Jorge Villagrá – AUTOPIA

Jorge Villagra graduated in Industrial Engineering at the Universidad Politécnica of Madrid in 2002. He received his PhD in Real-Time Computer Science, Robotics and Automatic Control at the École des Mines de Paris (France) in 2006. From 2007 to 2009 he held a position of Visiting Professor at the University Carlos III (Spain). He then received a 3-year JAE Doc fellowship at the AUTOPIA Program in the Centre for Automation and Robotics, UPM-CSIC (Spain). From 2013 until 2016 he led the Department of ADAS and Autonomous Driving Systems at Ixion Industry & Aerospace SL. He is leading AUTOPIA Program at CSIC since October 2016. He has been involved in 38 projects – 13 European, 20 national and 5 private contracts. He is or has been IP in 17 of these projects. He has participated in the Program Committee of several international conferences, and published over 100 papers in international journals and conferences on connected and automated driving.

2023

V. Jiménez, J. Godoy, A. Artuñedo, and J. Villagra, “Object-wise comparison of LiDAR occupancy grid scan rendering methods,” Robotics and Autonomous Systems, p. 104363, 2023.
[Bibtex]

@Article{jimenez2023_objectwisecomparison,
author = {Jim{\'e}nez, V{\'\i}ctor and Godoy, Jorge and Artu{\~n}edo, Antonio and Villagra, Jorge},
journal = {Robotics and Autonomous Systems},
title = {Object-wise comparison of LiDAR occupancy grid scan rendering methods},
year = {2023},
pages = {104363},
doi = {10.1016/j.robot.2023.104363},
publisher = {Elsevier},
}

V. Trentin, A. Artuñedo, J. Godoy, and J. Villagra, “Multi-Modal Interaction-Aware Motion Prediction At Unsignalized Intersections,” IEEE Transactions on Intelligent Vehicles, pp. 1-17, 2023.
[Bibtex]

@ARTICLE{trentin2023_multimodalinteraction,
author={Trentin, Vinicius and Artuñedo, Antonio and Godoy, Jorge and Villagra, Jorge},
journal={IEEE Transactions on Intelligent Vehicles},
title={Multi-Modal Interaction-Aware Motion Prediction At Unsignalized Intersections},
year={2023},
volume={},
number={},
pages={1-17},
doi={10.1109/TIV.2023.3254657}}

V. Jiménez, J. Godoy, A. Artuñedo, and J. Villagra, “Object-level Semantic and Velocity Feedback for Dynamic Occupancy Grids,” IEEE Transactions on Intelligent Vehicles, pp. 1-18, 2023.
[Bibtex]

@Article{jimenez2023_objectlevelsemantic,
author = {Jiménez, Víctor and Godoy, Jorge and Artuñedo, Antonio and Villagra, Jorge},
journal = {IEEE Transactions on Intelligent Vehicles},
title = {Object-level Semantic and Velocity Feedback for Dynamic Occupancy Grids},
year = {2023},
pages = {1-18},
doi = {10.1109/TIV.2023.3276578},
}

2022

A. Artuñedo, J. Villagra, and J. Godoy, “Jerk-Limited Time-Optimal Speed Planning for Arbitrary Paths,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, iss. 7, pp. 8194-8208, 2022.
[Bibtex]

@Article{artunedo2022_jerklimitedtime,
author= {Artu{\~n}edo, Antonio and Villagra, Jorge and Godoy, Jorge},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Jerk-Limited Time-Optimal Speed Planning for Arbitrary Paths},
year={2022},
volume={23},
number={7},
pages={8194-8208},
doi={10.1109/TITS.2021.3076813},
publisher = {IEEE},
}

V. Jiménez, J. Godoy, A. Artuñedo, and J. Villagra, “Object-based Velocity Feedback for Dynamic Occupancy Grids,” in 2022 IEEE Intelligent Vehicles Symposium (IV), 2022, p. 1309–1314.
[Bibtex]

@InProceedings{jimenez2022_objectbasedvelocity,
author = {Jim{\'e}nez, V{\'\i}ctor and Godoy, Jorge and Artu{\~n}edo, Antonio and Villagra, Jorge},
booktitle = {2022 IEEE Intelligent Vehicles Symposium (IV)},
title = {Object-based Velocity Feedback for Dynamic Occupancy Grids},
year = {2022},
organization = {IEEE},
pages = {1309--1314},
doi = {10.1109/IV51971.2022.9827201},
}

J. Godoy, A. Artuñedo, M. Beteta, and J. Villagra, “Corridors-based navigation for automated vehicles convoy in off-road environments,” IFAC-PapersOnLine, vol. 55, iss. 14, p. 71–76, 2022.
[Bibtex]

@Article{godoy2022_corridorsbasednavigation,
author = {Godoy, Jorge and Artu{\~n}edo, Antonio and Beteta, Miguel and Villagra, Jorge},
journal = {IFAC-PapersOnLine},
title = {Corridors-based navigation for automated vehicles convoy in off-road environments},
year = {2022},
number = {14},
pages = {71--76},
volume = {55},
doi = {10.1016/j.ifacol.2022.07.585},
publisher = {Elsevier},
}

J. F. Medina-Lee, J. Godoy, A. Artuñedo, and J. Villagra, “Speed Profile Generation Strategy for Efficient Merging of Automated Vehicles on Roundabouts With Realistic Traffic,” IEEE Transactions on Intelligent Vehicles, pp. 1-15, 2022.
[Bibtex]

@Article{medinalee2022_speedprofilegeneration,
author = {Medina-Lee, Juan Felipe and Godoy, Jorge and Artuñedo, Antonio and Villagra, Jorge},
journal = {IEEE Transactions on Intelligent Vehicles},
title = {Speed Profile Generation Strategy for Efficient Merging of Automated Vehicles on Roundabouts With Realistic Traffic},
year = {2022},
pages = {1-15},
doi = {10.1109/TIV.2022.3211350},
}

M. Moreno-Gonzalez, A. Artuñedo, J. Villagra, C. Join, and M. Fliess, “Speed-adaptive model-free lateral control for automated cars,” in Joint 8th IFAC Symposium on System Structure and Control, 17th IFAC Workshop on Time Delay Systems, 5th IFAC Workshop on Linear Parameter Varying Systems, Montreal, Canada, 2022.
[Bibtex]

@InProceedings{morenogonzalez2022_speedadaptivemodel,
author = {Moreno-Gonzalez, Marcos and Artu{\~n}edo, Antonio and Villagra, Jorge and Join, C{\'e}dric and Fliess, Michel},
booktitle = {{Joint 8th IFAC Symposium on System Structure and Control, 17th IFAC Workshop on Time Delay Systems, 5th IFAC Workshop on Linear Parameter Varying Systems}},
title = {{Speed-adaptive model-free lateral control for automated cars}},
year = {2022},
address = {Montreal, Canada},
month = Sep,
doi = {10.1016/j.ifacol.2022.11.312},
keywords = {Autonomous vehicles ; Model-free control ; Adaptive control applications},
}

V. Trentin, A. Artuñedo, J. Godoy, and J. Villagra, “Interaction-Aware Motion Prediction at Highways: A Comparison of Three Lane Changing Models,” in Smart Cities, Green Technologies, and Intelligent Transport Systems, Cham, 2022, p. 274–296.
[Bibtex]

@InProceedings{Trentin2022_interactionawaremotion,
author = {Trentin, Vinicius and Artu{\~{n}}edo, Antonio and Godoy, Jorge and Villagra, Jorge},
booktitle = {Smart Cities, Green Technologies, and Intelligent Transport Systems},
title = {Interaction-Aware Motion Prediction at Highways: A Comparison of Three Lane Changing Models},
year = {2022},
address = {Cham},
editor = {Klein, Cornel and Jarke, Matthias and Helfert, Markus and Berns, Karsten and Gusikhin, Oleg},
pages = {274--296},
publisher = {Springer International Publishing},
doi = {10.1007/978-3-031-17098-0_14},
isbn = {978-3-031-17098-0},
}

J. F. Medina-Lee, V. Jiménez, J. Godoy, and J. Villagra, “Maneuver Planner for Automated Vehicles on Urban Scenarios,” in 2022 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2022, pp. 1-7.
[Bibtex]

