sample of publications

• articles 

  • Segment, Compare, and Learn: Creating Movement Libraries of Complex Task for Learning from Demonstration..  Biomimetics.  10. 2025
  • Characterization and control of Shape Memory Alloy-based actuators for heavy payloads displacement.  Results in Engineering.  24, (103387):1-12. 2024
  • Leveraging 3-D Data for Whole Object Shape and Reflection Aware 2-D Map Building.  IEEE SENSORS JOURNAL.  24:21941-21948. 2024
  • 4D Trajectory Planning Based on Fast Marching Square for UAV Teams.  IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS.  25:5703-5717. 2024
  • sEMG-Controlled Soft Exo-Glove for Assistive Rehabilitation Therapies.  IEEE Access.  12:43506-43518. 2024
  • Design of a soft sensor based on silver-coated polyamide threads and stress-strain modeling via Gaussian processes.  SENSORS AND ACTUATORS A-PHYSICAL.  367:1-9. 2024
  • ADAM: a robotic companion for enhanced quality of life in aging populations.  Frontiers in Neurorobotics.  18:1-22. 2024
  • SMA-Based Soft Exo-Glove.  IEEE Robotics and Automation Letters.  8:5448-5455. 2023
  • CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning.  IEEE Robotics and Automation Letters.  8:4036-4043. 2023
  • A novel multi-wire SMA-based actuator with high-frequency displacement.  MECHATRONICS.  91:1-14. 2023
  • Gaussian processes and Fast Marching Square based informative path planning.  ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE.  121:1-13. 2023
  • Hoist-Based Shape Memory Alloy Actuator with Multiple Wires for High-Displacement Applications.  Actuators.  12:1-21. 2023
  • Intensity-Based Identification of Reflective Surfaces for Occupancy Grid Map Modification.  IEEE Access.  11:23517-23530. 2023
  • Fast Marching Techniques for Teaming UAV's Applications in Complex Terrain.  Drones.  7:1-18. 2023
  • Geometrically constrained path planning for robotic grasping with Differential Evolution and Fast Marching Square.  ROBOTICA.  41:414-432. 2023
  • Geometrically constrained path planning for robotic grasping with Differential Evolution and Fast Marching Square - CORRIGENDUM.  ROBOTICA.  40:1-1. 2022
  • FM2 path planner for UAV applications with curvature constraints: a comparative analysis with other planning approaches.  SENSORS.  22:3174-3191. 2022
  • Multi-LiDAR Mapping for Scene Segmentation in Indoor Environments for Mobile Robots.  SENSORS.  22:3690-3710. 2022
  • sEMG-based gesture classifier for a rehabilitation glove.  Frontiers in Neurorobotics.  16:1-15. 2022
  • Coverage strategy for target location in marine environments using fixed-wing UAVs.  Drones.  5:120. 2021
  • Multi UAV coverage path planning in urban environments.  SENSORS.  21:7365. 2021
  • Wildfire spreading simulator using fast marching algorithm.  SNE Simulation Notes Europe.  31:159-167. 2021
  • Path planning and collision risk management strategy for multi-UAV systems in 3D environments.  SENSORS.  21:1-21. 2021
  • Efficiency analysis of SMA-based actuators: Possibilities of configuration according to the application.  Actuators.  10:63. 2021
  • SMA-driven soft robotic neck: design, control and validation.  IEEE Access.  8:199492-199502. 2020
  • Design of Fractional Order Controllers Using the PM Diagram.  Mathematics.  8:2022. 2020
  • Proposed methodology for measuring the effectiveness of policies designed to further research.  RESEARCH EVALUATION.  2020:1-15. 2020
  • Coverage mission for UAVs using differential evolution and fast marching square methods.  IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE.  35:18-29. 2020
  • Marine applications of the fast marching method.  Frontiers in Robotics and AI.  7:1-12. 2020
  • Flexible shape memory alloy actuators for soft robotics: Modelling and control.  International Journal of Advanced Robotic Systems.  17:1-15. 2020
  • Flexible shape-memory alloy-based actuator: Mechanical design optimization according to application.  Actuators.  8:63. 2019
  • Two-stage shape memory alloy identification based on the Hammerstein - Wiener model.  Frontiers in Robotics and AI.  6:1-10. 2019
  • An anisotropic fast marching method applied to path planning for Mars rovers.  IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE.  34:6-17. 2019
  • Fast methods for Eikonal equations: An experimental survey.  IEEE Access.  7:39005-39029. 2019
  • SMA based elbow exoskeleton for rehabilitation therapy and patient evaluation.  IEEE Access.  7:31473-31484. 2019
  • Hand exo-muscular system for assisting astronauts during extravehicular activities.  Soft Robotics.  6:21-37. 2019
  • A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton.  SENSORS.  18. 2018
  • Model for estimating Academic Ranking of World Universities (Shanghai Ranking) scores.  Revista Espanola de Documentacion Cientifica.  41:1-14. 2018
  • New design of a soft robotics wearable elbow exoskeleton based on shape memory alloy wire actuators.  Applied Bionics and Biomechanics.  2017:1-11. 2017
  • UAVs mission planning with flight level constraint using Fast Marching Square Method.  ROBOTICS AND AUTONOMOUS SYSTEMS.  94:162-171. 2017
  • Fast marching subjected to a vector field-path planning method for mars rovers.  EXPERT SYSTEMS WITH APPLICATIONS.  78:334-346. 2017
