Publications - Cesar Cadena



Journals        International Conferences         Journal abstracts
PhD Thesis         Other publications
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Journals

RAL L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart, C. Cadena
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift
IEEE Robotics and Automation Letters 6 (3), pp. 4504-4511, 2021.
[link to journal] [preprint] [code]
ral21_lschmid
RAL M. Pantic, L. Ott, C. Cadena, R. Siegwart, J. Nieto
Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles
IEEE Robotics and Automation Letters 6 (3), pp. 4790-4797, 2021.
[link to journal] [preprint] [video]
ral19_lbernreiter
RAL L. Bernreiter, L. Ott, J. Nieto, R. Siegwart, C. Cadena
PHASER: a Robust and Correspondence-free Global Pointcloud Registration
IEEE Robotics and Automation Letters 6 (2), pp. 855-862, 2021.
[link to journal] [preprint] [code]
ral21_lbernreiter
RAL A. Millane, H. Oleynikova, C. Lanegger, J. Delmerico, J. Nieto, R. Siegwart, M. Pollefeys, C. Cadena
Freetures: Localization in Signed Distance Function Maps
IEEE Robotics and Automation Letters, 2021.
[link to journal] [preprint] [video]
ral21_amillane
T-RO B. Bescos, C. Cadena, J. Neira
Empty Cities: a Dynamic-Object-Invariant Space for Visual SLAM
IEEE Transactions on RObotics 37 (2), pp. 433-45, 2020.
[pdf] [web] [code]
emptycities
RAL N. Marchal, C. Moraldo, H. Blum, R. Siegwart, C. Cadena, A. Gawel
Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes
IEEE Robotics and Automation Letters 5 (2), pp. 1032-1038, 2020.
[link to journal] [preprint]
ral20_nmarchal
RAL J. Li, Y. Liu, X. Yuan, C. Zhao, R. Siegwart, I. Reid, C. Cadena
Depth Based Semantic Scene Completion With Position Importance Aware Loss
IEEE Robotics and Automation Letters 5 (1), pp. 219-226, 2020.
[link to journal] [preprint] [code]
ral20_jli
RAL V. Reijgwart, A. Millane, H. Oleynikova, R. Siegwart, C. Cadena, J. Nieto
Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps
IEEE Robotics and Automation Letters 5 (1), pp. 227-234, 2020.
[link to journal] [preprint] [code]
ral20_voxgraph
IJRR R. Dubé, A. Cramariuc, D. Dugas, J. Nieto, R. Siegwart, C. Cadena
SegMap: Segment-based Mapping and Localization using Data-driven Descriptors
International Journal on Robotics Research 39 (2-3), pp. 339-355, 2019
[link to journal] [accepted version] [code] [bibtex]
ijrr19_rdube
RAL L. Bernreiter, A. Gawel, H. Sommer, J. Nieto, R. Siegwart, C. Cadena
Multiple Hypothesis Semantic Mapping for Robust Data Association
IEEE Robotics and Automation Letters 4 (4), pp. 3255-3262, 2019.
[link to journal] [draft] [bibtex]
ral19_lbernreiter
RAL M. Grinvald, F. Furrer, T. Novkovic, J.J. Chung, C. Cadena, R. Siegwart, J. Nieto
Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery
IEEE Robotics and Automation Letters 4 (3), pp. 3037-3044, 2019.
[link to journal] [draft] [bibtex]
ral19_mgrinvald
JFR J. Delmerico, S. Mintchev, A. Giusti, B. Gromov, K. Melo, T. Horvat, C. Cadena, M. Hutter, A. Ijspeert, D. Floreano, L. Gambardella, R. Siegwart, D. Scaramuzza
The Current State and Future Outlook of Rescue Robotics
Journal of Field Robotics 36 (7), 2019.
[link to journal]

