Hello, my name is Miguel Aranda and I am a researcher in robotics. This is a webpage documenting my research.
At present I do postdoctoral research as the beneficiary of a María Zambrano Fellowship at the University of Zaragoza, where I am a member of the Robotics, Perception and Real-Time research group of the Engineering Research Institute of Aragón, within the Department of Computer Science and Systems Engineering. Previously, I spent several years as a postdoc at the Institut Pascal research laboratory in Clermont-Ferrand, after having obtained a PhD from the University of Zaragoza.
I am interested in various research problems in robotics, automatic control and computer vision. A major specific interest for me has been the field of multirobot systems. I have proposed algorithms with varying degrees of decentralization that enable a team of agents to coordinate their motions towards completing a collective task. My focus has been in developing control strategies that can produce efficient motions and are well-suited to the use of perception solutions based on vision sensors. The types of coordinated team behaviors (e.g., formation keeping) I have considered are fundamental competencies in important multirobot applications: e.g., environment monitoring, transportation, or exploration. I have also done work on the handling of deformable objects by robots. The attention paid by the research community to this latter field of research has grown notably in recent years, due to both the difficulty of the scientific and technical issues faced and the relevance of the application areas which include, e.g., manufacturing. I have considered both the use of mobile robots and of manipulator arms, in scenarios where the goal is to perceive the state of a deformable object using vision sensors and/or manipulate it in the context of cooperative transportation or product assembly tasks.
The references to my published work can be found below. If you wish to contact me, you are welcome to do so at the following email address: miguel.aranda@unizar.es
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M. Daniel, A. Magassouba, M. Aranda, L. Lequièvre, J. A. Corrales Ramon, R. Iglesias Rodriguez, Y. Mezouar, "Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects," IEEE Robotics and Automation Letters, 9(2): 1318-1325, 2024. (pdf)
M. Shetab-Bushehri, M. Aranda, E. Ozgur, Y. Mezouar, A. Bartoli, "ROBUSfT: Robust real-time shape-from-template, a C++ library," Image and Vision Computing, vol. 141, 104867, 2024. (pdf)
M. Shetab-Bushehri, M. Aranda, Y. Mezouar, E. Ozgur, "Lattice-Based Shape Tracking and Servoing of Elastic Objects," IEEE Transactions on Robotics, vol. 40, pp. 364-381, 2024. (pdf)(project website)
M. Aranda, "Formation Control on Planar Closed Curves Using Fourier Descriptors," IEEE Control Systems Letters, 7: 3391-3396, 2023. (pdf)
M. Aranda, R. Aragüés, G. López-Nicolás, "Combined Leaderless Control of Translational, Shape-Preserving, and Affine Multirobot Formations," IEEE Robotics and Automation Letters, 8(11): 7567-7574, 2023. (pdf)(video)
R. Herguedas, M. Aranda, G. López-Nicolás, C. Sagüés, Y. Mezouar, "Double-Integrator Multirobot Control With Uncoupled Dynamics for Transport of Deformable Objects," IEEE Robotics and Automation Letters, 8(11): 7623-7630, 2023. (pdf)(video)
J. Zhu, C. Dune, M. Aranda, Y. Mezouar, J. A. Corrales, P. Gil, G. López-Nicolás, "Editorial: Robotic Handling of Deformable Objects," IEEE Robotics and Automation Letters, 7(3): 8257-8259, 2022. (online)
O. Aghajanzadeh, M. Aranda, J. A. Corrales Ramon, C. Cariou, R. Lenain, Y. Mezouar, "Adaptive Deformation Control for Elastic Linear Objects," Frontiers in Robotics and AI, 9, doi:10.3389/frobt.2022.868459, 2022. (online)
M. Shetab-Bushehri, M. Aranda, Y. Mezouar, E. Ozgur, "As-Rigid-as-Possible Shape Servoing," IEEE Robotics and Automation Letters, 7(2): 3898-3905, 2022. (pdf)(video)
M. Aranda, J. Sanchez, J. A. Corrales Ramon, Y. Mezouar, "Robotic motion coordination based on a geometric deformation measure," IEEE Systems Journal, 16(3): 3689-3699, 2022. (pdf)(video)
M. Aranda, G. López-Nicolás, Y. Mezouar, "Distributed linear control of multirobot formations organized in triads," IEEE Robotics and Automation Letters, 6(4): 310-317, 2021. (pdf)(video)
M. Aranda, Y. Mezouar, G. López-Nicolás, C. Sagüés, "Enclosing a moving target with an optimally rotated and scaled multiagent pattern," International Journal of Control, 94(3): 601-611, 2021. (pdf)
G. López-Nicolás, M. Aranda, Y. Mezouar, "Adaptive multirobot formation planning to enclose and track a target with motion and visibility constraints," IEEE Transactions on Robotics, 36(1): 142-156, 2020. (pdf)
A. González, M. Aranda, G. López-Nicolás, C. Sagüés, "Robust stability analysis of formation control in local frames under time-varying delays and actuator faults," Journal of the Franklin Institute, 356(2): 1131-1153, 2019. (pdf)
M. Aranda, Y. Mezouar, G. López-Nicolás, C. Sagüés, "Scale-free vision-based aerial control of a ground formation with hybrid topology," IEEE Transactions on Control Systems Technology, 27(4): 1703-1711, 2019. (pdf)
M. Aranda, G. López-Nicolás, C. Sagüés, M. M. Zavlanos, "Distributed formation stabilization using relative position measurements in local coordinates," IEEE Transactions on Automatic Control, 61(12): 3925-3935, 2016. (pdf)
M. Aranda, G. López-Nicolás, C. Sagüés, Y. Mezouar, "Formation control of mobile robots using multiple aerial cameras," IEEE Transactions on Robotics, 31(4): 1064-1071, 2015. (pdf)
M. Aranda, G. López-Nicolás, C. Sagüés, M. M. Zavlanos, "Coordinate-free formation stabilization based on relative position measurements," Automatica, 57: 11-20, 2015. (pdf)
M. Aranda, G. López-Nicolás, C. Sagüés, "Angle-based homing from a reference image set using the 1D trifocal tensor," Autonomous Robots, 34(1-2): 73-91, 2013. (pdf)
M. Aranda, G. López-Nicolás, C. Sagüés, "Sinusoidal input-based visual control for nonholonomic vehicles," Robotica, 31(5): 811-823, 2013. (pdf)
G. López-Nicolás, M. Aranda, Y. Mezouar, C. Sagüés, "Visual control for multi-robot organized rendezvous," IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics, vol. 42(4): 1155-1168, 2012. (pdf)
M. Aranda and Y. Mezouar, "Flexible and steady control for cooperative target observation", in "Cooperative Localization and Navigation: Theory, Research and Practice", C. Gao, G. Zhao, H. Fourati (eds.), chapter 22, pages 437-454, CRC Press (Taylor & Francis Group), 2019.
