Nicolas TORRES ALBERTO

Nicolas TORRES ALBERTO

CIFRE PhD Student with Stellantis (ex-PSA Group)

  • Professional interests: motion planning, model predictive control, human-robot safety, collaborative robotics
  • Email: nicolas.torres ( at ) inria.fr
  • Location: ENSC

Hi, here’s the project I’m currently working on.

You can also check out my github profile.

My publications

This is list of my publications

Journal articles 24 documents
Conference papers 24 documents
Preprints 24 documents
Thesis 24 documents
Reports 24 documents
Book chapters 24 documents
Patents 24 documents

Related topics #ntorres

Abstract Collaborative robotics involves the transformation of industrial robots to function in shared workspaces alongside humans, resulting in more compact and manageable robotic systems. This evolution necessitates a reevaluation of the requirements for robot controllers. Safety remains paramount, but robots must also adapt to dynamic contexts where objects are in constant motion, and conditions are ever-changing as people carry out their tasks. To address these challenges, this work proposes … [Read More]
Demonstration at Robocup23

Demonstration at Robocup23

The Auctus team manned a demonstration stand at the robocup. We took advantage of this opportunity to test our MPC based algorithms in a playful experience. Players were given small balls to throw into the large Plexiglas basket at the foot of the robot. The robot must prevent the marble from falling into the basket. To do this, he’s equipped with a tiny landing net. Behind this seemingly simple game runs an algorithm to detect the ball’s landing point, as well as our real-time MPC algorithm to … [Read More]
Paper Abstract Robots require the ability to autonomously and continuously react to unexpected online changes in the task definition and in the environment, especially those cohabited with humans. To react to these changes, the task, from the current state up to the finish, must instantly be reconsidered. This implies a prohibitive re-computation cost. This paper proposes a modular control architecture based on Model Predictive Control, that offers a good compromise between optimally achieving … [Read More]
Paper Abstract Efficient workspace sharing of collaborative robots and human operators remains an unsolved problem in the industry. This problem goes beyond the use of a priori or a posteriori safety measures and has to be tackled at the control level. To address the need of adaptation to human presence as well as to endow the robot with the ability to adapt interactively to new Cartesian targets, a linear Model Predictive Controller is proposed in this paper. This controller computes … [Read More]
Stellantis

Stellantis

Stellantis is a multinational automotive manufacturing corporation formed in 2021 on the basis of a 50-50 cross-border merger between the Italian-American conglomerate Fiat Chrysler Automobiles and the French PSA Group. The principal activity of Stellantis is the design, development, manufacture and sale of automobiles. The objective of this project is to work on the required principles to avoid the classic restrained static security zones, synthesizing a dynamic representation of the shared … [Read More]

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