IEEE Sensors T. Schneider, M. Li, C. Cadena, J. Nieto, R. Siegwart
Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation
IEEE Sensors Journal 19 (10), pp. 3846-3860, 2019.
[link to journal]
sensors19_tschneider
RAL F. Tschopp, T. Schneider, A.W. Palmer, N. Nourani-Vatani, C. Cadena, R. Siegwart, J. Nieto
Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
IEEE Robotics and Automation Letters 4 (2), pp. 1815-1822, 2019.
[link to journal] [draft] [bibtex]
ral19_ftschopp
RAL L. Wellhausen, A. Dosovitskiy, R. Ranftl, K. Walas, C. Cadena, M. Hutter
Where Should I Walk? Predicting Terrain Properties from Images via Self-supervised Learning
IEEE Robotics and Automation Letters 4 (2), pp. 1509-1516, 2019.
[link to journal] [draft] [bibtex]
ral19_lwellhausen
AURO L. Freda, M. Gianni, F. Pirri, A. Gawel, R. Dubé, R. Siegwart, C. Cadena
3D Multi-robot Patrolling with a Two-level Coordination Strategy
Autonomous Robots (online), pp. 1-33, 2019.
[link to journal] [webpage]
auro19_lfreda
RAL M. Pfeiffer, S. Shukla, M. Turchetta, C. Cadena, A. Krause, R. Siegwart, J. Nieto
Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations
IEEE Robotics and Automation Letters 3 (4), pp. 4423-4430, 2018.
[link to journal] [draft] [bibtex] [code]
ral18_mpfeiffer
RAL S.T. Digumarti, J. Nieto, C. Cadena, R. Siegwart, P. Beardsley
Automatic Segmentation of Tree Structure From Point Cloud Data
IEEE Robotics and Automation Letters 3 (4), pp. 3043-3050, 2018.
[link to journal] [draft] [bibtex]
ral18_tdigumarti
RAL A. Gawel, C. del Don, R. Siegwart, J. Nieto, C. Cadena
X-View: Graph-Based Semantic Multiview Localization
IEEE Robotics and Automation Letters 3 (3), pp. 1687-1694, 2018.
[link to journal] [draft] [bibtex]
ral18_agawel
RAL T. Hinzmann, T. Stastny, C. Cadena, R. Siegwart, I. Gilitschenski
Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes
IEEE Robotics and Automation Letters 3 (3), pp. 2545-2552, 2018.
[link to journal] [draft] [bibtex]
ral18_thizmann
RAL R. Dubé, MG. Gollub, H. Sommer, I. Gilitschenski, R. Siegwart, C. Cadena, J. Nieto
Incremental-Segment-Based Localization in 3-D Point Clouds
IEEE Robotics and Automation Letters 3 (3), pp. 1832-1839, 2018.
[link to journal] [draft] [code] [bibtex]
ral18_rdube
T-RO C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, J.J. Leonard
Past, Present, and Future of Simultaneous Localization And Mapping:
Towards the Robust-Perception Age

IEEE Transactions on RObotics 32 (6), pp. 1309-1332, 2016.
[pdf] [web] [git] [bibtex]
TRO'16
IJRR C. Cadena, J. Kosecka
Semantic Parsing for Priming Object Detection in Indoors RGB-D Scenes
International Journal on Robotics Research 34 (4-5), pp. 582-597, 2015
[link to journal] [accepted version] [bibtex]
ijrr14
IJRR Y. Latif, C. Cadena, J. Neira
Robust Loop Closing Over Time for Pose Graph SLAM
International Journal on Robotics Research 32 (14), pp. 1611-1626, 2013.
[link to journal] [code] [bibtex]
ijrr13
RAS Journal J. McDonald, M. Kaess, C. Cadena, J. Neira, J.J. Leonard
Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments
Robotics and Autonomous Systems 61 (10), pp. 1144-1158, 2013
[link to journal] [draft] [bibtex]
ecmr11
T-RO C. Cadena, D. Gálvez-López, J.D. Tardós, J. Neira
Robust Place Recognition with Stereo Sequences
IEEE Transactions on RObotics 28 (4), pp. 871-885, 2012.
[pdf] [bibtex]
PR
RAS Journal C. Cadena, J. Neira
SLAM in O(log n) with the Combined Kalman - Information Filter
Robotics and Autonomous Systems 58, pp. 1207-1219,  2010
[link to journal] [draft] [bibtex]
CF SLAM

International Conferences

ITSC 2021 J. Nitsch, M. Itkina, R. Senanayake, J. Nieto, M. Schmidt, R. Siegwart, M.J. Kochenderfer, C. Cadena
Out-of-Distribution Detection for Automotive Perception
IEEE International Conference on Intelligent Transportation Systems,
Virtual, September 2021.
[preprint]
itsc21_jnitsch
IV 2021 J. Zhong, Z. Ye, A. Cramariuc, F. Tschopp, J.J. Chung, R. Siegwart, C. Cadena
CalQNet - Detection of Calibration Quality for Life-Long Stereo Camera Setups
IEEE Intelligent Vehicles Symposium,
Virtual, July 2021.
[preprint]