M. Aranda, G. López-Nicolás and C. Sagüés, "Control of multiple robots using vision sensors." In series: Advances in Industrial Control. Springer International Publishing AG, 2017.
G. López-Nicolás, M. Aranda and C. Sagüés. "Multi-robot formations: One homography to rule them all". M. A. Armada et al. (eds.), ROBOT2013: First Iberian Robotics Conference, Advances in Intelligent Systems and Computing 252, Springer International Publishing Switzerland, 2014. (pdf)
M. Aranda, R. Aragüés and G. López-Nicolás, "Shape Control of Maneuvering Planar Formations Based on Distributed Deformation Minimization", ROBOT2023: 6th Iberian Robotics Conference. (pdf)
O. Aghajanzadeh, M. Aranda, G. López-Nicolás, R. Lenain and Y. Mezouar, "An offline geometric model for controlling the shape of elastic linear objects," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2175-2181, 2022. (pdf)
M. H. Daniel Zakaria, M. Aranda, L. Lequievre, S. Lengagne, J. A. Corrales Ramon and Y. Mezouar, "Robotic Control of the Deformation of Soft Linear Objects Using Deep Reinforcement Learning," 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), pages 1516-1522, 2022. (pdf)
R. Herguedas, M. Aranda, G. López-Nicolás, C. Sagüés and Y. Mezouar, "Multirobot control with double-integrator dynamics and control barrier functions for deformable object transport," 2022 International Conference on Robotics and Automation (ICRA), pages 1485-1491, 2022. (pdf)
M. Aranda, J. A. Corrales, Y. Mezouar, A. Bartoli and E. Ozgur, "Monocular visual shape tracking and servoing for isometrically deforming objects," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7542-7549, 2020. (pdf)
G. López-Nicolás, R. Herguedas, M. Aranda and Y. Mezouar, "Simultaneous shape control and transport with multiple robots," IEEE International Conference on Robotic Computing (IRC), pages 218-225, 2020. (pdf)
M. Aranda, J. A. Corrales and Y. Mezouar, "Deformation-based shape control with a multirobot system," 2019 IEEE International Conference on Robotics and Automation (ICRA), pages 2174-2180, 2019. (pdf)
M. Aranda and Y. Mezouar, "Multirobot target enclosing with freely selected observation distances," European Control Conference (ECC), pages 1405-1410, 2018. (pdf)
G. López-Nicolás, M. Aranda and Y. Mezouar, "Formation of differential-drive vehicles with field-of-view constraints for enclosing a moving target," 2017 IEEE International Conference on Robotics and Automation (ICRA), pages 261-266, 2017. (pdf)
A. González, M. Aranda, G. López-Nicolás and C. Sagüés, "Time delay compensation based on Smith Predictor in multiagent formation control," 20th IFAC World Congress. In IFAC-PapersOnLine, vol. 50(1): 11645-11651, 2017. (pdf)
M. Aranda, R. Aragüés, G. López-Nicolás and C. Sagüés, "Connectivity-preserving formation stabilization of unicycles in local coordinates using minimum spanning tree," American Control Conference (ACC), pages 1968-1974, 2016. (pdf)
M. Aranda, G. López-Nicolás, C. Sagüés and M. M. Zavlanos, "Three-dimensional multirobot formation control for target enclosing," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 357-362, 2014. (pdf)
M. Aranda, G. López-Nicolás and C. Sagüés, "Controlling multiple robots through multiple 1D homographies," IEEE Intl. Conf. on Systems, Man and Cybernetics (SMC), pages 589-594, 2013. (pdf)
M. Aranda, Y. Mezouar, G. López-Nicolás and C. Sagüés, "Partially distributed multirobot control with multiple cameras," American Control Conference (ACC), pages 6323-6329, 2013. (pdf)
M. Aranda, G. López-Nicolás and C. Sagüés. "Planar motion estimation from 1D homographies," Intl. Conf. on Control, Automation, Robotics & Vision (ICARCV), pages 329-334, 2012. (pdf)
M. Aranda, G. López-Nicolás and C. Sagüés, "Omnidirectional visual homing using the 1D trifocal tensor," 2010 IEEE Intl. Conference on Robotics and Automation (ICRA), pages 2444-2450, 2010. (pdf)