Dr. Jose Luis Sanchez Lopez
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| Faculty or Centre | Interdisciplinary Centre for Security, Reliability and Trust | ||||
| Department | Automation | ||||
| Postal Address |
Université du Luxembourg 29, avenue JF Kennedy L-1855 Luxembourg |
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| Campus Office | JFK Building, E04-425 | ||||
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| Telephone | (+352) 46 66 44 5380 | ||||
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 a projects evaluator, Ph.D. thesis reviewer, journal editor, conference program committee, and reviewer of journal and conference papers.
Besides, Jose-Luis is committed to 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:
- LinkedIn Profile: https://www.linkedin.com/in/joseluis-sanchezlopez/
- ORCiD: https://orcid.org/0000-0001-5018-0925
- Google Scholar Profile: https://scholar.google.com/citations?user=QuzQdDwAAAAJ
- WoS ResearcherID: https://www.webofscience.com/wos/author/record/J-6015-2012
- Scopus Author ID: https://www.scopus.com/authid/detail.uri?authorId=55617310700
- Loop profile: https://loop.frontiersin.org/people/419322/overview
- IEEE Xplore: https://ieeexplore.ieee.org/author/37085482230
Last updated on: Friday, 14 October 2022
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:
- Personal Github profile: https://github.com/joselusl
- Personal Bitbucket profile: https://bitbucket.org/joselusl
- ARG - SnT - UniLu Github profile: https://github.com/snt-robotics
- Vision4UAV - CAR - CSIC & UPM Github profile: https://github.com/vision4uav
- Vision4UAV - CAR - CSIC & UPM Bitbucket profile: https://bitbucket.org/Vision4UAV
Last updated on: 09 Feb 2021
2022
Unclonable human-invisible machine vision markers leveraging the omnidirectional chiral Bragg diffraction of cholesteric spherical reflectors; ; ; ; ; ; ; ; ; ; ;
in Light: Science and Applications (2022), 11(309), 10103841377-022-01002-4
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations; ; ; ;
E-print/Working paper (2022)
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments; ; ; ;
E-print/Working paper (2022)
Situational Graphs for Robot Navigation in Structured Indoor Environments; ; ; ;
E-print/Working paper (2022)
A Review of Radio Frequency Based Localisation for Aerial and Ground Robots with 5G Future Perspectives; ; ; ;
in Sensors (2022), 23(1), 188
A Lightweight Universal Gripper with Low Activation Force for Aerial Grasping; ; ;
E-print/Working paper (2022)
A Hybrid Modelling Approach For Aerial Manipulators; ;
in Journal of Intelligent and Robotic Systems (2022)
2021
2020
A Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles; ; ; ; ;
in IEEE Robotics and Automation Letters (2020), 5(2), 3620-3625
A Survey of Computer Vision Methods for 2D Object Detection from Unmanned Aerial Vehicles; ; ; ;
in Journal of Imaging (2020), 6(8), 78
Trajectory Tracking for Aerial Robots: an Optimization-Based Planning and Control Approach; ; ;
in Journal of Intelligent and Robotic Systems (2020), 100
Semantic situation awareness of ellipse shapes via deep learning for multirotor aerial robots with a 2D LIDAR; ;
in 2020 International Conference on Unmanned Aircraft Systems (ICUAS) (2020, September)
2019
Real-Time Human Head Imitation for Humanoid Robots; ; ; ;
in Proceedings of the 2019 3rd International Conference on Artificial Intelligence and Virtual Reality (2019, July)
Vision-Based Aircraft Pose Estimation for UAVs Autonomous Inspection without Fiducial Markers; ; ;
in IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society (2019, October)
Deep learning based semantic situation awareness system for multirotor aerial robots using LIDAR; ; ;
in 2019 International Conference on Unmanned Aircraft Systems (ICUAS) (2019, June)
A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments; ; ; ;
in Journal of Intelligent and Robotic Systems (2019), 93(1-2), 33-53
2018
Fast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors; ; ; ; ;
in Aerospace (2018), 5(3),
Model Predictive Control for Aerial Collision Avoidance in Dynamic Environments; ; ; ;
in 26th Mediterranean Conference on Control and Automation (MED), Zadar, Croatia, 19-22 June 2018 (2018, June)
Towards trajectory planning from a given path for multirotor aerial robots trajectory tracking; ; ;
in 2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018 (2018, June)
2017
A flight altitude estimator for multirotor UAVs in dynamic and unstructured indoor environments; ; ; ;
in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)
Human-Robot Cooperation in Surface Inspection Aerial Missions; ; ; ; ;
Scientific Conference (2017, September 21)
TML: a language to specify aerial robotic missions for the framework Aerostack; ; ; ;
in International Journal of Intelligent Computing and Cybernetics (2017), 10(4), 491-512
A fully-autonomous aerial robotic solution for the 2016 International Micro Air Vehicle competition; ; ; ; ; ;
in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)
Visual Marker based Multi-Sensor Fusion State Estimation; ; ; ;
in IFAC-PapersOnLine (2017, July), 50(1), 16003-16008
A Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework; ; ; ; ; ; ;
in Journal of Intelligent and Robotic Systems (2017), 88(2), 638-709
A robust real-time path planner for the collision-free navigation of multirotor aerial robots in dynamic environments; ;
in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)
2016
UBRISTES: UAV-based building rehabilitation with visible and thermal infrared remote sensing; ; ; ; ; ; ; ; ;
