Daniel Bonilla Licea

Daniel Bonilla Licea
Czech Technical University in Prague | ČVUT · Faculty of Electrical Engineering (FEL)

Doctor of Philosophy

About

40
Publications
3,409
Reads
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113
Citations
Introduction
I was awarded a Ph.D. degree in signal processing by the University of Leeds, UK. I did research visits to CRAN, France and CIC IPN, Mexico. Then, I held a position as a postdoc researcher at Université Internationale de Rabat, Morocco. Currently I hold a postdoc position at the Czech Technical University in Prague. My research interests are on communications-aware trajectory planning as well as other interdisciplinary problems involving robotics, signal processing and communications.
Additional affiliations
November 2020 - April 2021
Czech Technical University in Prague
Position
  • PostDoc Position
June 2017 - May 2020
Université Internationale de Rabat
Position
  • PostDoc Position
January 2017 - May 2017
Instituto Politécnico Nacional
Position
  • PostDoc Position
Education
September 2012 - November 2016
University of Leeds
Field of study
  • Electrical and electronic engineering
September 2009 - November 2011
Center for Research and Advanced Studies of the National Polytechnic Institute
Field of study
  • Electrical engineering (with speciality con communications)

Publications

Publications (40)
Conference Paper
Full-text available
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visi...
Conference Paper
Full-text available
Fig. 1: MRS UAV Platforms used for diverse range of real-world applications (a)-(f) and their simulated variants (g)-(l). Abstract-This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators,...
Preprint
Full-text available
With the booming growth of advanced digital technologies, it has become possible for users as well as distributors of energy to obtain detailed and timely information about the electricity consumption of households. These technologies can also be used to forecast the household's electricity consumption (a.k.a. the load). In this paper, we investiga...
Conference Paper
Full-text available
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV’s antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS)and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering...
Presentation
Full-text available
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV’s antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering...
Conference Paper
Full-text available
Sampling is a core process in IoT systems. It determines the data volume circulating within the network as well as the energy consumption on the IoT devices. Adaptive sampling aims to control the volume of generated data to reduce energy and bandwidth consumption without undermining data quality. Within this context, we propose two new adaptive sam...
Article
Full-text available
We address the problem of detecting the invasion of an intruder into a region of interest (ROI) which is monitored by a distributed bandwidth-constrained wireless mobile sensor network (WMSN). We design periodic trajectories for the mobile sensor nodes (MSNs) such that high detection probabilities are obtained while maintaining the MSNs' energy con...
Article
Full-text available
We address the problem of detecting the invasion of an intruder into a region of interest (ROI) which is monitored by a distributed bandwidth-constrained wireless mobile sensor network (WMSN). We design periodic trajectories for the mobile sensor nodes (MSNs) such that high detection probabilities are obtained while maintaining the MSNs’ energy con...
Article
Full-text available
This paper consists of two parts: an overview of existing open datasets of electricity consumption and a description of the Moroccan Buildings’ Electricity Consumption Dataset, a first of its kind, coined as MORED. The new dataset comprises electricity consumption data of various Moroccan premises. Unlike existing datasets, MORED provides three mai...
Preprint
Full-text available
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum...
Conference Paper
We propose a deep learning based technique for power quality disturbances (PQD) detection and identification that aims at mimicking the reasoning of human field experts. This technique consists of processing small-size images containing superimposed time and frequency representations of the electric signal. The classification of PQD is performed wi...
Conference Paper
Full-text available
We consider the issue of designing closed 3D UAV trajectories that allow for an energy efficient collection of data with a UAV-aided wireless sensor network. We consider a 3D wireless channel model and a realistic dynamical model for the UAV. The proposed trajectory is largely derived analytically, thus making its online calculation computationally...
Presentation
Full-text available
We consider the issue of designing closed 3D UAV trajectories that allow for an energy efficient collection of data with a UAV-aided wireless sensor network. We consider a 3D wireless channel model and a realistic dynamical model for the UAV. The proposed trajectory is largely derived analytically, thus making its online calculation computationally...
Article
Full-text available
Non-intrusive Load Monitoring (NILM) systems aim at identifying and monitoring the power consumption of individual appliances using the aggregate electricity consumption. Many issues hinder their development. For example, due to the complexity of data acquisition and labeling, datasets are scarce; labeled datasets are essential for developing disag...
Presentation
Full-text available
In this paper, we address the problem of optimizing a communication-aware trajectory for a quadrotor that must transfer periodically a maximum amount of data from a source node to a destination node. The communications aspect is mathematically stated by linking the bit rate to the channel capacity concept from information theory. The trajectory is...
Conference Paper
In this paper, we address the problem of optimizing a communication-aware trajectory for a quadrotor that must transfer periodically (with fixed period T) a maximum amount of data from a source node (SN) to a destination node (DN). The communications aspect is mathematically stated by linking the bit rate to the channel capacity concept from inform...
Article
Full-text available
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum...
Presentation
Full-text available
In this paper we consider the problem in which a single antenna mobile robot (MR) is required to maintain reliable communication with a base station (BS) while following a given trajectory. The wireless communication channel is assumed to experience time-varying small-scale fading with time-varying coherence time. To achieve high reliability and lo...
Conference Paper
Full-text available
