Juan Jesús Roldán Gómez

Juan Jesús Roldán Gómez
Universidad Autónoma de Madrid | UAM · Department of Computer Engineering

PhD in Automation and Robotics

About

45
Publications
33,226
Reads
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767
Citations
Additional affiliations
December 2019 - present
Universidad Autónoma de Madrid
Position
  • Professor (Assistant)
July 2019 - December 2019
Spanish National Research Council
Position
  • Engineer
February 2018 - December 2018
Universidad Politécnica de Madrid
Position
  • Engineer
Education
September 2014 - July 2018
Universidad Politécnica de Madrid
Field of study
  • Automation and Robotics
February 2013 - July 2014
Universidad Politécnica de Madrid
Field of study
  • Automation and Robotics
September 2006 - November 2012
Universidad Politécnica de Madrid
Field of study
  • Industrial Engineering

Publications

Publications (45)
Article
Full-text available
This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV). The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps...
Article
Full-text available
Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can...
Chapter
Full-text available
This chapter describes a series of works developed in order to integrate ROS-based robots with Unity-based virtual reality interfaces. The main goal of this integration is to develop immersive monitoring and commanding interfaces, able to improve the operator’s situational awareness without increasing its workload. In order to achieve this, the ava...
Article
Full-text available
Multi-robot missions can be compared to industrial processes or public services in terms of complexity, agents and interactions. Process mining is an emerging discipline that involves process modeling, analysis and improvement through the information collected by event logs. Currently, this discipline is successfully used to analyze several types o...
Article
Full-text available
Multi-Robot Systems (MRSs) have emerged as a suitable alternative to single robots to improve current and enable new missions [...]
Article
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span class="fontstyle0">A día de hoy, existen en el mercado una gran cantidad de aeronaves sin piloto que pueden ser comandadas con ordenes de alto nivel para realizar tareas complejas de forma casi automatica, como por ejemplo el mapeo de explotaciones agrícolas. De forma natural, nos podemos preguntar si sería posible coordinar a un grupo de esto...
Article
Full-text available
Forest firefighting missions encompass multiple tasks related to prevention, surveillance, and extinguishing. This work presents a complete survey of firefighters on the current problems in their work and the potential technological solutions. Additionally, it reviews the efforts performed by the academy and industry to apply different types of rob...
Article
Full-text available
This work presents an analysis of immersive realities and natural language applied to the teleoperation of hyper-redundant robots. Such devices have a large number of degrees of freedom, so they often exhibit complex configurations frustrating their spatial understanding. This work aims to contrast two hypotheses; first, if immersive interfaces enh...
Article
Full-text available
p class="icsmabstract">Los sistemas multi-robot están experimentando un gran desarrollo en los últimos tiempos, ya que mejoran el rendimiento de las misiones actuales y permiten realizar nuevos tipos de misiones. Este artículo analiza el estado del arte de los sistemas multi-robot, abordando un conjunto de temas relevantes: misiones, flotas, operad...
Article
Full-text available
Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It...
Article
Full-text available
Smart cities have emerged as a strategy to solve problems that current cities face, such as traffic, security, resource management, waste, and pollution. Most of the current approaches are based on deploying large numbers of sensors throughout the city and have some limitations to get relevant and updated data. In this paper, as an extension of our...
Article
Full-text available
A crop monitoring system was developed for the supervision of organic fertilization status on tomato plants at early stages. An automatic and nondestructive approach was used to analyze tomato plants with different levels of water-soluble organic fertilizer (3 + 5 NK) and vermicompost. The evaluation system was composed by a multispectral camera wi...
Technical Report
Full-text available
Robotización del cultivo en hileras para la agricultura ecológica. Proyecto SUREVEG El proyecto SUREVEG aborda la agricultura ecológica basada en cultivos en hileras en las que se alterna el cultivo principal con otro complementario, con apoyo de sistemas robóticos y de Inteligencia Artificial La demanda de productos de agricultura ecológica está e...
Article
Full-text available
One of the active challenges in multi-robot missions is related to managing operator workload and situational awareness. Currently, the operators are trained to use interfaces, but in the near future this can be turned inside out: the interfaces will adapt to operators so as to facilitate their tasks. To this end, the interfaces should manage model...
Article
Full-text available
Robot cooperation is key in Search and Rescue (SaR) tasks. Frequently, these tasks take place in complex scenarios affected by different types of disasters, so an aerial viewpoint is useful for autonomous navigation or human tele-operation. In such cases, an Unmanned Aerial Vehicle (UAV) in cooperation with an Unmanned Ground Vehicle (UGV) can prov...
Article
Full-text available
Multiple robot missions imply a series of challenges for single human operators, such as managing high workloads or maintaining a correct level of situational awareness. Conventional interfaces are not prepared to face these challenges; however, new concepts have arisen to cover this need, such as adaptive and immersive interfaces. This paper repor...
Article
Industry 4.0 aims at integrating machines and operators through network connections and information management. It proposes the use of a set of technologies in industry, such as data analysis, Internet of Things, cloud computing, cooperative robots, and immersive technologies. This paper presents a training system for industrial operators in assemb...
Article
Full-text available
This paper presents a novel tool capable of collecting thermal signatures inside a building by using low-cost IR temperature sensors mounted on-board an aerial platform. The proposed system aims to facilitate the detection of heat loss inside buildings, which is a key aspect for improving energy efficiency in large commercial or industrial building...