@INPROCEEDINGS{medinalee2022_maneuverplannerautomated,
author={Medina-Lee, Juan Felipe and Jiménez, Víctor and Godoy, Jorge and Villagra, Jorge},
booktitle={2022 IEEE International Conference on Vehicular Electronics and Safety (ICVES)},
title={Maneuver Planner for Automated Vehicles on Urban Scenarios},
year={2022},
volume={},
number={},
pages={1-7},
doi={10.1109/ICVES56941.2022.9987128}}

2021

J. Godoy, V. Jiménez, A. Artuñedo, and J. Villagra, “A grid-based framework for collective perception in autonomous vehicles,” Sensors, vol. 21, iss. 3, p. 744, 2021.
[Bibtex]

@Article{godoy2021_gridbasedframework,
author = {Godoy, Jorge and Jim{\'e}nez, V{\'\i}ctor and Artu{\~n}edo, Antonio and Villagra, Jorge},
journal = {Sensors},
title = {A grid-based framework for collective perception in autonomous vehicles},
year = {2021},
number = {3},
pages = {744},
volume = {21},
doi = {10.3390/s21030744},
publisher = {Multidisciplinary Digital Publishing Institute},
}

J. Medina-Lee, A. Artuñedo, J. Godoy, and J. Villagra, “Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios,” Sensors, vol. 21, iss. 11, p. 3755, 2021.
[Bibtex]

@Article{medinalee2021_meritbasedmotion,
author = {Medina-Lee, Juan and Artu{\~n}edo, Antonio and Godoy, Jorge and Villagra, Jorge},
journal = {Sensors},
title = {Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios},
year = {2021},
number = {11},
pages = {3755},
volume = {21},
doi = {10.3390/s21113755},
publisher = {Multidisciplinary Digital Publishing Institute},
}

V. Trentin, A. Artuñedo, J. Godoy, and J. Villagra, “A Comparison of Lateral Intention Models for Interaction-aware Motion Prediction at Highways.,” in VEHITS, 2021, p. 180–191.
[Bibtex]

@InProceedings{Trentin2021_comparisonlateralintention,
author = {Trentin, Vinicius and Artu{\~n}edo, Antonio and Godoy, Jorge and Villagra, Jorge},
booktitle = {VEHITS},
title = {A Comparison of Lateral Intention Models for Interaction-aware Motion Prediction at Highways.},
year = {2021},
pages = {180--191},
doi = {10.5220/0010460701800191},
}

V. Trentin, A. Artuñedo, J. Godoy, and J. Villagra, “Interaction-Aware Intention Estimation at Roundabouts,” IEEE Access, vol. 9, p. 123088–123102, 2021.
[Bibtex]

@Article{Trentin2021_interactionawareintention,
author = {Trentin, Vinicius and Artu{\~n}edo, Antonio and Godoy, Jorge and Villagra, Jorge},
journal = {IEEE Access},
title = {Interaction-Aware Intention Estimation at Roundabouts},
year = {2021},
pages = {123088--123102},
volume = {9},
doi = {10.1109/ACCESS.2021.3109350},
publisher = {IEEE},
}

V. Jiménez, J. Godoy, A. Artuñedo, and J. Villagra, “Ground Segmentation Algorithm for Sloped Terrain and Sparse LiDAR Point Cloud,” IEEE Access, vol. 9, p. 132914–132927, 2021.
[Bibtex]

@Article{jimenez2021_groundsegmentationalgorithm,
author = {Jim{\'e}nez, V{\'\i}ctor and Godoy, Jorge and Artu{\~n}edo, Antonio and Villagra, Jorge},
journal = {IEEE Access},
title = {Ground Segmentation Algorithm for Sloped Terrain and Sparse LiDAR Point Cloud},
year = {2021},
pages = {132914--132927},
volume = {9},
doi = {10.1109/ACCESS.2021.3115664},
publisher = {IEEE},
}

2020

A. Artuñedo, G. Corrales, J. Villagra, and J. Godoy, “Machine learning based motion planning approach for intelligent vehicles,” in 2020 IEEE Intelligent Vehicles Symposium, 2020.
[Bibtex]

@InProceedings{artunedo2020_machinelearningbased,
author = {Antonio Artuñedo and Gabriel Corrales and Jorge Villagra and Jorge Godoy},
booktitle = {2020 {IEEE} Intelligent Vehicles Symposium},
title = {Machine learning based motion planning approach for intelligent vehicles},
year = {2020},
publisher = {{IEEE}},
doi = {10.1109/IV47402.2020.9304714},
}

A. Artuñedo, J. Villagra, J. Godoy, and M. D. D. Castillo, “Motion Planning Approach Considering Localization Uncertainty,” IEEE Transactions on Vehicular Technology, vol. 69, iss. 6, p. 5983–5994, 2020.
[Bibtex]

@Article{artunedo2020_motionplanningapproach,
author = {Antonio Artuñedo and Jorge Villagra and J Godoy and Maria Dolores Del Castillo},
journal = {{IEEE} Transactions on Vehicular Technology},
title = {Motion Planning Approach Considering Localization Uncertainty},
year = {2020},
month = {jun},
number = {6},
pages = {5983--5994},
volume = {69},
doi = {10.1109/TVT.2020.2985546},
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
}

J. Villagra, C. Join, R. Haber, and M. Fliess, “Model-free control for machine tools,” in 21st IFAC World Congress, Berlin, Germany, 2020.
[Bibtex]

@InProceedings{Villagra2020_modelfreecontrol,
author = {Jorge Villagra and Cédric Join and Rodolfo Haber and Michel Fliess},
booktitle = {21st IFAC World Congress},
title = {Model-free control for machine tools},
year = {2020},
address = {Berlin, Germany},
month = jul,
doi = {10.48550/arXiv.2005.08546},
}

J. F. Medina-Lee, A. Artuñedo, J. Godoy, and J. Villagra, “Reachability Estimation in Dynamic Driving Scenes for Autonomous Vehicles,” in 2020 IEEE Intelligent Vehicles Symposium, 2020.
[Bibtex]

@InProceedings{medinalee2020_reachabilityestimationdynamic,
author = {Juan Felipe Medina-Lee and Antonio Artuñedo and Jorge Godoy and Jorge Villagra},
booktitle = {2020 {IEEE} Intelligent Vehicles Symposium},
title = {Reachability Estimation in Dynamic Driving Scenes for Autonomous Vehicles},
year = {2020},
publisher = {{IEEE}},
doi = {10.1109/IV47402.2020.9304672},
}

J. Villagra, A. Artunedo, V. Trentin, and J. Godoy, “Interaction-aware risk assessment: focus on the lateral intention,” in 2020 IEEE 3rd Connected and Automated Vehicles Symposium (CAVS), 2020.
[Bibtex]

@InProceedings{Villagra2020_interactionawarerisk,
author = {Jorge Villagra and Antonio Artunedo and Vinicius Trentin and Jorge Godoy},
booktitle = {2020 IEEE 3rd Connected and Automated Vehicles Symposium (CAVS)},
title = {Interaction-aware risk assessment: focus on the lateral intention},
year = {2020},
publisher = {IEEE},
doi = {10.1109/CAVS51000.2020.9334597},
}

J. F. Medina-Lee, J. Villagra, and A. Artuñedo, “Traded control architecture for automated vehicles enabled by the scene complexity estimation,” in 4th International Conference on Computer-Human Interaction Research and Applications, 2020.
[Bibtex]

@InProceedings{medinalee2020_tradedcontrolarchitecture,
author = {Juan Felipe Medina-Lee and Jorge Villagra and Antonio Artuñedo},
booktitle = {4th International Conference on Computer-Human Interaction Research and Applications},
title = {Traded control architecture for automated vehicles enabled by the scene complexity estimation},
year = {2020},
publisher = {INSTICC},
}

N. Druml, B. Debaillie, A. Anghel, N. Ristea, J. Fuchs, A. Dubey, T. Reisland, M. Hartstem, V. Rack, A. Ryabokon, K. Ozols, R. Novickis, A. Levinskis, O. Veledar, G. Macher, J. Jany-Luig, S. Solmaz, J. Reckenzaun, N. Mohan, S. Ophir, G. Stettinger, S. Diaz, M. Marcano, J. Villagra, A. Castellano, R. Beekelaar, F. Tango, J. Vanne, K. Holma, O. Icoglu, and G. Dimitrakopoulos, “Programmable Systems for Intelligence in Automobiles (PRYSTINE): Technical Progress after Year 2,” in 2020 23rd Euromicro Conference on Digital System Design (DSD), 2020.
[Bibtex]

