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

2019

  • [DOI] J. Godoy, A. Artuñedo, and J. Villagra, “Self-generated osm-based driving corridors,” Ieee access, vol. 7, p. 20113–20125, 2019.
    [Bibtex]
    @Article{Godoy2019_selfgeneratedosma,
    author = {Godoy, Jorge and Artu{\~n}edo, Antonio and Villagra, Jorge},
    title = {Self-Generated OSM-Based Driving Corridors},
    journal = {IEEE Access},
    year = {2019},
    volume = {7},
    pages = {20113--20125},
    doi = {https://doi.org/10.1109/ACCESS.2019.2897348},
    publisher = {IEEE},
    }
  • [PDF] [DOI] 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,
    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},
    title = {PRYSTINE - Technical Progress After Year 1},
    booktitle = {2019 22nd Euromicro Conference on Digital System Design (DSD)},
    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},
    }
  • [DOI] J. F. Medina-Lee, V. Trentin, and J. Villagra, “Framework for motion prediction of vehicles in a simulation environment,” Actas de las xl jornadas de automática, ferrol, 4-6 de septiembre de 2019, p. 520–527, 2019.
    [Bibtex]
    @Article{medina2019framework,
    author = {J. F. {Medina-Lee} and Trentin, Vinicius and Villagra, Jorge},
    title = {Framework for motion prediction of vehicles in a simulation environment},
    journal = {Actas de las XL Jornadas de Autom{\'a}tica, Ferrol, 4-6 de Septiembre de 2019},
    year = {2019},
    pages = {520--527},
    doi = {https://doi.org/10.17979/spudc.9788497497169.520},
    publisher = {Universidade da Coru{\~n}a},
    url = {https://doi.org/10.17979/spudc.9788497497169.520},
    }

2018

  • J. Villagra, M. Perarnau, J. Godoy, and A. Artuñedo, “Validación de una estrategia para la estimación del riesgo en intersecciones con vehículos conectados,” Actas de las xxxix jornadas de automática, badajoz, 5-7 de septiembre de 2018, 2018.
    [Bibtex]
    @Article{Villagra2018_validaciondeunaa,
    author = {Villagra, Jorge and Perarnau, Manuel and Godoy, Jorge and Artu{\~n}edo, Antonio},
    title = {Validaci{\'o}n de una estrategia para la estimaci{\'o}n del riesgo en intersecciones con veh{\'i}culos conectados},
    journal = {Actas de las XXXIX Jornadas de Autom{\'a}tica, Badajoz, 5-7 de Septiembre de 2018},
    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_automateddrivinga,
    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},
    title = {Automated driving},
    booktitle = {Intelligent Vehicles},
    year = {2018},
    pages = {275--342},
    organization = {Butterworth-Heinemann},
    }
  • 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_aprimitivecomparisona,
    author = {Artu{\~n}edo, Antonio and Godoy, Jorge and Villagra, Jorge},
    title = {A primitive comparison for traffic-free path planning},
    journal = {IEEE Access},
    year = {2018},
    volume = {6},
    pages = {28801--28817},
    publisher = {IEEE},
    }
  • [DOI] A. Brazalez, L. Matey, B. Nuñez, A. Paul, J. J. Sánchez-Medina, R. Arnay, A. Artunedo, S. Campos-Cordobés, J. Villagra, A. M. López, D. Vázquez, and G. Villalonga, “Simulation tools,” Intelligent vehicles, p. 395–436, 2018.
    [Bibtex]
    @Article{Brazalez2018,
    author = {Brazalez, Alfonso and Matey, Luis and Nuñez, Borja and Paul, Ana and Sánchez-Medina, Javier J. and Arnay, Rafael and Artunedo, Antonio and Campos-Cordobés, Sergio and Villagra, Jorge and López, Antonio M. and Vázquez, David and Villalonga, Gabriel},
    title = {Simulation Tools},
    journal = {Intelligent Vehicles},
    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