  • Using the Jensen-Shannon, density power, and Itakura-Saito divergences to implement an evolutionary-based global localization filter for mobile robots.  IEEE Access.  5:13922-13940. 2017
  • Fast Marching-based globally stable motion learning.  SOFT COMPUTING.  21:2785-2798. 2017
  • UAVs mission planning with imposition of flight level through fast marching square.  CYBERNETICS AND SYSTEMS.  48:102-113. 2017
  • Sistema Avanzado de Protipado Rápido para Control en la Educación en Ingeniería para grupos Multidisciplinares = Advanced Rapid Control Prototyping system on engineering education for multidisciplinary student groups.  Revista Iberoamericana de Automatica e Informatica Industrial.  13:350-362. 2016
  • Differential evolution Markov chain filter for global localization.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  82:513-536. 2016
  • 3D robot formations path planning with fast marching square.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  80:507-523. 2015
  • Position control of a shape memory alloy actuator using a four-term bilinear PID controller.  SENSORS AND ACTUATORS A-PHYSICAL.  236:257-272. 2015
  • DE-based tuning of PIlambdaDmu controllers.  ISA TRANSACTIONS.  59:398-407. 2015
  • High-displacement flexible shape memory alloy actuator for soft wearable robots.  ROBOTICS AND AUTONOMOUS SYSTEMS.  73:91-101. 2015
  • RGB-D DE-based Scan Matching: Exploiting Colour Properties in Registration.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  80:71-85. 2015
  • Kullback-Leibler divergence-based differential eEvolution Markov chain filter for global localization of mobile robots.  SENSORS.  15:23431-23458. 2015
  • Nonholonomic motion planning using the fast marching square method.  International Journal of Advanced Robotic Systems.  12:1-14. 2015
  • Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios.  ROBOTICS AND AUTONOMOUS SYSTEMS.  63:36-49. 2015
  • Multiple One-Dimensional Search (MODS) algorithm for fast optimization of laser-matter interaction by phase-only fs-laser pulse shaping.  APPLIED PHYSICS B-LASERS AND OPTICS.  116:747-753. 2014
  • Initial population size estimation for a Differential-Evolution-based global localization filter.  INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION.  29:245-258. 2014
  • Innovative Pressure Sensor Platform and Its Integration with an End-User Application.  SENSORS.  6:10273-10291. 2014
  • Innovative pressure sensor platform and its integration with an end-user application.  SENSORS.  14:10273-10291. 2014
  • Adaptive Evolving Strategy for Dextrous Robotic Manipulation.  Evolving Systems.  5:65-72. 2014
  • Kullback-Leibler divergence-based global localization for mobile robots.  ROBOTICS AND AUTONOMOUS SYSTEMS.  62:120-130. 2014
  • Optimization of ultra-fast interactions using laser pulse temporal shaping controlled by deterministic algorthm.  APPLIED PHYSICS A-MATERIALS SCIENCE & PROCESSING.  114:477-484. 2014
  • Two different tools for three-dimensional mapping: DE-based scan matching and feature-based loop detection.  ROBOTICA.  32:19-41. 2014
  • The path to efficiency: fast marching method for safer, more efficient mobile robot trajectories.  IEEE ROBOTICS & AUTOMATION MAGAZINE.  20:111-120. 2013
  • Facial emotion recognition and adaptative postural reaction by a humanoid based on neural evolution.  International journal of advanced computer science.  10:481-493. 2013
  • Planning robot formations with fast marching square including uncertainty conditions.  ROBOTICS AND AUTONOMOUS SYSTEMS.  61:137-152. 2013
  • General path planning methodology for leader-follower robot formations.  International Journal of Advanced Robotic Systems.  10 :1-10. 2013
  • High-accuracy global localization filter for three-dimensional environments.  ROBOTICA.  30:363-378. 2012
  • L1-L2 norms comparison in global localization of mobile robots.  ROBOTICS AND AUTONOMOUS SYSTEMS.  59:597-610. 2011
  • Robot Formations Control Using Fast Marching.  ROBOTICS AND AUTONOMOUS SYSTEMS.  59:675-683. 2011
  • Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching.  International Journal of Robotics and Automation.  2:42-64. 2011
  • TechnoFusión, a Relevant Facility for Fusion Technologies: The Remote Handling Area.  FUSION ENGINEERING AND DESIGN.  85:1659-1663. 2010
  • Robotic Motion using Harmonic Functions and Finite Elements.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  59:57-73. 2010
  • Exploration of 2D and 3D Environments using Voronoi Transform and Fast Marching Method.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  55:55-86. 2009
  • Exploration and Mapping using the VFM Motion Planner.  IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT.  58:2880-2892. 2009
  • FM2 : A real-time sensor-based feedback controller for mobile robots.  INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION.  24:48-65. 2009
  • Differential Evolution Solution to the SLAM Problem.  ROBOTICS AND AUTONOMOUS SYSTEMS.  57:441-450. 2009
  • Exploration of a Cluttered Environment Using Voronoi Transform and Fast Marching.  ROBOTICS AND AUTONOMOUS SYSTEMS.  56:1069-1081. 2008
  • Compact Modeling Technique for Outdoor Navigation.  IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.  38:9-24. 2008