In this paper we consider the problem in which a single antenna mobile robot (MR) is required to maintain reliable communication with a base station (BS) while following a given trajectory. The wireless communication channel is assumed to experience time-varying small-scale fading with time-varying coherence time. To achieve high reliability and lo...
Conference Paper
Full-text available
We consider the issue of energy efficient data collection in the context of a mobile robot-aided delay tolerant wireless sensor network (DTSN). The latter is composed of static nodes (SNs), a fusion center (FC) and a mobile robot (MR), which acts as a data ferry in order to reduce energy consumption at the SNs, thereby increasing their lifetime. Th...
Conference Paper
Full-text available
Classical channel estimation techniques like least square (LS) and linear minimum mean square error (LMMSE) have been widely used to track variations in the channel, these methods normally require a lot of information to identify the channel impulse response, leading into a data processing cost increase by both transmitter and receiver. In recently...
Presentation
Full-text available
The efficiency of microgrids with storage capacity strongly depends on the energy management system (EMS) which controls the energy flows in the system, including the charging and discharging process of the storage component. In this paper we focus on a residential microgrid, which consists of a grid-tied PV system and a battery, and propose a new...
Presentation
Full-text available
We consider the problem of energy balancing in a clustered wireless sensor network (WSN) deployed randomly in a large field and aided by a mobile robot (MR). The sensor nodes (SNs) are tasked with monitoring a region of interest (ROI) and reporting their test statistics to the cluster heads (CHs), which they subsequently report to the fusion center...
Conference Paper
Full-text available
The efficiency of microgrids with storage capacity strongly depends on the energy management system (EMS) which controls the energy flows in the system, including the charging and discharging process of the storage component. In this paper we focus on a residential microgrid, which consists of a grid-tied PV system and a battery, and propose a new...
Preprint
We consider the problem of energy balancing in a clustered wireless sensor network (WSN) deployed randomly in a large field and aided by a mobile robot (MR). The sensor nodes (SNs) are tasked to monitor a region of interest (ROI) and report their test statistics to the cluster heads (CHs), which subsequently report to the fusion center (FC) over a...
Preprint
Small scale fading makes the wireless channel gain vary significantly over small distances and in the context of classical communication systems it can be detrimental to performance. But in the context of mobile robot (MR) wireless communications, we can take advantage of the fading using a mobility diversity algorithm (MDA) to deliberately locate...
Conference Paper
Full-text available
Small scale fading makes the wireless channel gain vary significantly over small distances and in the context of classical communication systems it can be detrimental to performance. But in the context of mobile robot (MR) wireless communications, we can take advantage of the fading using a mobility diversity algorithm (MDA) to deliberately locate...
Conference Paper
Full-text available
We consider the problem of energy balancing in a clustered wireless sensor network (WSN) deployed randomly in a large field and aided by a mobile robot (MR). The sensor nodes (SNs) are tasked to monitor a region of interest (ROI) and report their test statistics to the cluster heads (CHs), which subsequently report to the fusion center (FC) over a...
Conference Paper
Full-text available
We consider a new problem of robust trajectory planning for robots that have a physical destination and a communication constraint. Specifically, the robot or automatic vehicle must move from a given starting point to a target point while uploading/downloading a given amount of data within a given time, while accounting for the energy cost and the...
Article
Mobile robots using wireless communications often experience small-scale fading and due to this the wireless channel gain can be low. If the channel gain is poor (due to fading) the robot can move (a small distance) to another location in order to improve the channel gain and so compensate fading. Techniques using this principle are called mobility...
Article
In this article, we propose a new technique which exploits a robot’s (intelligently) controlled mobility to maximise stored radio energy. In particular, we examine a scenario where the mobile robot takes a break from its normal activity for a duration of T secs. This ‘dead time’ consists of three phases - searching, positioning and resting - which...
Conference Paper
Full-text available
In this article we present an angle of arrival (AoA) multi-robot system for rescue purposes which takes advantage of robots' mobility to improve the position estimate of an unknown target. The robots move according to a certain trajectory (a sequence of stopping points) designed to minimize the variance of the AoA estimation. We present two differe...
Presentation
Full-text available
There are emerging applications in which a robot must explore some physical area or do some surveillance task and then communicate with a base station (BS) to transmit its information. Often this working environment has rich scattering and so the wireless channel will experience small scale fading. In this paper we develop an algorithm whereby the...
Conference Paper
Full-text available
In this paper we develop an intelligent algorithm that obtains the optimal trajectory (i.e., a non equally spaced sequence of stopping points) for a robot which tries to find a wireless channel with a minimum predefined channel gain over which to transmit its data. We show that this algorithm can be optimized in two ways: (i) minimum searching time...
Conference Paper
Full-text available
There are an increasing number of applications in which a robot must perform some task (e.g., autonomous mobile surveillance) and then transmit data back to a base station (e.g., video or sensor information). However the robot will often experience severe small-scale RF fading and so it must also save energy (e.g., mechanical and RF) while searchin...
Conference Paper
Full-text available
There are emerging applications in which a robot must explore some physical area or do some surveillance task and then communicate with a base station (BS) to transmit its information. Often this working environment has rich scattering and so the wireless channel will experience small scale fading. In this paper we develop an algorithm whereby the...

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Projects

Projects (6)
Project
- Smart metering - Smart integration of solar PV in buildings - Smart energy management - Disaggregation of electrical appliances using non-intrusive load monitoring - Open dataset on electricity consumption in Moroccan buildings