  • [DOI] 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_footprintbasedclassificationa,
    author = {Alonso, Victor and Correal, Raul and Villagra, Jorge},
    title = {{Footprint-based classification of road moving objects using occupancy grids}},
    booktitle = {IEEE Intelligent Vehicles Symposium, Proceedings},
    year = {2017},
    doi = {10.1109/IVS.2017.7995853},
    isbn = {9781509048045},
    }
  • [DOI] 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_acomparisonofa,
    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},
    title = {{A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters}},
    journal = {Sensors},
    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},
    }
  • [DOI] 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{Saval-Calvo2017_areviewofa,
    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},
    title = {{A review of the bayesian occupancy filter}},
    journal = {Sensors (Switzerland)},
    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_acomparisonofa,
    author = {Artu{\~n}edo, A. and Godoy, J. and Villagra, J.},
    title = {A comparison of local path-planning interpolation methods for autonomous driving in urban Environments},
    booktitle = {Industriales Research Meeting 2017},
    year = {2017},
    pages = {147},
    address = {Madrid},
    month = apr,
    }
  • [PDF] 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_smoothpathplanninga,
    author = {Artu{\~n}edo, A. and Godoy, J. and Villagra, J.},
    title = {Smooth path planning for urban autonomous driving using OpenStreetMaps},
    booktitle = {2017 IEEE Intelligent Vehicles Symposium (IV)},
    year = {2017},
    pages = {837-842},
    }
  • 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_integrationandsynchronizationa,
    author = {Fuentes, D. and Gast{\'o}n, J.R: and Correal, R. and Villagra, J.},
    title = {Integration and synchronization of different-scope automotive simulators for autonomous vehicles’ testing},
    booktitle = {15th European Automotive Congress},
    year = {2017},
    month = oct,
    }

2015

  • [PDF] [DOI] 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_adriverlessvehiclea,
    author = {Godoy, Jorge and P{\'e}rez, Joshu{\'e} and Onieva, Enrique and Villagra, Jorge and Milan{\'e}s, Vicente and Haber, Rodolfo},
    title = {{A driverless vehicle demonstration on motorways and in urban environments}},
    journal = {Transport},
    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},
    }
  • [PDF] 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_advancedcosimulationa,
    author = {Artu{\~n}edo, Antonio and Godoy, Jorge and Haber, Rodolfo and Villagra, Jorge and del Toro, Ra{\'u}l M},
    title = {Advanced Co-simulation Framework for Cooperative Maneuvers Among Vehicles},
    booktitle = {Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on},
    year = {2015},
    pages = {1436-1441},
    organization = {IEEE},
    }

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

2013

  • [PDF] 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_anauxiliaryv2ia,
    author = {Godoy, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Villagra, Jorge and Onieva, Enrique},
    title = {An auxiliary V2I network for road transport and dynamic environments},
    journal = {Transportation Research Part C: Emerging Technologies},
    year = {2013},
    volume = {37},
    pages = {145-156},
    publisher = {Elsevier},
    }
  • [PDF] [DOI] 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_fractionalnetworkbaseda,
    author = {I. Tejado and V. Milan{\'e}s and J. Villagra and B. M. Vinagre},
    title = {Fractional Network-Based Control for Vehicle Speed Adaptation via Vehicle-to-Infrastructure Communications},
    journal = {IEEE Transactions on Control Systems Technology},
    year = {2013},
    volume = {21},
    number = {3},
    pages = {780-790},
    month = {May},
    issn = {1063-6536},
    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_onlinelearninga,
    author = {Onieva, Enrique and Godoy, Jorge and Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e}},
    title = {On-line learning of a fuzzy controller for a precise vehicle cruise control system},
    journal = {Expert Systems with Applications},
    year = {2013},
    volume = {40},
    number = {4},
    pages = {1046-1053},
    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_cooperativecontrollersfora,
    author = {P{\'e}rez, Joshu{\'e} and Milan{\'e}s, Vicente and Godoy, Jorge and Villagra, Jorge and Onieva, Enrique},
    title = {Cooperative controllers for highways based on human experience},
    journal = {Expert Systems with Applications},
    year = {2013},
    volume = {40},
    number = {4},
    pages = {1024-1033},
    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_trajectorygeneratorfora,
    author = {P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Villagra, Jorge and Onieva, Enrique},
    title = {Trajectory generator for autonomous vehicles in urban environments},
    booktitle = {Robotics and Automation (ICRA), 2013 IEEE International Conference on},
    year = {2013},
    pages = {409-414},
    organization = {IEEE},
    }
  • 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_nearlytimeoptimala,
    author = {Villagra, Jorge and Godoy, Jorge and Gonz{\'a}lez, Carlos and de Pedro, Teresa},
    title = {Nearly-Time Optimal Smooth Path Planning Using Continuous Curvature Derivative Primitives},
    booktitle = {14th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2013},
    pages = {1-8},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    organization = {Springer},
    }
  • 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_virtualvehicleapproacha,
    author = {Godoy, Jorge and Villagra, Jorge and de Pedro, Teresa and Gal{\'a}n, Ram{\'o}n},
    title = {Virtual Vehicle Approach for Longitudinal Control in Urban Environments},
    booktitle = {14th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2013},
    pages = {25-32},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    organization = {Springer},
    }