• book chapters 

  • Shape Memory Alloy (SMA)-Based Exoskeletons for Upper Limb Rehabilitation. In: Rehabilitation of the Human Bone-Muscle System.  1-16. 2022
  • Usability Evaluation of SMA Based Exoskeleton: Pilot Testing in Post-stroke Patients. In: Converging Clinical and Engineering Research on Neurorehabilitation IV.  Springer, Cham. 2021
  • Wearable elbow exoskeleton actuated with shape memory alloy. In: Converging clinical and engineering research on neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain.  SPRINGER. 477-481. 2017
  • Mobile robot path planning using Voronoi diagram and fast marching. In: Robotics, automation, and control in industrial and service settings.  IGI GLOBAL. 92-108. 2015
  • Motion planning using fast marching squared method. In: Motion and operation planning of robotic systems Background and Practical Approaches.  SPRINGER. 223-248. 2015
  • SLAM and exploration using differential evolution and fast marching. In: Advances in Robot Navigation.  INTECH. 81-98. 2011
  • Global localization based on a rejection differential evolution filter. In: Robot localization and map building.  INTECH. 91-117. 2010
  • Materiales inteligentes: aleaciones con memoria de forma (SMA). In: Cálculo fraccionario, fractales y aplicaciones.  REAL ACADEMIA DE CIENCIAS EXACTAS, FISICAS Y NATURALES. 75-104. 2009
  • FM-2: A Real Time Fast Marching Sensor-Based Motion Planner. In: New Research on Mobile Robots.  NOVA SCIENCE PUBLISHERS INC. 1-33. 2008
  • An Evolutionary MAP Filter for Mobile Robot Global Localization. In: Frontiers in Evolutionary Robotics.  I-TECH EDUCATION AND PUBLISHING. 197-208. 2008

• books 

  • Apuntes de control de sistemas II.  UNIVERSIDAD CARLOS III DE MADRID. 2025
  • Ingeniería de control. Modelado, análisis y control de sistemas dinámicos 2025