@InProceedings{druml2020_programmablesystemsintelligence,
author = {Norbert Druml and Bjom Debaillie and Andrei Anghel and Nicolae-Catalin Ristea and Jonas Fuchs and Anand Dubey and Torsten Reisland and Maike Hartstem and Viktor Rack and Anna Ryabokon and Kaspars Ozols and Rihards Novickis and Aleksandrs Levinskis and Omar Veledar and Georg Macher and Johannes Jany-Luig and Selim Solmaz and Jakob Reckenzaun and Naveen Mohan and Shai Ophir and Georg Stettinger and Sergio Diaz and Mauricio Marcano and Jorge Villagra and Andrea Castellano and Rutger Beekelaar and Fabio Tango and Jarno Vanne and Kalle Holma and Oguz Icoglu and George Dimitrakopoulos},
booktitle = {2020 23rd Euromicro Conference on Digital System Design ({DSD})},
title = {Programmable Systems for Intelligence in Automobiles ({PRYSTINE}): Technical Progress after Year 2},
year = {2020},
month = {aug},
publisher = {{IEEE}},
doi = {10.1109/dsd51259.2020.00065},
}

J. Villagra, J. Vallvé Navarro, J. Medina Lee, J. Solà Ortega, A. Artuñedo, and J. Andrade-Cetto, “Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments,” Boletín del Grupo Español del Carbón, iss. 58, p. 15–22, 2020.
[Bibtex]

@Article{Villagra2020_technologicaladvancesintelligent,
author = {Villagra, Jorge and Vallv{\'e} Navarro, Joan and Medina Lee, Juan and Sol{\`a} Ortega, Joan and Artu{\~n}edo, Antonio and Andrade-Cetto, Juan},
journal = {Bolet{\'i}n del Grupo Espa{\~n}ol del Carb{\'o}n},
title = {Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments},
year = {2020},
number = {58},
pages = {15--22},
publisher = {Instituto de Carboqu{\'i}mica},
}

2019

J. Godoy, A. Artuñedo, and J. Villagra, “Self-Generated OSM-Based Driving Corridors,” IEEE Access, vol. 7, p. 20113–20125, 2019.
[Bibtex]

@Article{godoy2019_selfgeneratedosm,
author = {Godoy, Jorge and Artu{\~n}edo, Antonio and Villagra, Jorge},
journal = {IEEE Access},
title = {Self-Generated OSM-Based Driving Corridors},
year = {2019},
pages = {20113--20125},
volume = {7},
doi = {https://doi.org/10.1109/ACCESS.2019.2897348},
publisher = {IEEE},
}

N. Druml, O. Veledar, G. Macher, G. Stettinger, S. Selim, J. Reckenzaun, S. E. Diaz, M. Marcano, J. Villagra, R. Beekelaar, J. Jany-Luig, M. M. C. Sagues, P. Burgio, C. Ballato, B. Debaillie, L. van Meurs, A. Terechko, F. Tango, A. Ryabokon, A. Anghel, O. İçoğlu, S. S. Kumar, and G. Dimitrakopoulos, “PRYSTINE – Technical Progress After Year 1,” in 2019 22nd Euromicro Conference on Digital System Design (DSD), 2019, p. 10.
[Bibtex]

@InProceedings{druml2019_prystinetechnicalprogress,
author = {Norbert Druml and Omar Veledar and Georg Macher and Georg Stettinger and Solmaz Selim and Jakob Reckenzaun and Sergio E. Diaz and Mauricio Marcano and Jorge Villagra and Rutger Beekelaar and Johannes Jany-Luig and Marta Maria Corredoira Sagues and Paolo Burgio and Christian Ballato and Björn Debaillie and Lars van Meurs and Andrei Terechko and Fabio Tango and Anna Ryabokon and Andrei Anghel and Oğuz İçoğlu and Sumeet S. Kumar and George Dimitrakopoulos},
booktitle = {2019 22nd Euromicro Conference on Digital System Design (DSD)},
title = {PRYSTINE - Technical Progress After Year 1},
year = {2019},
pages = {10},
publisher = {IEEE},
doi = {10.1109/DSD.2019.00063},
journal = {2019 22nd Euromicro Conference on Digital System Design (DSD)},
url = {https://ieeexplore.ieee.org/document/8875207},
}

A. Hermosín, J. Godoy, P. de la Puente, J. Villagrá, and F. Matía, “Localization Method for Autonomous Vehicles by using Vertical Elements in the Environment,” in Robótica e Inteligencia Artificial: Retos y nuevas oportunidades, 2019.
[Bibtex]

@InProceedings{hermosin2019_localizationmethodautonomous,
author = {A. Hermosín and J. Godoy and P. de la Puente and J. Villagrá and F. Matía},
booktitle = {Robótica e Inteligencia Artificial: Retos y nuevas oportunidades},
title = {Localization Method for Autonomous Vehicles by using Vertical Elements in the Environment},
year = {2019},
}

J. F. Medina-Lee, V. Trentin, and J. Villagra, “Framework for motion prediction of vehicles in a simulation environment,” in Actas de las XL Jornadas de Automática, Ferrol, 4-6 de Septiembre de 2019, 2019, p. 520–527.
[Bibtex]

@InProceedings{medinalee2019_frameworkmotionprediction,
author = {J. F. {Medina-Lee} and Trentin, Vinicius and Villagra, Jorge},
booktitle = {Actas de las XL Jornadas de Autom{\'a}tica, Ferrol, 4-6 de Septiembre de 2019},
title = {Framework for motion prediction of vehicles in a simulation environment},
year = {2019},
pages = {520--527},
publisher = {Universidade da Coru{\~n}a},
doi = {https://doi.org/10.17979/spudc.9788497497169.520},
journal = {Actas de las XL Jornadas de Autom{\'a}tica, Ferrol, 4-6 de Septiembre de 2019},
url = {https://doi.org/10.17979/spudc.9788497497169.520},
}

A. Artuñedo, J. Villagra, and J. Godoy, “Real-Time Motion Planning Approach for Automated Driving in Urban Environments,” IEEE Access, vol. 7, p. 180039–180053, 2019.
[Bibtex]

@Article{artunedo2019_realtimemotion,
author = {Antonio Artu{\~n}edo and Jorge Villagra and Jorge Godoy},
journal = {{IEEE} Access},
title = {Real-Time Motion Planning Approach for Automated Driving in Urban Environments},
year = {2019},
pages = {180039--180053},
volume = {7},
doi = {10.1109/ACCESS.2019.2959432},
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
}

A. Artuñedo, J. Godoy, and J. Villagra, “A decision-making architecture for automated driving without detailed prior maps,” in 2019 IEEE Intelligent Vehicles Symposium (IV), 2019.
[Bibtex]

@InProceedings{artunedo2019_decisionmakingarchitecture,
author = {Antonio Artu{\~n}edo and Jorge Godoy and Jorge Villagra},
booktitle = {2019 {IEEE} Intelligent Vehicles Symposium ({IV})},
title = {A decision-making architecture for automated driving without detailed prior maps},
year = {2019},
month = {jun},
publisher = {{IEEE}},
doi = {10.1109/IVS.2019.8814070},
}

2018

J. Villagra, M. Perarnau, J. Godoy, and A. Artuñedo, “Validación de una estrategia para la estimación del riesgo en intersecciones con vehículos conectados,” in Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de Septiembre de 2018, 2018.
[Bibtex]

@InProceedings{Villagra2018_validaciondeuna,
author = {Villagra, Jorge and Perarnau, Manuel and Godoy, Jorge and Artu{\~n}edo, Antonio},
booktitle = {Actas de las XXXIX Jornadas de Autom{\'a}tica, Badajoz, 5-7 de Septiembre de 2018},
title = {Validaci{\'o}n de una estrategia para la estimaci{\'o}n del riesgo en intersecciones con veh{\'i}culos conectados},
year = {2018},
publisher = {Universidad de Extremadura},
}

J. Villagra, L. Acosta, A. Artuñedo, R. Blanco, M. Clavijo, C. Fernández, J. Godoy, R. Haber, F. Jiménez, C. Martínez, and others, “Automated driving,” in Intelligent Vehicles, 2018, p. 275–342.
[Bibtex]