Conference Paper
Full-text available
Smart Cities have emerged as a strategy to solve problems that current cities face, such as traffic, resource management , waste, pollution, etc. Most of the Smart City proposals are based on placing sensors in fixed locations of the city or, at the most, in public transportation systems. These strategies can produce blind zones, given that the sen...
Conference Paper
Full-text available
This work explores the potential of game theory to solve the task allocation problem in multi-robot missions. The problem considers a swarm with dozens of drones that only know their neighbors, as well as a mission that consists of visiting a series of locations and performing certain activities. Two algorithms have been developed and validated in...
Article
Traffic monitoring is a key issue to develop smarter and more sustainable cities in the future, allowing to make a better use of the public space and reducing pollution. This work presents an aerial swarm that continuously monitors the traffic in SwarmCity, a simulated city developed in Unity game engine where drones and cars are modeled in a reali...
Thesis
Full-text available
Missions involving multiple robots have experienced an unprecedented growth over the last years. The explanation behind this fact may be that using a robot fleet is more effective, efficient, flexible and fault tolerant than employing a single robot for the task. However, this kind of missions entail a set of challenges related to human factors. Am...
Conference Paper
Full-text available
One of the proposals of Industry 4.0 is the integration of machines and operators through network connections and information management. One of the challenges that can be addressed following this approach is the management of knowledge in the industry or, in other words, the transmission of knowledge from the expert operators to the new ones. This...
Chapter
Full-text available
The current state of technology permits very accurate 3D reconstructions of real scenes acquiring information through quite different sensors altogether. A high precision modelling that allows simulating any element of the environment on virtual interfaces has also been achieved. This paper illustrates a methodology to correctly model a 3D reconstr...
Conference Paper
Full-text available
Las tecnologías inmersivas como la Realidad Virtual tienen potencial para mejorar la teleoperación de los robots. Estas tecnologías transportan al operador al espacio de trabajo, le proporcionan información sobre la misión y le permiten comandar los robots de manera intuitiva. En este trabajo se ha integrado un robot manipulador Kinova Jaco2 en un...
Chapter
This chapter presents a series of experiences and lessons learned during several implementations and real-world tests of ROS-based Multi-Robot Systems. It also describes, analyses and compares several ROS components relevant for these applications, taking into account the scenarios where they can be used. Also, some general issues of importance of...
Conference Paper
Full-text available
Esta comunicación resume los trabajos realizados por el Grupo de Robótica y Cibernética (RobCib) del Centro de Automática y Robótica (CAR), formado por UPM y CSIC, en el contexto del proyecto PRIC (Protección Robotizada de Infraestructuras Críticas). Este proyecto tiene como objetivo el desarrollo de sistemas robóticos capaces de vigilar las infrae...
Article
Full-text available
The interest in civilian missions with multiple unmanned aerial vehicles (UAVs) has increased significantly in recent years, but these missions pose multiple challenges related to operator workload and situational awareness. Human-machine interfaces must consider these challenges and control the amount of information flowing to operators. The autho...
Chapter
Full-text available
Multi-UAV missions are complex systems that may include a fleet of UAVs, a crew of operators and different computers and interfaces. Currently, an important challenge is the reduction of the number of operators that is required for performing a multi-UAV mission. This challenge can be addressed by increasing the autonomy of fleets and providing cap...
Chapter
Full-text available
Greenhouse farming is based on the control of the environment of the crops and the supply of water and nutrients to the plants. These activities require the monitoring of the environmental variables at both global and local scale. This paper presents a ground robot platform for measuring the ground properties of the greenhouses. For this purpose, i...
Conference Paper
Full-text available
La comunicación es una necesidad básica para los seres humanos, pero existen enfermedades y lesiones que la pueden restringir. Los Sistemas Aumentativos y Alternativos de Comunicación permiten a las personas con discapacidad comunicarse con las personas que las rodean y realizar algunas tareas cotidianas. Este trabajo propone ir más allá en el desa...
Conference Paper
Full-text available
Las misiones multi-robot pueden alcanzar una complejidad comparable a los procesos industriales y la gestión de las empresas o los servicios públicos. La minería de procesos es una disciplina emergente que se está aplicando con éxito al análisis de estos sistemas. Esta disciplina aborda el modelado, el análisis y la mejora de procesos a partir de l...
Article
Full-text available
The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environm...
Conference Paper
Full-text available
Multiple robot, single operator scenarios suppose a challenge in terms of human factors. Two relevant issues are keeping the situational awareness and managing the workload of operators. In order to address these problems , this work analyses the management of information and commands in multi-robot missions. About the information, this paper propo...
Article
This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pi...
Conference Paper
Full-text available
Las misiones robóticas y especialmente las misiones multi-robot generan un considerable volumen de datos. El control y la monitorización de estas misiones requiere el análisis de estos datos para extraer información. Este trabajo estudia la minería de procesos y su posible aplicación en el terreno de las misiones robóticas. Esta disciplina aborda e...
Article
Full-text available
In the last decade, the use of small autonomous unmanned aerial vehicles (UAVs) has been generalized. Specially, multirotor vehicles become really popular and are being employed in several different applications and fields: military missions, agricultural processes, rescue and surveillance operations, audiovisual productions.. and even have arrived...