2012

  • [PDF] 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_visionbasedactivea,
    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},
    title = {Vision-based active safety system for automatic stopping},
    journal = {Expert Systems with Applications},
    year = {2012},
    volume = {39},
    number = {12},
    pages = {11234-11242},
    publisher = {Elsevier},
    }
  • [PDF] 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_trafficjamdrivinga,
    author = {Milanes, Vicente and Alonso, Luciano and Villagra, Jorge and Godoy, Jorge and de Pedro, Teresa and Oria, Juan P},
    title = {Traffic jam driving with NMV avoidance},
    journal = {Mechanical Systems and Signal Processing},
    year = {2012},
    volume = {31},
    pages = {332-344},
    publisher = {Elsevier},
    }
  • [PDF] [DOI] 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_acomparisonofa,
    author = {Villagra, Jorge and Herrero-P{\'e}rez, David},
    title = {A comparison of control techniques for robust docking maneuvers of an AGV},
    journal = {IEEE Transactions on Control Systems Technology},
    year = {2012},
    volume = {20},
    number = {4},
    pages = {1116-1123},
    doi = {10.3390/s17112599},
    publisher = {IEEE},
    }
  • [PDF] 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_comparingfuzzyanda,
    author = {Milan{\'e}s, Vicente and Villagra, Jorge and Godoy, Jorge and Gonz{\'a}lez, Carlos},
    title = {Comparing fuzzy and intelligent PI controllers in stop-and-go manoeuvres},
    journal = {IEEE Transactions on Control Systems Technology},
    year = {2012},
    volume = {20},
    number = {3},
    pages = {770-778},
    publisher = {IEEE},
    }
  • [PDF] 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_anintelligentv2ia,
    author = {Milanes, Vicente and Villagra, Jorge and Godoy, Jorge and Simo, Javier and P{\'e}rez, Joshu{\'e} and Onieva, Enrique},
    title = {An intelligent V2I-based traffic management system},
    journal = {IEEE Transactions on Intelligent Transportation Systems},
    year = {2012},
    volume = {13},
    number = {1},
    pages = {49-58},
    publisher = {IEEE},
    }
  • [PDF] 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_smoothpathanda,
    author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Godoy, Jorge},
    title = {Smooth path and speed planning for an automated public transport vehicle},
    journal = {Robotics and Autonomous Systems},
    year = {2012},
    volume = {60},
    number = {2},
    pages = {252-265},
    publisher = {Elsevier},
    }
  • [PDF] 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_lowspeedlongitudinala,
    author = {Milan{\'e}s, Vicente and Villagra, Jorge and P{\'e}rez, Joshu{\'e} and Gonz{\'a}lez, Carlos},
    title = {Low-speed longitudinal controllers for mass-produced cars: A comparative study},
    journal = {IEEE Transactions on Industrial Electronics},
    year = {2012},
    volume = {59},
    number = {1},
    pages = {620-628},
    publisher = {IEEE},
    }
  • [PDF] 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_intelligentautomaticovertakinga,
    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},
    title = {Intelligent automatic overtaking system using vision for vehicle detection},
    journal = {Expert Systems with Applications},
    year = {2012},
    volume = {39},
    number = {3},
    pages = {3362-3373},
    publisher = {Elsevier},
    }
  • [PDF] 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_pathandspeeda,
    author = {Villagra, Jorge and Milan{\'e}s, Vicente and Rastelli, Joshu{\'e} P{\'e}rez and Godoy, Jorge and Onieva, Enrique},
    title = {Path and speed planning for smooth autonomous navigation},
    booktitle = {IV 2012-IEEE Intelligent Vehicles Symposium},
    year = {2012},
    }
  • [PDF] 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_developmentofana,
    author = {Godoy, Jorge and Gruyer, Dominique and Lambert, Alain and Villagra, Jorge},
    title = {Development of an particle swarm algorithm for vehicle localization},
    booktitle = {Intelligent Vehicles Symposium (IV), 2012 IEEE},
    year = {2012},
    pages = {1114-1119},
    organization = {IEEE},
    }
  • [PDF] 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_pathfollowingwitha,
    author = {P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Milan{\'e}s, Vicente and Villagra, Jorge and Onieva, Enrique},
    title = {Path following with backtracking based on fuzzy controllers for forward and reverse driving},
    booktitle = {Intelligent Vehicles Symposium (IV), 2012 IEEE},
    year = {2012},
    pages = {1108-1113},
    organization = {IEEE},
    }
  • [PDF] 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_datadrivenfractionala,
    author = {Villagra, Jorge and Vinagre, Blas and Tejado, In{\'e}s},
    title = {Data-driven fractional PID control: application to DC motors in flexible joints},
    journal = {IFAC Proceedings Volumes},
    year = {2012},
    volume = {45},
    number = {3},
    pages = {709-714},
    publisher = {Elsevier},
    }
  • [PDF] 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_algoritmogeneticoparaa,
    author = {Enrique Onieva and Jorge Villagra and Vicente Milan{\'e}s and Jorge Godoy},
    title = {Algoritmo Gen{\'e}tico para Decisiones Inteligentes en Cruces de Veh{\'i}culos con Funci{\'o}n de Coste Din{\'a}mica},
    booktitle = {XVI Congreso Espa{\~n}ol sobre Tecnolog{\'i}as y L{\'o}gica Fuzzy},
    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_precisevehiclecruisea,
    author = {Onieva, Enrique and Godoy, Jorge and Villagra, Jorge},
    title = {Precise vehicle cruise control system based on On-line fuzzy control learning},
    booktitle = {International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems},
    year = {2012},
    pages = {101-110},
    organization = {Springer},
    }