@InProceedings{Villagra2018_automateddriving,
author = {Villagra, Jorge and Acosta, Leopoldo and Artu{\~n}edo, Antonio and Blanco, Rosa and Clavijo, Miguel and Fern{\'a}ndez, Carlos and Godoy, Jorge and Haber, Rodolfo and Jim{\'e}nez, Felipe and Mart{\'i}nez, Carlos and others},
booktitle = {Intelligent Vehicles},
title = {Automated driving},
year = {2018},
organization = {Butterworth-Heinemann},
pages = {275--342},
doi = {https://doi.org/10.1016/B978-0-12-812800-8.00008-4},
url = {https://www.elsevier.com/books/intelligent-vehicles/jimenez/978-0-12-812800-8},
}

A. Artuñedo, J. Godoy, and J. Villagra, “A primitive comparison for traffic-free path planning,” IEEE Access, vol. 6, p. 28801–28817, 2018.
[Bibtex]

@Article{artunedo2018_primitivecomparisontraffic,
author = {Artu{\~n}edo, Antonio and Godoy, Jorge and Villagra, Jorge},
journal = {IEEE Access},
title = {A primitive comparison for traffic-free path planning},
year = {2018},
issn = {2169-3536},
pages = {28801--28817},
volume = {6},
doi = {10.1109/ACCESS.2018.2839884},
keywords = {curve fitting;interpolation;mobile robots;optimisation;path planning;road traffic control;interpolation curve planners;on-road urban driving;traffic-free path planning;motion planning;optimization problem;multidimensional space;global optimal solution;in-depth analysis;continuous curvature Bezier compositions;Planning;Trajectory;Optimization;Autonomous vehicles;Roads;Benchmark testing;Path planning;path optimization;autonomous driving},
publisher = {IEEE},
}

A. Brazalez, L. Matey, B. Nuñez, A. Paul, J. J. Sánchez-Medina, R. Arnay, A. Artuñedo, S. Campos-Cordobés, J. Villagra, A. M. López, D. Vázquez, and G. Villalonga, “Simulation Tools,” Intelligent Vehicles, p. 395–436, 2018.
[Bibtex]

@Article{brazalez2018_simulationtools,
author = {Brazalez, Alfonso and Matey, Luis and Nuñez, Borja and Paul, Ana and Sánchez-Medina, Javier J. and Arnay, Rafael and Artuñedo, Antonio and Campos-Cordobés, Sergio and Villagra, Jorge and López, Antonio M. and Vázquez, David and Villalonga, Gabriel},
journal = {Intelligent Vehicles},
title = {Simulation Tools},
year = {2018},
pages = {395--436},
booktitle = {Intelligent Vehicles},
doi = {10.1016/B978-0-12-812800-8.00010-2},
keywords = {Driving simulator, Hardware, Software, Interface, Traffic simulation, Macroscopic simulation, Microscopic simulation, Virtual data, Training data},
publisher = {Elsevier},
url = {http://hdl.handle.net/10553/41821},
}

2017

V. Alonso, R. Correal, and J. Villagra, “Footprint-based classification of road moving objects using occupancy grids,” in IEEE Intelligent Vehicles Symposium, Proceedings, 2017.
[Bibtex]

@InProceedings{alonso2017_footprintbasedclassification,
author = {Alonso, Victor and Correal, Raul and Villagra, Jorge},
booktitle = {IEEE Intelligent Vehicles Symposium, Proceedings},
title = {{Footprint-based classification of road moving objects using occupancy grids}},
year = {2017},
doi = {10.1109/IVS.2017.7995853},
isbn = {9781509048045},
}

L. Medina, M. Diez-Ochoa, R. Correal, S. Cuenca-Asensi, A. Serrano, J. Godoy, A. Martínez-Álvarez, and J. Villagra, “A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters,” Sensors, 2017.
[Bibtex]

@Article{medina2017_comparisonfpgagpgpu,
author = {Medina, Luis and Diez-Ochoa, Miguel and Correal, Raul and Cuenca-Asensi, Sergio and Serrano, Alejandro and Godoy, Jorge and Mart{\'i}nez-{\'A}lvarez, Antonio and Villagra, Jorge},
journal = {Sensors},
title = {{A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters}},
year = {2017},
issn = {1424-8220},
abstract = {Grid-based perception techniques in the automotive sector based on fusing information from different sensors and their robust perceptions of the environment are proliferating in the industry. However, one of the main drawbacks of these techniques is the traditionally prohibitive, high computing performance that is required for embedded automotive systems. In this work, the capabilities of new computing architectures that embed these algorithms are assessed in a real car. The paper compares two ad hoc optimized designs of the Bayesian Occupancy Filter; one for General Purpose Graphics Processing Unit (GPGPU) and the other for Field-Programmable Gate Array (FPGA). The resulting implementations are compared in terms of development effort, accuracy and performance, using datasets from a realistic simulator and from a real automated vehicle.},
doi = {10.3390/s17112599},
isbn = {3491871190},
}

M. Saval-Calvo, L. Medina-Valdés, J. M. Castillo-Secilla, S. Cuenca-Asensi, A. Martínez-Álvarez, and J. Villagra, “A review of the bayesian occupancy filter,” Sensors (Switzerland), 2017.
[Bibtex]

@Article{SavalCalvo2017_reviewbayesianoccupancy,
author = {Saval-Calvo, Marcelo and Medina-Vald{\'e}s, Luis and Castillo-Secilla, Jos{\'e} Mar{\'i}a and Cuenca-Asensi, Sergio and Mart{\'i}nez-{\'A}lvarez, Antonio and Villagra, Jorge},
journal = {Sensors (Switzerland)},
title = {{A review of the bayesian occupancy filter}},
year = {2017},
issn = {14248220},
abstract = {Autonomous vehicle systems are currently the object of intense research within scientiﬁc and industrial communities; however, many problems remain to be solved. One of the most critical aspects addressed in both autonomous driving and robotics is environment perception, since it consists of the ability to understand the surroundings of the vehicle to estimate risks and make decisions on future movements. In recent years, the Bayesian Occupancy Filter (BOF) method has been developed to evaluate occupancy by tessellation of the environment. A review of the BOF and its variants is presented in this paper. Moreover, we propose a detailed taxonomy where the BOF is decomposed into ﬁve progressive layers, from the level closest to the sensor to the highest abstractlevelofriskassessment. Inaddition,wepresentastudyofimplementedusecasestoprovide a practical understanding on the main uses of the BOF and its taxonomy.},
doi = {10.3390/s17020344},
keywords = {ADAS, Bayesian Occupancy Filter (BOF), Uncertainty management},
pmid = {28208638},
}

A. Artuñedo, J. Godoy, and J. Villagra, “A comparison of local path-planning interpolation methods for autonomous driving in urban Environments,” in Industriales Research Meeting 2017, Madrid, 2017, p. 147.
[Bibtex]

@InProceedings{artunedo2017_comparisonlocalpath,
author = {Artu{\~n}edo, A. and Godoy, J. and Villagra, J.},
booktitle = {Industriales Research Meeting 2017},
title = {A comparison of local path-planning interpolation methods for autonomous driving in urban Environments},
year = {2017},
address = {Madrid},
month = apr,
pages = {147},
}

A. Artuñedo, J. Godoy, and J. Villagra, “Smooth path planning for urban autonomous driving using OpenStreetMaps,” in 2017 IEEE Intelligent Vehicles Symposium (IV), 2017, pp. 837-842.
[Bibtex]

@InProceedings{artunedo2017_smoothpathplanning,
author = {Artu{\~n}edo, A. and Godoy, J. and Villagra, J.},
booktitle = {2017 IEEE Intelligent Vehicles Symposium (IV)},
title = {Smooth path planning for urban autonomous driving using OpenStreetMaps},
year = {2017},
pages = {837-842},
doi = {10.1109/IVS.2017.7995820},
}

D. Fuentes, J. R:. Gastón, R. Correal, and J. Villagra, “Integration and synchronization of different-scope automotive simulators for autonomous vehicles’ testing,” in 15th European Automotive Congress, 2017.
[Bibtex]

@InProceedings{fuentes2017_integrationsynchronizationdifferent,
author = {Fuentes, D. and Gast{\'o}n, J.R: and Correal, R. and Villagra, J.},
booktitle = {15th European Automotive Congress},
title = {Integration and synchronization of different-scope automotive simulators for autonomous vehicles’ testing},
year = {2017},
month = oct,
}

2015

J. Godoy, J. Pérez, E. Onieva, J. Villagra, V. Milanés, and R. Haber, “A driverless vehicle demonstration on motorways and in urban environments,” Transport, 2015.
[Bibtex]