• conference contributions 

  • Coordinación de niveles geométrico y topológico para el paso de puertas de un robot móvil bimanipulador.  770-776. 2022
  • Evaluación y desempeño de los sensores Myo Armband y MindRove.  58-65. 2022
  • HIMTAE: Sistema heterogéneo multirobot para ayuda de personas mayores en un ambiente asistido en el hogar.  106-117. 2022
  • Banco de pruebas para actuadores basados en aleaciones con memoria de forma.  103-109. 2019
  • Localization of Mobile Robots incorporating Scene Information in a Hierarchical Model.  429-430. 2019
  • Twisted coiled nylon-based actuators for robotic applications.  163-168. 2019
  • Desarrollo de un exoesqueleto de rehabilitación para miembro superior basado en SMA.  23-23. 2018
  • Análisis de los proyectos europeos en materia de cooperación al desarrollo y sostenibilidad en el ámbito español.  770-779. 2017
  • DENDT: 3D-NDT scan matching with differential evolution.  719-724. 2017
  • EMG based control for elbow joint SMA exoskeleton.  1-2. 2017
  • Learning robotics with Ros and Matlab using real robotic platforms.  1519-1527. 2017
  • Propuesta de estimación de la producción científica de las universidades madrileñas a través de modelos autoregresivos (AR) y en espacio de estados (SS).  1035-1046. 2017
  • Towards an anisotropic fast marching method applied to the path planning task for Mars rovers.  13-19. 2017
  • El emprendimiento en las universidades españolas mediante el fenómeno de las spin-off: la experiencia de las comunidades autónomas de Cataluña, Madrid y Valencia.  860-867. 2016
  • Path Planning for Mars Rovers using the Fast Marching Method.  93-105. 2016
  • Shoulder exoskeleton for rehabilitation actuated with shape memory alloy.  37-44. 2016
  • An asymptotically-optimal sampling-based algorithm for bi-directional motion planning.  2072-2078. 2015
  • Applying the fast marching method to path planning on Mars 2015
  • Gait generation through a feature based linear periodic function.  1007-1013. 2015
  • Geometrically constrained path planning with fast marching square.  1014-1019. 2015
  • 3D robot formations planning with Fast Marching Square.  59-64. 2014
  • From Robots Formation to Pre-Grasp Planning 2014
  • Herramienta de simulación para el desarrollo de exoesqueletos basada en MATLAB-SIMULINK.  702-706. 2014
  • High­-Displacement Fast-­Cooling Flexible Shape Memory Alloy Actuator: Application to an Anthropomorphic Robotic Hand.  27-32. 2014
  • How to deal with difficulty and uncertainty in the Outdoor Trajectory Planning with Fast Marching.  445-458. 2014
  • Improving Sampling-based Path Planning Methods with Fast Marching.  233-246. 2014
  • Learning-based Floor Segmentation and Reconstruction.  307-320. 2014
  • Towards Exploiting the Advantages of Colour in Scan Matching.  217-231. 2014
  • Ultrasonic motor based actuator for elbow joint functional compensation.  181-194. 2014
  • A complete 3D perception and path planning architecture for a humanoid.  167-184. 2013
  • Distinguishing between similar objects based on geometrical features in 3D perception.  77-92. 2013
  • Estimación de suelos navegables para interiores 2013
  • Fast Marching in motion planning for rhombic like vehicles operating in ITER.  5533-5538. 2013
  • Low-cost organic electronics based system for centre of gravity monitoring 2013
  • Precision grasp planning based on fast marching square.  425-430. 2013
  • Precision grasp planning with Gifu Hand III based on fast marching square.  4549-4554. 2013
  • Smooth anytime motion planning using fast marching.  1972-1979. 2013
  • Adaptative Evolution Strategy for Robotic Manipulation.  29-34. 2012
  • Elbow Functional Compensation using a Lightweight Magnetorheological Clutch.  5215-5218. 2012
  • Facial Gesture Recognition using Active Appearance Models based on Neural Evolution.  133-134. 2012
  • Lightweight Magnetortheological Based Clutch Actuator for Quick Response Times 2012
  • On Path Planning: Adaptation to the Environment using Fast Marching.  74-79. 2012
  • Smooth and Accurate control of multiple Shape Memory Alloys based actuators via low cost embedded hardaware 2012
  • Facial gesture recognition and postural interaction using neural evolution algorithm and active appearance models.  145-159. 2011
  • Object Reconstruction and REcognition Leveraging an RGB-D Camera 2011
  • Outdoor Motion Robots Planning using the Fast Marching Method 2011
  • Simulation Platform for Anti-Swinging Control of Automatic Overhead Cranes 2011
  • Use of genetic algorithms for target distribution abd sequencing in multiole robot operations.  2718-2724. 2011
  • TechnoFusion, a relevant facility for fusion technologies: The remote handling area 2009