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Projects

Projects (5)
Archived project
The SAVIER (Situational Awareness Virtual EnviRonment) project is an open innovation project promotted and financied by Airbus, that aims to improve the capabilities of operators of unmanned aerial vehicles of ground stations. The focus is on the control, by a single operator, of a fleet of several UAVs. The contribution of our research is to provide to the operator with tools that allow automatic characterization of the mission performmed by the UAVs and to discover their development status, in order to provide the operator, at all times, with only the neccesary information, avoiding the saturation of the attention by overinformation. Also, the interface take intop account the operator´s preferences, acquired by the system through diferents Machine Learning techniques
Project
Web: http://www.swarmcityproject.com/ SwarmCity is the sum of a smart city, a robot swarm and a control interface: - The smart city has been developed by using Unity game engine. It is a simulator of a scaled city that includes traffic, pedestrians, garbage, climate and pollution. It is used not only as a view tool but also as a data source. - The robot swarm has to cover the city collecting data about the traffic jams, people crowds, contaminant emissions... For this purpose, we are going to study behavior-based architectures, multiple techniques of optimization, game theoretical decision making... - The control interface must allow the operators to monitorize the state of the city, as well as to configure the swarm. For this purpose, we are going to explore data mining techniques to discover information, machine learning algorithms to adapt it to operator and immersive technologies to show it in a easy to understand way.