@Article{godoy2015_driverlessvehicledemonstration,
author = {Godoy, Jorge and P{\'e}rez, Joshu{\'e} and Onieva, Enrique and Villagra, Jorge and Milan{\'e}s, Vicente and Haber, Rodolfo},
journal = {Transport},
title = {{A driverless vehicle demonstration on motorways and in urban environments}},
year = {2015},
issn = {1648-4142},
abstract = {The constant growth of the number of vehicles in today's world demands improvements in the safety and efficiency of roads and road use. This can be in part satisfied by the implementation of autonomous driving systems because of their greater precision than human drivers in controlling a vehicle. As result, the capacity of the roads would be increased by reducing the spacing between vehicles. Moreover, greener driving modes could be applied so that the fuel consumption, and therefore carbon emissions, would be reduced. This paper presents the results obtained by the AUTOPIA program during a public demonstration performed in June 2012. This driverless experiment consisted of a 100-kilometre route around Madrid (Spain), including both urban and motorway environments. A first vehicle – acting as leader and manually driven – transmitted its relevant information – i.e., position and speed – through an 802.11p communication link to a second vehicle, which tracked the leader's trajectory and speed while maintaining a safe distance. The results were encouraging, and showed the viability of the AUTOPIA approach.},
doi = {10.3846/16484142.2014.1003406},
}

A. Artuñedo, J. Godoy, R. Haber, J. Villagra, and R. M. del Toro, “Advanced Co-simulation Framework for Cooperative Maneuvers Among Vehicles,” in Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on, 2015, pp. 1436-1441.
[Bibtex]

@InProceedings{artunedo2015_advancedcosimulation,
author = {Artu{\~n}edo, Antonio and Godoy, Jorge and Haber, Rodolfo and Villagra, Jorge and del Toro, Ra{\'u}l M},
booktitle = {Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on},
title = {Advanced Co-simulation Framework for Cooperative Maneuvers Among Vehicles},
year = {2015},
organization = {IEEE},
pages = {1436-1441},
doi = {10.1109/ITSC.2015.235},
}

2014

H. S. Hosseinnia, I. Tejado, V. Milanés, J. Villagra, and B. M. Vinagre, “Experimental application of hybrid fractional-order adaptive cruise control at low speed,” IEEE Transactions on Control Systems Technology, vol. 22, iss. 6, pp. 2329-2336, 2014.
[Bibtex]

@Article{hosseinnia2014_experimentalapplicationhybrid,
author = {Hosseinnia, S Hassan and Tejado, In{\'e}s and Milan{\'e}s, Vicente and Villagra, Jorge and Vinagre, Blas M},
journal = {IEEE Transactions on Control Systems Technology},
title = {Experimental application of hybrid fractional-order adaptive cruise control at low speed},
year = {2014},
number = {6},
pages = {2329-2336},
volume = {22},
doi = {10.1109/TCST.2014.2308837},
publisher = {IEEE},
}

2013

J. Godoy, V. Milanés, J. Pérez, J. Villagra, and E. Onieva, “An auxiliary V2I network for road transport and dynamic environments,” Transportation Research Part C: Emerging Technologies, vol. 37, pp. 145-156, 2013.
[Bibtex]

@Article{godoy2013_auxiliaryv2inetwork,
author = {Godoy, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Villagra, Jorge and Onieva, Enrique},
journal = {Transportation Research Part C: Emerging Technologies},
title = {An auxiliary V2I network for road transport and dynamic environments},
year = {2013},
pages = {145-156},
volume = {37},
doi = {10.1016/j.trc.2013.09.012},
publisher = {Elsevier},
}

I. Tejado, V. Milanés, J. Villagra, and B. M. Vinagre, “Fractional Network-Based Control for Vehicle Speed Adaptation via Vehicle-to-Infrastructure Communications,” IEEE Transactions on Control Systems Technology, vol. 21, iss. 3, pp. 780-790, 2013.
[Bibtex]

@Article{Tejado2013_fractionalnetworkbased,
author = {I. Tejado and V. Milan{\'e}s and J. Villagra and B. M. Vinagre},
journal = {IEEE Transactions on Control Systems Technology},
title = {Fractional Network-Based Control for Vehicle Speed Adaptation via Vehicle-to-Infrastructure Communications},
year = {2013},
issn = {1063-6536},
month = {May},
number = {3},
pages = {780-790},
volume = {21},
doi = {10.1109/TCST.2012.2195494},
keywords = {PI control;collision avoidance;compensation;delays;mobile radio;networked control systems;road accidents;road safety;road vehicles;time-varying systems;velocity control;Citroen vehicle;accident avoidance;accident mitigation;delay effect compensation;e-safety problem;fractional network-based control;gain scheduling;local fractional-order proportional integral controller;networked control systems;principal limiting factor;time-varying network-induced delays;vehicle speed adaptation;vehicle-to-infrastructure communications;vehicle-to-vehicle communications;velocity control;Control systems;Current measurement;Delay;Gain;Stability analysis;Vehicle dynamics;Vehicles;Adaptive control;delay effects;fractional calculus;networked control systems (NCSs);vehicle driving;vehicle safety;velocity control},
}

E. Onieva, J. Godoy, J. Villagra, V. Milanés, and J. Pérez, “On-line learning of a fuzzy controller for a precise vehicle cruise control system,” Expert Systems with Applications, vol. 40, iss. 4, pp. 1046-1053, 2013.
[Bibtex]

@Article{onieva2013_linelearningfuzzy,
author = {Onieva, Enrique and Godoy, Jorge and Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e}},
journal = {Expert Systems with Applications},
title = {On-line learning of a fuzzy controller for a precise vehicle cruise control system},
year = {2013},
number = {4},
pages = {1046-1053},
volume = {40},
doi = {https://doi.org/10.1016/j.eswa.2012.08.036},
publisher = {Elsevier},
}

J. Pérez, V. Milanés, J. Godoy, J. Villagra, and E. Onieva, “Cooperative controllers for highways based on human experience,” Expert Systems with Applications, vol. 40, iss. 4, pp. 1024-1033, 2013.
[Bibtex]

@Article{perez2013_cooperativecontrollershighways,
author = {P{\'e}rez, Joshu{\'e} and Milan{\'e}s, Vicente and Godoy, Jorge and Villagra, Jorge and Onieva, Enrique},
journal = {Expert Systems with Applications},
title = {Cooperative controllers for highways based on human experience},
year = {2013},
number = {4},
pages = {1024-1033},
volume = {40},
doi = {https://doi.org/10.1016/j.eswa.2012.08.011},
publisher = {Elsevier},
}

J. Pérez, J. Godoy, J. Villagra, and E. Onieva, “Trajectory generator for autonomous vehicles in urban environments,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013, pp. 409-414.
[Bibtex]

@InProceedings{perez2013_trajectorygeneratorautonomous,
author = {P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Villagra, Jorge and Onieva, Enrique},
booktitle = {Robotics and Automation (ICRA), 2013 IEEE International Conference on},
title = {Trajectory generator for autonomous vehicles in urban environments},
year = {2013},
organization = {IEEE},
pages = {409-414},
doi = {10.1109/ICRA.2013.6630608},
}

J. Villagra, J. Godoy, C. González, and T. de Pedro, “Nearly-Time Optimal Smooth Path Planning Using Continuous Curvature Derivative Primitives,” in 14th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2013, pp. 1-8.
[Bibtex]

@InProceedings{Villagra2013_nearlytimeoptimal,
author = {Villagra, Jorge and Godoy, Jorge and Gonz{\'a}lez, Carlos and de Pedro, Teresa},
booktitle = {14th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {Nearly-Time Optimal Smooth Path Planning Using Continuous Curvature Derivative Primitives},
year = {2013},
address = {Las Palmas de Gran Canaria, Spain},
month = feb,
organization = {Springer},
pages = {1-8},
doi = {https://doi.org/10.1007/978-3-642-53862-9_1},
}

J. Godoy, J. Villagra, T. de Pedro, and R. Galán, “Virtual Vehicle Approach for Longitudinal Control in Urban Environments,” in 14th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2013, pp. 25-32.
[Bibtex]

@InProceedings{godoy2013_virtualvehicleapproach,
author = {Godoy, Jorge and Villagra, Jorge and de Pedro, Teresa and Gal{\'a}n, Ram{\'o}n},
booktitle = {14th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {Virtual Vehicle Approach for Longitudinal Control in Urban Environments},
year = {2013},
address = {Las Palmas de Gran Canaria, Spain},
month = feb,
organization = {Springer},
pages = {25-32},
doi = {10.1007/978-3-642-53862-9_4},
}

