptive Control System based on Lineal Control Theory for the Path-Following Problem of a Car-Like Mobile Robot
Sanchez Lopez, Jose Luis; Campoy, Pascual; Olivares Mendez, Miguel Angel; Mellado-Bataller, Ignacio; Galindo, David

in IFAC Conference on Advances in PID Control PID'12 (2012)

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2010

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