CVPR 2021 G. DiBiase, H. Blum, R. Siegwart, C. Cadena
Pixel-wise Anomaly Detection in Complex Driving Scenes
Conference on Computer Vision and Pattern Recognition,
Virtual, June 2021.
[pdf] [code] [video]
cvpr21_gdibiase
ICRA 2021 L. Bernreiter, L. Ott, J. Nieto, R. Siegwart, C. Cadena
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
IEEE International Conference on Robotics and Automation,
Vritual, May-June 2021.
[preprint] [code]
icra19_bbescos
CoRL 2018 L. Chen, Y. Ao, F. Tschopp, A. Cramariuc, M. Breyer, J.J. Chung, R. Siegwart, C. Cadena
Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning
Conference on Robot Learning,
Virtual, November 2018.
[preprint] [code]

IROS 2020 L. Schaupp, P. Pfreundschuh, M. Buerki, C. Cadena, R. Siegwart, J. Nieto
MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Virtual, October 2020.
[preprint]
iros20 lschaupp
IV 2020 J. Nitsch, J. Nieto, R. Siegwart, M. Schmidt, C. Cadena
Learning Common and Transferable Feature Representations for Multi-Modal Data
IEEE Intelligent Vehicles Symposium,
Virtual, October-November 2020.
[pdf]

ICRA 2020 A. Cramariuc, A. Petrov, R. Suri, M. Mittal, R. Siegwart, C. Cadena
Learning Camera Miscalibration Detection
IEEE International Conference on Robotics and Automation,
Virtual, May 2020.
[preprint] [code]

ICAR 2019 M. Fehr, T. Taubner, Y. Liu, R. Siegwart, C. Cadena
Predicting Unobserved Space For Planning via Depth Map Augmentation
IEEE International Conference on Advanced Robotics,
Belo Horizonte, Brazil, December 2019.
[preprint]

IROS 2019 A. Millane, H. Oleynikova, J. Nieto, R. Siegwart, C. Cadena
Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Macau, China, November 2019.
[pdf] [bibtex]
iros19_amillane
IROS 2019 T. Hinzmann, C. Cadena, J. Nieto, R. Siegwart
Flexible Trinocular: Non-Rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Macau, China, November 2019.
[pdf]
iros19_thinzmann
IROS 2019 L. Schaupp, M. Buerki, R. Dube, R. Siegwart, C. Cadena
OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Macau, China, November 2019.
[pdf] [bibtex]
iros19_lschaupp
FSR 2019 L. Stanislas*, J. Nubert*, D. Dugas, J. Nitsch, N. Suenderhauf, R. Siegwart, C. Cadena, T. Peynot
Airborne Particle Classification in LiDAR Point Clouds Using Deep Learning
Int. Conference on Field and Service Robotics,
Tokyo, Japan, August 2019.
[pdf] [bibtex]
fsr19_jnubert
IV 2019 M. Buerki, L. Schaupp, M. Dymczyk, R. Dube, C. Cadena, R. Siegwart, J. Nieto
VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments
IEEE Intelligent Vehicles Symposium,
Paris, France, June 2019.
[pdf] [video] [bibtex]
iv19_mbuerki
CVPR 2019 P.E. Sarlin, C. Cadena, R. Siegwart, M. Dymczyk
From Coarse to Fine: Robust Hierarchical Localization at Large Scale
Conference on Computer Vision and Pattern Recognition,
Long Beach, California, USA, June 2019.
[pdf] [code] [bibtex]
cvpr19_psarlin
ICRA 2019 B. Bescos, J. Neira, R. Siegwart, C. Cadena
Empty Cities: Image Inpainting for a  Dynamic-Object-Invariant Space
IEEE International Conference on Robotics and Automation,
Montreal, Canada, May 2019.
[pdf] [webpage] [code] [bibtex]
icra19_bbescos
ICRA 2019 J. Nitsch, J. Nieto, R. Siegwart, M. Schmidt, C. Cadena
Object Classification Based on Unsupervised Learned Multi-Modal Features for Overcoming Sensor Failures
IEEE International Conference on Robotics and Automation,
Montreal, Canada, May 2019.
[pdf] [bibtex]
icra19_jnitsch
ICRA 2019 T. Digumarti, L. Schmid, G. Rizzi, J. Nieto,  R. Siegwart, P. Beardsley, C. Cadena
An Approach for Semantic Segmentation of Tree-like Vegetation
IEEE International Conference on Robotics and Automation,
Montreal, Canada, May 2019.
[pdf] [bibtex]
icra19_tdigumarti
ITSC 2018 J. Nitsch, J. Aguilar, J. Nieto, R. Siegwart, M. Schmidt, C. Cadena
3D Ground Point Classification for Automotive Scenarios
IEEE International Conference on Intelligent Transportation Systems,
Maui, Hawaii, USA, November 2018.
[pdf] [bibtex]
itsc18_jnitsch
CoRL 2018 P.E. Sarlin, F. Debraine, M. Dymczyk, R. Siegwart, C. Cadena
Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
Conference on Robot Learning,
Zurich, Switzerland, October 2018.
[pdf] [video] [code] [bibtex]
corl18_psarlin
IROS 2018 H. Blum, A. Gawel, R. Siegwart, C. Cadena
Modular Sensor Fusion for Semantic Segmentation
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Madrid, Spain, October 2018.
[draft] [code] [bibtex]
iros18_hblum
IROS 2018 A. Millane, Z. Taylor, H. Oleynikova, J. Nieto, R. Siegwart, C. Cadena
C-Blox: A Scalable and Consistent TSDF-Based Dense Mapping Approach
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Madrid, Spain, October 2018.
[draft] [code] [bibtex]
iros18_amillaneiros18_amillane
iros18_amillane
SSRR 2018 A. Gawel, Y. Lin, T. Koutros, R. Siegwart, C. Cadena
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
IEEE International Symposium on Safety, Security, and Rescue Robotics,
Philadelphia, Pennsylvania, USA, August 2018.
[draft] [bibtex]
ssrr18_agawel
RSS 2018 R. Dubé, A. Cramariuc, D. Dugas, J. Nieto, R. Siegwart, C. Cadena
SegMap: 3D Segment Mapping using Data-Driven Descriptors
Robotics: Science and Systems (RSS),
Pittsburgh, Pennsylvania, USA, June 2018.
[pdf] [code] [bibtex]
rss18_rdube
ICRA 2018 M. Pfeiffer, G. Paolo, H. Sommer, J. Nieto, R. Siegwart, C. Cadena
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
IEEE International Conference on Robotics and Automation,
Brisbane, QLD, Australia, May 2018.
[pdf] [bibtex]
icra18_mpfeiffer
IV 2018 M. Buerki, M. Dymczyk, I. Gilitschenski, C. Cadena, R. Siegwart, J. Nieto
Map Management for Efficient Long-Term Visual Localization in Outdoor Environments
IEEE Intelligent Vehicles Symposium,
Changshu, China, June 2018.
[draft] [bibtex]
iv18_mbuerki
SSRR 2017 A. Gawel, R. Dube, H. Surmann, J. Nieto, R. Siegwart, C. Cadena
3D Registration of Aerial and Ground Robots for Disaster Response:
An Evaluation of Features, Descriptors, and Transformation Estimation