2012

V. Milanés, D. F. Llorca, J. Villagra, J. Pérez, I. Parra, C. González, and M. A. Sotelo, “Vision-based active safety system for automatic stopping,” Expert Systems with Applications, vol. 39, iss. 12, pp. 11234-11242, 2012.
[Bibtex]

@Article{milanes2012_visionbasedactive,
author = {Milan{\'e}s, Vicente and Llorca, David F and Villagra, Jorge and P{\'e}rez, Joshue and Parra, Ignacio and Gonz{\'a}lez, Carlos and Sotelo, Miguel A},
journal = {Expert Systems with Applications},
title = {Vision-based active safety system for automatic stopping},
year = {2012},
number = {12},
pages = {11234-11242},
volume = {39},
publisher = {Elsevier},
}

V. Milanes, L. Alonso, J. Villagra, J. Godoy, T. de Pedro, and J. P. Oria, “Traffic jam driving with NMV avoidance,” Mechanical Systems and Signal Processing, vol. 31, pp. 332-344, 2012.
[Bibtex]

@Article{milanes2012_trafficjamdriving,
author = {Milanes, Vicente and Alonso, Luciano and Villagra, Jorge and Godoy, Jorge and de Pedro, Teresa and Oria, Juan P},
journal = {Mechanical Systems and Signal Processing},
title = {Traffic jam driving with NMV avoidance},
year = {2012},
pages = {332-344},
volume = {31},
publisher = {Elsevier},
}

J. Villagra and D. Herrero-Pérez, “A comparison of control techniques for robust docking maneuvers of an AGV,” IEEE Transactions on Control Systems Technology, vol. 20, iss. 4, pp. 1116-1123, 2012.
[Bibtex]

@Article{Villagra2012_comparisoncontroltechniques,
author = {Villagra, Jorge and Herrero-P{\'e}rez, David},
journal = {IEEE Transactions on Control Systems Technology},
title = {A comparison of control techniques for robust docking maneuvers of an AGV},
year = {2012},
number = {4},
pages = {1116-1123},
volume = {20},
doi = {10.1109/TCST.2011.2159794},
publisher = {IEEE},
}

V. Milanés, J. Villagra, J. Godoy, and C. González, “Comparing fuzzy and intelligent PI controllers in stop-and-go manoeuvres,” IEEE Transactions on Control Systems Technology, vol. 20, iss. 3, pp. 770-778, 2012.
[Bibtex]

@Article{milanes2012_comparingfuzzyintelligent,
author = {Milan{\'e}s, Vicente and Villagra, Jorge and Godoy, Jorge and Gonz{\'a}lez, Carlos},
journal = {IEEE Transactions on Control Systems Technology},
title = {Comparing fuzzy and intelligent PI controllers in stop-and-go manoeuvres},
year = {2012},
number = {3},
pages = {770-778},
volume = {20},
doi = {10.1109/TCST.2011.2135859},
publisher = {IEEE},
}

V. Milanes, J. Villagra, J. Godoy, J. Simo, J. Pérez, and E. Onieva, “An intelligent V2I-based traffic management system,” IEEE Transactions on Intelligent Transportation Systems, vol. 13, iss. 1, pp. 49-58, 2012.
[Bibtex]

@Article{milanes2012_intelligentv2ibased,
author = {Milanes, Vicente and Villagra, Jorge and Godoy, Jorge and Simo, Javier and P{\'e}rez, Joshu{\'e} and Onieva, Enrique},
journal = {IEEE Transactions on Intelligent Transportation Systems},
title = {An intelligent V2I-based traffic management system},
year = {2012},
number = {1},
pages = {49-58},
volume = {13},
doi = {10.1109/TITS.2011.2178839},
publisher = {IEEE},
}

J. Villagra, V. Milanés, J. Pérez, and J. Godoy, “Smooth path and speed planning for an automated public transport vehicle,” Robotics and Autonomous Systems, vol. 60, iss. 2, pp. 252-265, 2012.
[Bibtex]

@Article{Villagra2012_smoothpathspeed,
author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Godoy, Jorge},
journal = {Robotics and Autonomous Systems},
title = {Smooth path and speed planning for an automated public transport vehicle},
year = {2012},
number = {2},
pages = {252-265},
volume = {60},
publisher = {Elsevier},
}

V. Milanés, J. Villagra, J. Pérez, and C. González, “Low-speed longitudinal controllers for mass-produced cars: A comparative study,” IEEE Transactions on Industrial Electronics, vol. 59, iss. 1, pp. 620-628, 2012.
[Bibtex]

@Article{milanes2012_lowspeedlongitudinal,
author = {Milan{\'e}s, Vicente and Villagra, Jorge and P{\'e}rez, Joshu{\'e} and Gonz{\'a}lez, Carlos},
journal = {IEEE Transactions on Industrial Electronics},
title = {Low-speed longitudinal controllers for mass-produced cars: A comparative study},
year = {2012},
number = {1},
pages = {620-628},
volume = {59},
doi = {10.1109/TIE.2011.2148673},
publisher = {IEEE},
}

V. Milanés, D. F. Llorca, J. Villagra, J. Pérez, C. Fernández, I. Parra, C. González, and M. A. Sotelo, “Intelligent automatic overtaking system using vision for vehicle detection,” Expert Systems with Applications, vol. 39, iss. 3, pp. 3362-3373, 2012.
[Bibtex]

@Article{milanes2012_intelligentautomaticovertaking,
author = {Milan{\'e}s, Vicente and Llorca, David F and Villagra, Jorge and P{\'e}rez, Joshu{\'e} and Fern{\'a}ndez, Carlos and Parra, Ignacio and Gonz{\'a}lez, Carlos and Sotelo, Miguel A},
journal = {Expert Systems with Applications},
title = {Intelligent automatic overtaking system using vision for vehicle detection},
year = {2012},
number = {3},
pages = {3362-3373},
volume = {39},
publisher = {Elsevier},
}

J. Villagra, V. Milanés, J. P. Rastelli, J. Godoy, and E. Onieva, “Path and speed planning for smooth autonomous navigation,” in IV 2012-IEEE Intelligent Vehicles Symposium, 2012.
[Bibtex]

@InProceedings{Villagra2012_pathspeedplanning,
author = {Villagra, Jorge and Milan{\'e}s, Vicente and Rastelli, Joshu{\'e} P{\'e}rez and Godoy, Jorge and Onieva, Enrique},
booktitle = {IV 2012-IEEE Intelligent Vehicles Symposium},
title = {Path and speed planning for smooth autonomous navigation},
year = {2012},
}

J. Godoy, D. Gruyer, A. Lambert, and J. Villagra, “Development of an particle swarm algorithm for vehicle localization,” in Intelligent Vehicles Symposium (IV), 2012 IEEE, 2012, pp. 1114-1119.
[Bibtex]

@InProceedings{godoy2012_developmentparticleswarm,
author = {Godoy, Jorge and Gruyer, Dominique and Lambert, Alain and Villagra, Jorge},
booktitle = {Intelligent Vehicles Symposium (IV), 2012 IEEE},
title = {Development of an particle swarm algorithm for vehicle localization},
year = {2012},
organization = {IEEE},
pages = {1114-1119},
doi = {10.1109/IVS.2012.6232213},
}

J. Pérez, J. Godoy, V. Milanés, J. Villagra, and E. Onieva, “Path following with backtracking based on fuzzy controllers for forward and reverse driving,” in Intelligent Vehicles Symposium (IV), 2012 IEEE, 2012, pp. 1108-1113.
[Bibtex]

@InProceedings{perez2012_pathfollowingbacktracking,
author = {P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Milan{\'e}s, Vicente and Villagra, Jorge and Onieva, Enrique},
booktitle = {Intelligent Vehicles Symposium (IV), 2012 IEEE},
title = {Path following with backtracking based on fuzzy controllers for forward and reverse driving},
year = {2012},
organization = {IEEE},
pages = {1108-1113},
doi = {10.1109/IVS.2012.6232191},
}

J. Villagra, B. Vinagre, and I. Tejado, “Data-driven fractional PID control: application to DC motors in flexible joints,” IFAC Proceedings Volumes, vol. 45, iss. 3, pp. 709-714, 2012.
[Bibtex]