in Robot 2015: Second Iberian Robotics Conference (2016, November)
Historical evolution of the unmanned aerial vehicles to the present; ; ; ; ;
in Dyna (2016), 91(3), 282--288
Thermal monitoring of facades by UAV: applications for building rehabilitation; ; ; ; ; ; ; ; ;
in Dyna (2016), 91(5), 571--577
Specifying complex missions for aerial robotics in dynamic environments; ; ; ; ; ; ;
Scientific Conference (2016, October)
Vision-Based Steering Control, Speed Assistance and Localization for Inner-CityVehicles; ; ; ; ;
in Sensors (2016), 16(3), 362
A vision-based quadrotor multi-robot solution for the indoor autonomy challenge of the 2013 international micro air vehicle competition; ; ; ;
in Journal of Intelligent and Robotic Systems (2016), 84(1-4), 601--620
A flexible and dynamic mission planning architecture for UAV swarm coordination; ; ; ; ; ;
in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)
A reliable open-source system architecture for the fast designing and prototyping of autonomous multi-uav systems: Simulation and experimentation; ; ;
in Journal of Intelligent and Robotic Systems (2016), 84(1-4), 779-797
AEROSTACK: An architecture and open-source software framework for aerial robotics; ; ; ; ; ;
in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)
Natural user interfaces for human-drone multi-modal interaction; ; ; ; ;
in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)
2015
Automated low-cost smartphone-based lateral flow saliva test reader for drugs-of-abuse detection; ; ; ;
in Sensors (2015), 15(11), 29569--29593
Fuseon: A low-cost portable multi sensor fusion research testbed for robotics; ;
in Robot 2015: Second Iberian Robotics Conference (2015, November)
A vision based aerial robot solution for the Mission 7 of the International Aerial Robotics Competition; ; ; ; ;
in 2015 International Conference on Unmanned Aircraft Systems (ICUAS) (2015, June)
2014
HMPMR strategy for real-time tracking in aerial images, using direct methods; ; ; ;
in Machine Vision and Applications (2014), 25(5), 1283-1308
A general purpose configurable controller for indoors and outdoors gps-denied navigation for multirotor unmanned aerial vehicles; ; ; ; ;
in Journal of Intelligent and Robotic Systems (2014), 73(1-4), 387--400
A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition; ; ; ;
in 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May)
Computer vision based general object following for GPS-denied multirotor unmanned vehicles; ; ;
in 2014 American Control Conference (2014, June)
A vision based aerial robot solution for the IARC 2014 by the Technical University of Madrid; ; ; ; ; ; ; ;
Scientific Conference (2014, August)
A system for the design and development of vision-based multi-robot quadrotor swarms; ; ; ;
in 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May)
An approach toward visual autonomous ship board landing of a VTOL UAV; ; ;
in Journal of Intelligent and Robotic Systems (2014), 74(1-2), 113--127
2013
Identificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012; ; ; ;
in RIAI - Revista Iberoamericana de Automatica e Informatica Industrial (2013), 10(3),
A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs; ; ; ;
in Journal of Intelligent & Robotic Systems (2013), 72(3-4), 517-539
Autonomous Guided Car Using a Fuzzy Controller; ; ; ; ;
in Sen Gupta, Gourab; Bailey, Donald; Demidenko, Serge; Carnegie, Dale (Eds.) Recent Advances in Robotics and Automation (2013)
A general purpose configurable navigation controller for micro aerial multirotor vehicles; ; ; ; ;
in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)
Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles; ; ; ; ;
in ROBOT2013: First Iberian Robotics Conference (2013, November)
Vision based GPS-denied Object Tracking and following for unmanned aerial vehicles; ; ;
in 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013, October)
Visual quadrotor swarm for the IMAV 2013 indoor competition; ; ; ;
in ROBOT2013: First Iberian Robotics Conference (2013, November)
Visual quadrotor swarm for the IMAV 2013 indoor competition; ; ; ;
Scientific Conference (2013, September)
Autonomous ship board landing of a VTOL UAV; ;
in 69th American Helicopter Society International Annual Forum 2013 (2013, May)
Toward visual autonomous ship board landing of a VTOL UAV; ; ; ;
in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)
2012
Visual identification and tracking for vertical and horizontal targets in the IMAV competition; ; ; ;
Scientific Conference (2012, June)
A Hierarchical Strategy for Real-Time Tracking On-Board UAVs; ; ; ;
in ICUAS 2012 : 2012 International Conference on Unmanned Aircraft Systems (2012, June)
A hierarchical strategy for real-time tracking on-board uavs; ; ; ;
in ICUAS 2012: 2012 International Conference on Unmanned Aircraft Systems (2012)
A visual guided quadrotor for IMAV 2012 indoor autonomy competition and visual control of a quadrotor for the IMAV 2012 indoor dynamics competition; ; ; ; ;
Scientific Conference (2012, July)
AR Drone identification and navigation control at CVG-UPM; ; ; ;
Scientific Conference (2012, September)
Path Following Control System for car-like Unmanned Ground SystemsBachelor/master dissertation (2012)
Adaptive Control System based on Lineal Control Theory for the Path-Following Problem of a Car-Like Mobile Robot; ; ; ;
in IFAC Conference on Advances in PID Control PID'12 (2012)
2010
Sistema de control para el seguimiento de trayectorias de un UGV no holonómico tipo AckermannBachelor/master dissertation (2010)