2011

  • [PDF] 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_adiagnosisbaseda,
    author = {Villagra, Jorge and D’Andr{\'e}a-Novel, Brigitte and Fliess, Michel and Mounier, Hugues},
    title = {A diagnosis-based approach for tire-road forces and maximum friction estimation},
    journal = {Control engineering practice},
    year = {2011},
    volume = {19},
    number = {2},
    pages = {174-184},
    publisher = {Elsevier},
    }
  • [PDF] 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_automatedonrampa,
    author = {Milan{\'e}s, Vicente and Godoy, Jorge and Villagra, Jorge and P{\'e}rez, Joshu{\'e}},
    title = {Automated on-ramp merging system for congested traffic situations},
    journal = {IEEE Transactions on Intelligent Transportation Systems},
    year = {2011},
    volume = {12},
    number = {2},
    pages = {500-508},
    publisher = {IEEE},
    }
  • [PDF] 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_amodelfreea,
    author = {Villagra, Jorge and Balaguer, Carlos},
    title = {A model-free approach for accurate joint motion control in humanoid locomotion},
    journal = {International Journal of Humanoid Robotics},
    year = {2011},
    volume = {8},
    number = {01},
    pages = {27-46},
    publisher = {World Scientific},
    }
  • [PDF] 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_lowspeedcontrola,
    author = {HosseinNia, S Hassan and Tejado, In{\'e}s and Vinagre, Blas M and Milan{\'e}s, Vicente and Villagra, Jorge},
    title = {Low speed control of an autonomous vehicle using a hybrid fractional order controller},
    booktitle = {Control, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on},
    year = {2011},
    pages = {116-121},
    organization = {IEEE},
    }
  • [PDF] 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_lidarbasedperceptiona,
    author = {Dom{\'i}nguez, Ra{\'u}l and Onieva, Enrique and Alonso, Javier and Villagra, Jorge and Gonz{\'a}lez, Carlos},
    title = {LIDAR based perception solution for autonomous vehicles},
    booktitle = {Intelligent Systems Design and Applications (ISDA), 2011 11th International Conference on},
    year = {2011},
    pages = {790-795},
    organization = {IEEE},
    }
  • [PDF] 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_anapproachtoa,
    author = {Milan{\'e}s, Vicente and Onieva, Enrique and P{\'e}rez, Joshu{\'e} and Godoy, Jorge and Villagra, Jorge},
    title = {An approach to driverless vehicles in highways},
    booktitle = {Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on},
    year = {2011},
    pages = {668-673},
    organization = {IEEE},
    }
  • [PDF] 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_lowspeedcontrola,
    author = {Tejado, In{\'e}s and Milan{\'e}s, Vicente and Villagra, Jorge and Godoy, Jorge and HosseinNia, Hassan and Vinagre, Blas M},
    title = {Low speed control of an autonomous vehicle by using a fractional PI controller},
    journal = {IFAC Proceedings Volumes},
    year = {2011},
    volume = {44},
    number = {1},
    pages = {15025-15030},
    publisher = {Elsevier},
    }
  • [PDF] 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_sistemadeguiadoa,
    author = {Milan{\'e}s, Vicente and Onieva, Enrique and Rastelli, Joshu{\'e} P{\'e}rez and Godoy, Jorge and Villagra, Jorge and Alonso, Javier},
    title = {Sistema de Guiado Autom{\'a}tico para Altas Velocidades},
    booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n},
    year = {2011},
    }
  • [PDF] 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_powerelectricaidinga,
    author = {Godoy, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshue and Villagra, Jorge and Gonz{\'a}lez, Carlos},
    title = {Power electric aiding controller for automated bus stopping},
    booktitle = {Compatibility and Power Electronics (CPE), 2011 7th International Conference-Workshop},
    year = {2011},
    pages = {330-335},
    organization = {IEEE},
    }
  • [PDF] 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_studyoftraffica,
    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},