@Article{Villagra2012_datadrivenfractional,
author = {Villagra, Jorge and Vinagre, Blas and Tejado, In{\'e}s},
journal = {IFAC Proceedings Volumes},
title = {Data-driven fractional PID control: application to DC motors in flexible joints},
year = {2012},
number = {3},
pages = {709-714},
volume = {45},
publisher = {Elsevier},
}

E. Onieva, J. Villagra, V. Milanés, and J. Godoy, “Algoritmo Genético para Decisiones Inteligentes en Cruces de Vehículos con Función de Coste Dinámica,” in XVI Congreso Español sobre Tecnologías y Lógica Fuzzy, 2012.
[Bibtex]

@InProceedings{onieva2012_algoritmogeneticopara,
author = {Enrique Onieva and Jorge Villagra and Vicente Milan{\'e}s and Jorge Godoy},
booktitle = {XVI Congreso Espa{\~n}ol sobre Tecnolog{\'i}as y L{\'o}gica Fuzzy},
title = {Algoritmo Gen{\'e}tico para Decisiones Inteligentes en Cruces de Veh{\'i}culos con Funci{\'o}n de Coste Din{\'a}mica},
year = {2012},
month = feb,
}

E. Onieva, J. Godoy, and J. Villagra, “Precise vehicle cruise control system based on On-line fuzzy control learning,” in International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, 2012, pp. 101-110.
[Bibtex]

@InProceedings{onieva2012_precisevehiclecruise,
author = {Onieva, Enrique and Godoy, Jorge and Villagra, Jorge},
booktitle = {International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems},
title = {Precise vehicle cruise control system based on On-line fuzzy control learning},
year = {2012},
organization = {Springer},
pages = {101-110},
doi = {https://doi.org/10.1007/978-3-642-31709-5_11},
}

2011

J. Villagra, B. D’Andréa-Novel, M. Fliess, and H. Mounier, “A diagnosis-based approach for tire-road forces and maximum friction estimation,” Control engineering practice, vol. 19, iss. 2, pp. 174-184, 2011.
[Bibtex]

@Article{Villagra2011_diagnosisbasedapproach,
author = {Villagra, Jorge and D’Andr{\'e}a-Novel, Brigitte and Fliess, Michel and Mounier, Hugues},
journal = {Control engineering practice},
title = {A diagnosis-based approach for tire-road forces and maximum friction estimation},
year = {2011},
number = {2},
pages = {174-184},
volume = {19},
publisher = {Elsevier},
}

V. Milanés, J. Godoy, J. Villagra, and J. Pérez, “Automated on-ramp merging system for congested traffic situations,” IEEE Transactions on Intelligent Transportation Systems, vol. 12, iss. 2, pp. 500-508, 2011.
[Bibtex]

@Article{milanes2011_automatedrampmerging,
author = {Milan{\'e}s, Vicente and Godoy, Jorge and Villagra, Jorge and P{\'e}rez, Joshu{\'e}},
journal = {IEEE Transactions on Intelligent Transportation Systems},
title = {Automated on-ramp merging system for congested traffic situations},
year = {2011},
number = {2},
pages = {500-508},
volume = {12},
doi = {10.1109/TITS.2010.2096812},
publisher = {IEEE},
}

J. Villagra and C. Balaguer, “A model-free approach for accurate joint motion control in humanoid locomotion,” International Journal of Humanoid Robotics, vol. 8, iss. 01, pp. 27-46, 2011.
[Bibtex]

@Article{Villagra2011_modelfreeapproach,
author = {Villagra, Jorge and Balaguer, Carlos},
journal = {International Journal of Humanoid Robotics},
title = {A model-free approach for accurate joint motion control in humanoid locomotion},
year = {2011},
number = {01},
pages = {27-46},
volume = {8},
publisher = {World Scientific},
}

H. S. HosseinNia, I. Tejado, B. M. Vinagre, V. Milanés, and J. Villagra, “Low speed control of an autonomous vehicle using a hybrid fractional order controller,” in Control, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on, 2011, pp. 116-121.
[Bibtex]

@InProceedings{hosseinnia2011_lowspeedcontrol,
author = {HosseinNia, S Hassan and Tejado, In{\'e}s and Vinagre, Blas M and Milan{\'e}s, Vicente and Villagra, Jorge},
booktitle = {Control, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on},
title = {Low speed control of an autonomous vehicle using a hybrid fractional order controller},
year = {2011},
organization = {IEEE},
pages = {116-121},
}

R. Domínguez, E. Onieva, J. Alonso, J. Villagra, and C. González, “LIDAR based perception solution for autonomous vehicles,” in Intelligent Systems Design and Applications (ISDA), 2011 11th International Conference on, 2011, pp. 790-795.
[Bibtex]

@InProceedings{dominguez2011_lidarbasedperception,
author = {Dom{\'i}nguez, Ra{\'u}l and Onieva, Enrique and Alonso, Javier and Villagra, Jorge and Gonz{\'a}lez, Carlos},
booktitle = {Intelligent Systems Design and Applications (ISDA), 2011 11th International Conference on},
title = {LIDAR based perception solution for autonomous vehicles},
year = {2011},
organization = {IEEE},
pages = {790-795},
}

V. Milanés, E. Onieva, J. Pérez, J. Godoy, and J. Villagra, “An approach to driverless vehicles in highways,” in Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on, 2011, pp. 668-673.
[Bibtex]

@InProceedings{milanes2011_approachdriverlessvehicles,
author = {Milan{\'e}s, Vicente and Onieva, Enrique and P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Villagra, Jorge},
booktitle = {Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on},
title = {An approach to driverless vehicles in highways},
year = {2011},
organization = {IEEE},
pages = {668-673},
doi = {10.1109/ITSC.2011.6082836},
}

I. Tejado, V. Milanés, J. Villagra, J. Godoy, H. HosseinNia, and B. M. Vinagre, “Low speed control of an autonomous vehicle by using a fractional PI controller,” IFAC Proceedings Volumes, vol. 44, iss. 1, pp. 15025-15030, 2011.
[Bibtex]

@Article{Tejado2011_lowspeedcontrol,
author = {Tejado, In{\'e}s and Milan{\'e}s, Vicente and Villagra, Jorge and Godoy, Jorge and HosseinNia, Hassan and Vinagre, Blas M},
journal = {IFAC Proceedings Volumes},
title = {Low speed control of an autonomous vehicle by using a fractional PI controller},
year = {2011},
number = {1},
pages = {15025-15030},
volume = {44},
publisher = {Elsevier},
}

V. Milanés, E. Onieva, J. P. Rastelli, J. Godoy, J. Villagra, and J. Alonso, “Sistema de Guiado Automático para Altas Velocidades,” in Seminario Anual de Automática, Electrónica Industrial e Instrumentación, 2011.
[Bibtex]

@InProceedings{milanes2011_sistemadeguiado,
author = {Milan{\'e}s, Vicente and Onieva, Enrique and Rastelli, Joshu{\'e} P{\'e}rez and Godoy, Jorge and Villagra, Jorge and Alonso, Javier},
booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n},
title = {Sistema de Guiado Autom{\'a}tico para Altas Velocidades},
year = {2011},
}

J. Godoy, V. Milanés, J. Pérez, J. Villagra, and C. González, “Power electric aiding controller for automated bus stopping,” in Compatibility and Power Electronics (CPE), 2011 7th International Conference-Workshop, 2011, pp. 330-335.
[Bibtex]

@InProceedings{godoy2011_powerelectricaiding,
author = {Godoy, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshue and Villagra, Jorge and Gonz{\'a}lez, Carlos},
booktitle = {Compatibility and Power Electronics (CPE), 2011 7th International Conference-Workshop},
title = {Power electric aiding controller for automated bus stopping},
year = {2011},
organization = {IEEE},
pages = {330-335},
}

E. Onieva, V. Milanés, J. Pérez, J. Alonso, T. de Pedro, R. García, J. Godoy, and J. Villagra, “Study of traffic flow controlled with independent agent-based traffic signals,” in 13th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2011, pp. 382-389.
[Bibtex]

@InProceedings{onieva2011_studytrafficflow,
author = {Onieva, Enrique and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Alonso, Javier and de Pedro, Teresa and Garc{\'i}a, Ricardo and Godoy, Jorge and Villagra, Jorge},
booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {Study of traffic flow controlled with independent agent-based traffic signals},
year = {2011},
address = {Las Palmas de Gran Canaria, Spain},
month = feb,
organization = {Springer},
pages = {382-389},
}

