SELF-AIR Project - Robotics Group

Publications

Journals

Macenski, S., Singh, S., Martín, F. et al. Regulated pure pursuit for robot path tracking. Auton Robot (2023). DOI: 10.1007/s10514-023-10097-6
Riego, V., Sánchez, L., Fernández, L.et al. A non-stressful vision-based method for weighing live lambs. Logic Journal of IGPL, 2024 DOI: 10.1093/jigpal/jzae059
Rico, F.M., Hernández, J.M.G., Pérez-Rodríguez, R., et al. Open source robot localization for nonplanar environments. Journal of Field Robotics, 1–18. 2024 DOI: 10.1002/rob.22353
Yang, X., Jové, B., Sánchez-González, L. Rodríguez-Lera, F.J. Dataset for herding and predator detection with the use of robots. Data in Brief. 55, August 2024, 110691 DOI: 10.1016/j.dib.2024.110691.
Álvarez-Aparicio, C. Korcsok, B. Campazas-Vega, A. Miklósi, Á. Matellán, V. Ferdinandy, B. Context-Specific Navigation for ‘Gentle’ Approach Towards Objects Based on LiDAR and URF Sensors. Robotics. 24, 13(11) November 2024, 167 DOI: 10.3390/robotics13110167.
González-Santamarta, M.Á., Rodrıguez-Lera, F.J., Matellan-Olivera, V., Riego, V., Sánchez, L. SAILOR: perceptual anchoring for robotic cognitive architectures. Scientific Reports 15, 2025, 113 DOI: 10.1038/s41598-024-84071-2.

Conferences

Rodríguez-Lera, F.J., González-Santamarta, M.A., Gonzalo-Orden, J.M, et al. "Supporting Extensive Livestock Farming with the use of Autonomous Intelligent Robots". Robot 2024: Seventh Iberian Robotics Conference (ROBOT), 2024, Madrid, España (6-8 November 2024). Póster.
Sánchez-González, Lidia; Rodríguez-Lera, Francisco J.; Natal, Pablo; Lema, Tania. "Satellite-Guided Herding: Optimizing Pasture Selection for Efficient Livestock Management", In: García Bringas, P., et al. 19th International Conference on Hybrid Artificial Intelligence Systems (HAIS), 2024, Salamanca, Spain (9-11 October 2024). Lecture Notes in Computer Science, vol. 14858, 2025 Springer, Cham. DOI: 10.1007/978-3-031-74186-9_13.Repositorio con el código desarrollado.
Yang, Xiao; Carnicero, Abel; Sánchez-González, Lidia; Rodríguez-Lera, Francisco J. "VIPER: Vision-based system to detect potential predators for herding with robots", In: García Bringas, P., et al. 19th International Conference on Hybrid Artificial Intelligence Systems (HAIS), 2024, Salamanca, Spain (9-11 October 2024). Lecture Notes in Computer Science, vol. 14858, 2025, Springer, Cham. DOI: 10.1007/978-3-031-74186-9_18.Repositorio con el código desarrollado.
Riego, V., González, M.A., Sánchez-González, L. et al. "A perception skill for herding with a 4-legged robot". In Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference (ROBOT), 2023, Coimbra, Portugal (22-24 November 2023). Lecture Notes in Networks and Systems, vol. 978. Springer, Cham. DOI: 10.1007/978-3-031-59167-9_29.
Rodríguez-Lera, F.J., Sánchez-González, L., Guerrero-Higueras, A.M. et al. "SELF-AIR: Supporting Extensive Livestock Farming with the use of Autonomous Intelligent Robots ", in 5th Euro-Mediterranean Conference for Environmental Integration (EMCEI), 2023, Rende (Cosenza), Italy (2-5 October 2023).
Riego, Virginia; García-Sierra, Juan F.; Sánchez-González, Lidia. "Adapting YOLOv8 as a vision-based animal detection system to facilitate herding", In: García Bringas, P., et al. 18th International Conference on Hybrid Artificial Intelligence Systems (HAIS), 2023, Salamanca, Spain (5-7 September 2023). Lecture Notes in Computer Science, vol. 14001. Springer, Cham. DOI: 10.1007/978-3-031-40725-3_51.
Sánchez-González, Lidia. "Aplicaciones de la robótica y la visión a la ganadería extensiva", Presentaciones de los grupos que participan en el grupo de interés de SARTECO, CAPAP-H (Red de Computación de Altas Prestaciones sobre Arquitecturas Paralelas Heterogéneas), 2023, Almería, Spain (1-3 February 2023).
Gil, María; Riego, Virginia; Sánchez-González, Lidia. "AnimApp, a mobile app to detect animals in natural environments", in 5th International Conference on Applications of Intelligent Systems (APPIS), 2023, Las Palmas de Gran Canaria, Spain (23-27 January 2023). Zenodo https://doi.org/10.5281/zenodo.8072130