    title = {Study of traffic flow controlled with independent agent-based traffic signals},
    booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2011},
    pages = {382-389},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    organization = {Springer},
    }
  • [PDF] 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_areinforcementlearninga,
    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},
    title = {A reinforcement learning modular control architecture for fully automated vehicles},
    booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2011},
    pages = {390-397},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    organization = {Springer},
    }
  • [PDF] [DOI] 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_autopiaprogramadvancesa,
    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},
    title = {AUTOPIA Program Advances: How to Automate the Traffic?},
    booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2011},
    editor = {Moreno-D{\'i}az, Roberto and Pichler, Franz and Quesada-Arencibia, Alexis},
    pages = {374-381},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    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},
    }
  • [PDF] [DOI] 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_trafficlightintelligenta,
    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},
    title = {Traffic Light Intelligent Regulation Using Infrastructure Located Sensors},
    booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2011},
    editor = {Moreno-D{\'i}az, Roberto and Pichler, Franz and Quesada-Arencibia, Alexis},
    pages = {398-403},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    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},
    }
  • [PDF] [DOI] 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_drivingbydriverlessa,
    author = {P{\'e}rez, Joshu{\'e} and Villagra, Jorge and Onieva, Enrique and Milan{\'e}s, Vicente and de Pedro, Teresa and Vlacic, Ljubo},
    title = {Driving by Driverless Vehicles in Urban Environment},
    booktitle = {13th International Conference on Computer Aided Systems Theory – EUROCAST},
    year = {2011},
    editor = {Moreno-D{\'i}az, Roberto and Pichler, Franz and Quesada-Arencibia, Alexis},
    pages = {404-411},
    address = {Las Palmas de Gran Canaria, Spain},
    month = feb,
    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

  • [PDF] 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_controlbasadoena,
    author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and de Pedro, Teresa},
    title = {Control basado en PID inteligentes: Aplicaci{\'o}n al control robusto de velocidad en entornos urbanos},
    journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica Industrial},
    year = {2010},
    volume = {7},
    number = {4},
    pages = {44-52},
    }
  • [PDF] 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_implementaciondeuna,
    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},
    title = {Implementaci{\'o}n de un sistema de localizaci{\'o}n para veh{\'i}culos sin conductor},
    booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Intrumentaci{\'o}n},
    year = {2010},
    }
  • [PDF] 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_modelfreecontrola,
    author = {Villagra, Jorge and Milan{\'e}s, Vicente and P{\'e}rez, Joshu{\'e} and Gonz{\'a}lez, Carlos},
    title = {Model-free control techniques for Stop \& Go systems},
    booktitle = {Intelligent Transportation Systems (ITSC), 2010 13th International IEEE Conference on},
    year = {2010},
    pages = {1899-1904},
    organization = {IEEE},
    }
  • [PDF] 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_analgebraicapproacha,
    author = {Villagra, Jorge and D'Andr{\'e}a-Novel, Brigitte and Fliess, Michel and Mounier, Hugues},
    title = {An algebraic approach for maximum friction estimation},
    journal = {IFAC Proceedings Volumes},
    year = {2010},
    volume = {43},
    number = {14},
    pages = {885-890},
    publisher = {Elsevier},
    }