J. Villagra, V. Milanés, J. Pérez, J. Godoy, E. Onieva, J. Alonso, C. González, T. de Pedro, and R. Garcia, “A reinforcement learning modular control architecture for fully automated vehicles,” in 13th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2011, pp. 390-397.
[Bibtex]

@InProceedings{Villagra2011_reinforcementlearningmodular,
author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Onieva, Enrique and Alonso, Javier and Gonz{\'a}lez, Carlos and de Pedro, Teresa and Garcia, Ricardo},
booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {A reinforcement learning modular control architecture for fully automated vehicles},
year = {2011},
address = {Las Palmas de Gran Canaria, Spain},
month = feb,
organization = {Springer},
pages = {390-397},
}

V. Milanés, E. Onieva, J. Pérez, J. Villagra, J. Godoy, J. Alonso, C. González, T. de Pedro, and R. García, “AUTOPIA Program Advances: How to Automate the Traffic?,” in 13th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2011, pp. 374-381.
[Bibtex]

@InProceedings{milanes2011_autopiaprogramadvances,
author = {Milan{\'e}s, Vicente and Onieva, Enrique and P{\'e}rez, Joshu{\'e} and Villagra, Jorge and Godoy, Jorge and Alonso, Javier and Gonz{\'a}lez, Carlos and de Pedro, Teresa and Garc{\'i}a, Ricardo},
booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {AUTOPIA Program Advances: How to Automate the Traffic?},
year = {2011},
address = {Las Palmas de Gran Canaria, Spain},
editor = {Moreno-D{\'i}az, Roberto and Pichler, Franz and Quesada-Arencibia, Alexis},
month = feb,
pages = {374-381},
publisher = {Springer Berlin Heidelberg},
abstract = {Road transport fatalities are one of the major causes of death in developed countries, so the investigation in aid systems for vehicles to reduce these figures is nowadays an open field of research. With this final goal, AUTOPIA program has been working from 1996 in the development of aid driving systems and, specifically, in autonomous systems capable of replacing the driver in some specific tasks, reducing so, the dependence on the human driver. In this paper we present some of the most relevant advances achieved using commercial vehicles. To achieve this objective, prototype vehicles have been equipped with capabilities to permit it to act over the actuators of the vehicle autonomously. Several cooperative maneuvers have been developed during last years toward a final goal: an intelligent traffic control system.},
doi = {10.1007/978-3-642-27579-1_48},
isbn = {978-3-642-27579-1},
url = {https://doi.org/10.1007/978-3-642-27579-1_48},
}

J. Alonso, J. Godoy, R. Sanz, E. Onieva, V. Milanés, J. Villagra, C. González, T. de Pedro, and R. García, “Traffic Light Intelligent Regulation Using Infrastructure Located Sensors,” in 13th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2011, pp. 398-403.
[Bibtex]

@InProceedings{alonso2011_trafficlightintelligent,
author = {Alonso, Javier and Godoy, Jorge and Sanz, Roberto and Onieva, Enrique and Milan{\'e}s, Vicente and Villagra, Jorge and Gonz{\'a}lez, Carlos and de Pedro, Teresa and Garc{\'i}a, Ricardo},
booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {Traffic Light Intelligent Regulation Using Infrastructure Located Sensors},
year = {2011},
address = {Las Palmas de Gran Canaria, Spain},
editor = {Moreno-D{\'i}az, Roberto and Pichler, Franz and Quesada-Arencibia, Alexis},
month = feb,
pages = {398-403},
publisher = {Springer Berlin Heidelberg},
abstract = {This paper presents a central station controlling the traffic flow of an intersection. In the proposed scenario autonomously driven and manually driven vehicles are mixed. The objective is to regulate both types of vehicles. Autonomously driven ones are controlled via wireless LAN communications; the autonomous vehicles send their positions and wait for the permission to traverse the intersection. The manually driven cars are detected in certain positions and controlled using the traffic lights. This paper presents the main idea implementation and shows the initial tests. After the discussion of the test results, some alternatives and future work lines are also exposed.},
doi = {10.1007/978-3-642-27579-1_51},
isbn = {978-3-642-27579-1},
url = {https://doi.org/10.1007/978-3-642-27579-1_51},
}

J. Pérez, J. Villagra, E. Onieva, V. Milanés, T. de Pedro, and L. Vlacic, “Driving by Driverless Vehicles in Urban Environment,” in 13th International Conference on Computer Aided Systems Theory – EUROCAST, Las Palmas de Gran Canaria, Spain, 2011, pp. 404-411.
[Bibtex]

@InProceedings{perez2011_drivingdriverlessvehicles,
author = {P{\'e}rez, Joshu{\'e} and Villagra, Jorge and Onieva, Enrique and Milan{\'e}s, Vicente and de Pedro, Teresa and Vlacic, Ljubo},
booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
title = {Driving by Driverless Vehicles in Urban Environment},
year = {2011},
address = {Las Palmas de Gran Canaria, Spain},
editor = {Moreno-D{\'i}az, Roberto and Pichler, Franz and Quesada-Arencibia, Alexis},
month = feb,
pages = {404-411},
publisher = {Springer Berlin Heidelberg},
abstract = {A number of the Intelligent Transportation System (ITS) solutions have been implemented in conventional vehicles in recent years. In the not too distant future driverless vehicles will share the roads with vehicles driven by human beings. In this paper, a novel algorithm for switching from one driving maneuver to another is proposed. The interface has been developed in C++ Visual Studio and using a 3D simulator with the data provided by a GPS and lidar sensors. Specific driving tasks such as lane following, curve driving and roundabout driving have been analyzed and tested with good simulations results obtained.},
doi = {10.1007/978-3-642-27579-1_52},
isbn = {978-3-642-27579-1},
url = {https://doi.org/10.1007/978-3-642-27579-1_52},
}

2010

J. Villagra, V. Milanés, J. Pérez, and T. de Pedro, “Control basado en PID inteligentes: Aplicación al control robusto de velocidad en entornos urbanos,” Revista Iberoamericana de Automática e Informática Industrial, vol. 7, iss. 4, pp. 44-52, 2010.
[Bibtex]

@Article{Villagra2010_controlbasadoen,
author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and de Pedro, Teresa},
journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica Industrial},
title = {Control basado en PID inteligentes: Aplicaci{\'o}n al control robusto de velocidad en entornos urbanos},
year = {2010},
number = {4},
pages = {44-52},
volume = {7},
}

J. Godoy, V. Milanés, J. P. Rastelli, J. Villagra, T. De Pedro, and C. González, “Implementación de un sistema de localización para vehículos sin conductor,” in Seminario Anual de Automática, Electrónica Industrial e Intrumentación, 2010.
[Bibtex]

@InProceedings{godoy2010_implementaciondeun,
author = {Godoy, Jorge and Milan{\'e}s, Vicente and Rastelli, Joshu{\'e} P{\'e}rez and Villagra, Jorge and De Pedro, Teresa and Gonz{\'a}lez, Carlos},
booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Intrumentaci{\'o}n},
title = {Implementaci{\'o}n de un sistema de localizaci{\'o}n para veh{\'i}culos sin conductor},
year = {2010},
}

J. Villagra, V. Milanés, J. Pérez, and C. González, “Model-free control techniques for Stop & Go systems,” in Intelligent Transportation Systems (ITSC), 2010 13th International IEEE Conference on, 2010, pp. 1899-1904.
[Bibtex]

@InProceedings{Villagra2010_modelfreecontrol,
author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Gonz{\'a}lez, Carlos},
booktitle = {Intelligent Transportation Systems (ITSC), 2010 13th International IEEE Conference on},
title = {Model-free control techniques for Stop \& Go systems},
year = {2010},
organization = {IEEE},
pages = {1899-1904},
doi = {10.1109/ITSC.2010.5625228},
}

J. Villagra, B. D’Andréa-Novel, M. Fliess, and H. Mounier, “An algebraic approach for maximum friction estimation,” IFAC Proceedings Volumes, vol. 43, iss. 14, pp. 885-890, 2010.
[Bibtex]

@Article{Villagra2010_algebraicapproachmaximum,
author = {Villagra, Jorge and D'Andr{\'e}a-Novel, Brigitte and Fliess, Michel and Mounier, Hugues},
journal = {IFAC Proceedings Volumes},
title = {An algebraic approach for maximum friction estimation},
year = {2010},
number = {14},
pages = {885-890},
volume = {43},
publisher = {Elsevier},
}