Datasets

Yang, X., Jové, B., Sánchez-González, L. Rodríguez-Lera, F.J. et al.Dataset for Herding and Predator Detection with the Use of Robots. DOI: 10.57967/hf/2059 (2024). DORIS Dataset at Huggingface Repositorio con el código desarrollado.

Repositorios

Repositorio en Github. Relacionado con la participación en el congreso HAIS 2024 con la comunicación oral "Satellite-Guided Herding: Optimizing Pasture Selection for Efficient Livestock Management" (2024)
Repositorio en Github. Relacionado con la participación en el congreso HAIS 2024 con la comunicación oral "VIPER: Vision-based system to detect potential predators for herding with robots" (2024)
Repositorio en Github. Relacionado con la publicación del dataset en la revista Data in Brief “Dataset for herding and predator detection with the use of robots”. (2024)
Repositorio en Github. Aplicación para el cálculo de rutas por donde conducir el ganado siguiendo los caminos y rutas existentes. (2024)
Repositorio en Github. Primera versión del driver de Ublox, el componente que utilizamos para control GPS de nuestro primer robot. (2022)
Repositorio en Github. Summer School realizado en Bruselas en el que se presentaba como herramienta de toma de decisiones en robots el uso de PDDL. Se presentó también parte del proyecto durante la sesión. (2024)
Repositorio en Github. Sistema de localización para robots basado en NAV2. (2022)
Repositorio en Github. Sistema para replicar fácilmente el repositorio anterior con Rosbags o con robots reales. (2024)

Workshops

Carnicero, Abel. "Hemos adquirido un robot con ROS2, ¿y ahora qué?", ROSCon España 2024 Sevilla, Spain (19-20 September 2024).
Jové, Beatriz; Gutiérrez, Alexis.; Fernández Llamas, Camino; Sánchez-González, Lidia; Rodríguez-Lera, Francisco J.; Matellán Olivera, Vicente. "Quadrupeds Robots in Herding: Metrics for Experimental Validation of Animal-Robot Interactions", 24th International Workshop of Physical Agents (WAF) Alicante, Spain (5-6 September 2024).
Rodríguez-Lera, Francisco J.; González-Santamarta, Miguel A.; Gonzalo Orden, José M.; Fernández Llamas, Camino; Matellán Olivera, Vicente; Sánchez-González, Lidia; "Lessons Learned in Quadruped Deployment in Livestock Farming", Workshop in Field Robotics, in IEEE International Conference on Robotics and Automation (ICRA) Yokohama, Japan (3-18 May 2024). Poster
Fernández C., Gutiérrez, A., Álvarez-Aparicio, C., et al."Robot-dogs shepherding a herd: Preliminary study of animal-robot interaction", XXI Symposium International Wild Animals Vigilance Euromediterranean Society (WAVES) , 2023, Zamora, Spain (29 September - 1 October 2023)
Riego V., González-Santamarta, M.A., Matellán, V., et al."Overcoming perception system challenges for herding with a 4-legged robot", XXI Symposium International Wild Animals Vigilance Euromediterranean Society (WAVES) , 2023, Zamora, Spain (29 September - 1 October 2023)