Publications

2021

CovarianceNet: Conditional Generative Model for Correct Covariance Prediction in Human Motion Prediction
A. Postnikov, A. Gamayunov, G. Ferrer
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

Random Fourier Features based SLAM
Y. Kapushev, A. Kishkun, G. Ferrer,  E. Burnaev
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

Be your own Benchmark: No-Reference Trajectory Metric on Registered Point Clouds
A. Kornilova and G. Ferrer
In European Conference on Mobile Robotics (ECMR), 2021

Best Axes Composition: Multiple Gyroscopes IMU Sensor Fusion to Reduce Systematic Error
M. Faizullin and G. Ferrer
In European Conference on Mobile Robotics (ECMR), 2021

TT-QI: Faster Value Iteration in Tensor Train Format for Stochastic Optimal Control.
AI Boyko, IV Oseledets, G Ferrer
Computational Mathematics and Mathematical Physics 61.5: 836-846. 2021

Twist-n-Sync: Software Clock Synchronization with Microseconds Accuracy Using MEMS-Gyroscopes
M. Faizullin, A. Kornilova, A. Akhmetyanov, G. Ferrer
Sensors. 2021; 21(1):68. [github]

2020

TT-TSDF: Memory-Efficient TSDF with Low-Rank Tensor Train Decomposition
A. Boyko, M. Matrosov, I. Oseledets, D. Tsetserukou and G. Ferrer
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

HSFM-SigmaNN: Combining a Feedforward Motion Prediction Network and Covariance Prediction
A. Postnikov, A. Gamayunov, and G. Ferrer
in IEEE International Conference on Robotics and Automation (ICRA) Workshop, 2020.

2019

Eigen-Factors: Plane Estimation for Multi-Frame and Time-Continuous Point Cloud Alignment
G. Ferrer
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2019. [video]

MPDM: Multi-policy decision-making from autonomous driving to social robot navigation
A. Cunningham, E. Galceran, D. Mehta, G. Ferrer, R.M. Eustice, and E.Olson
In Control Strategies for Advanced Driver Assistance Systems and Autonomous Driving Functions, pp. 201-223. Springer, Cham, 2019

Anticipative Kinodynamic Planning: Multi-objective Robot Navigation in Urban and Dynamic Environments
G. Ferrer and A. Sanfeliu
Autonomous Robots 2019 [author_pdf][code]

2018

C-MPDM: Continuously-Parameterized Risk-Aware MPDM by Quickly Discovering Contextual Policies
D. Mehta, G. Ferrer and E. Olson
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2018.

AprilSAM: Real-time Smoothing and Mapping
X. Wang, R. Marcotte, G. Ferrer and E. Olson
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018. [web]

Backprop-MPDM: Faster risk-aware policy evaluation through efficient gradient optimization
D. Mehta, G. Ferrer and E. Olson
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018. [web][video]

Multi-Functional Sensing for Swarm Robots Using Time Sequence Classification: HoverBot, an Example
M. P. Nemitz, R. J. Marcotte, M. E. Sayed, G. Ferrer, A. O. Hero, E. Olson and A. A. Stokes
Frontiers in Robotics and AI, 2018.

2017

On-line adaptive side-by-side human robot companion in dynamic urban environments
E. Repiso, G. Ferrer, and A. Sanfeliu
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

Fast discovery of influential outcomes for risk-aware MPDM
D. Mehta, G. Ferrer and E. Olson
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). pp. 6210-6216. Singapore , 2017. [web] [video]

Robot social-aware navigation framework to accompany people walking side-by-side
G. Ferrer, A. Garrell, F. Herrero and A. Sanfeliu
Autonomous Robots, 41(4): 775–793, 2017. [author_pdf]

HoverBots: Precise Locomotion Using Robots That Are Designed for Manufacturability
M. P. Nemitz, M. E. Sayed, J. Mamish, G. Ferrer, L. Teng, R. M. McKenzie, A. O. Hero, E. Olson and A. A. Stokes
Frontiers in Robotics and AI, 2017

2016

Autonomous Navigation in Dynamic Social Environments using Multi-Policy Decision Making
D. Mehta, G. Ferrer and E. Olson
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 1190-1197. Korea, 2016. [web] [video]

2015

Multi-objective cost-to-go functions on robot navigation in dynamic environments
G. Ferrer and A. Sanfeliu
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 3824-3829. Hamburg, Germany, 2015.

2014

Multimodal feedback fusion of laser, image and temporal information
I. Huerta, G. Ferrer, F. Herrero, A. Prati and A. Sanfeliu
In International Conference on Distributed Smart Cameras. pp. 25:1-25:6. Venice, Italy, 2014.

Proactive Kinodynamic Planning using the Extended Social Force Model and Human Motion Prediction in Urban Environments
G. Ferrer and A. Sanfeliu
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 1739-1735. Chicago, USA, 2014. [video]

Behavior Estimation for a Complete Framework for Human Motion Prediction in Crowded Environments
G. Ferrer and A. Sanfeliu
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). pp. 5940-5945. Hong Kong, China, 2014. [screencast]

Bayesian Human Motion Intentionality Prediction in Urban Environments
G. Ferrer and A. Sanfeliu
Pattern Recognition Letters, 44:134-140, 2014.

2013

Robot Companion: A Social-Force Based Approach with Human Awareness-Navigation in Crowded Environments
G. Ferrer, A. Garrell and A. Sanfeliu
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 1688-1694. Tokyo, Japan, 2013. [web] [screencast]

Social-Aware Robot Navigation in Urban Environments
G. Ferrer, A. Garrell, and A. Sanfeliu
In European Conference on Mobile Robotics (ECMR), Barcelona, Spain, 2013. [web]

Robot Interactive Learning through Human Assistance
G. Ferrer, A. Garrell, M. Villamizar, I. Huerta and A. Sanfeliu
Multimodal Interaction in Image and Video Applications, Springer Berlin Heidelberg, 2013. 185-203.

2011

Autonomous Navigation for Mobile Service Robots in Urban Pedestrian Environments
E. Trulls Fortuny, A. Corominas Murtra, J. Perez, G. Ferrer, D. Vasquez, J. M. Mirats Tur and A. Sanfeliu
Journal of Field Robotics, 28(3): 329-354, 2011. [video]

Comparative Analysis of Human Motion Trajectory Prediction using Minimum Variance Curvature
G. Ferrer and A. Sanfeliu
In 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Lausanne, Switzerland, 2011.