IEEE International Symposium on Safety, Security, and Rescue Robotics,
Shanghai, China, October 2017. Best Paper Award
[draft] [bibtex]
ssrr17_agawel
SSRR 2017 L. Wellhausen, R. Dube, A. Gawel, R. Siegwart, C. Cadena
Reliable Real-time Change Detection and Mapping for 3D LiDARs
IEEE International Symposium on Safety, Security, and Rescue Robotics,
Shanghai, China, October 2017.
[draft] [bibtex]
ssrr17_lwellhausen
IROS 2017 R. Dube, A. Gawel, H. Sommer, J. Nieto, R. Siegwart, C. Cadena
An Online Multi-Robot SLAM System for 3D LiDARs
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Vancouver, Canada, September 2017.
[draft] [code] [bibtex]
iros17_rdube
ICRA 2017 M. Fehr, F. Furrer, I. Dryanovski, J. Sturm, I. Gilitschenski, R. Siegwart, C. Cadena
TSDF-based Change Detection for Consistent Long-Term Dense
Reconstruction and Dynamic Object Discovery

IEEE International Conference on Robotics and Automation,
Singapore, Singapore, May-June 2017.
[draft] [bibtex]
icra17_mfehr
ICRA 2017 M. Pfeiffer, M. Schaeuble, J. Nieto, R. Siegwart, C. Cadena
From Perception to Decision: A Data-driven Approach to End-to-end
Motion Planning for Autonomous Ground Robots

IEEE International Conference on Robotics and Automation,
Singapore, Singapore, May-June 2017.
[draft] [bibtex]
icra17_mpfeiffer
ICRA 2017 R. Dube, D. Dugas, E. Stumm, J. Nieto, R. Siegwart, C. Cadena
SegMatch: Segment based place recognition in 3D point clouds
IEEE International Conference on Robotics and Automation,
Singapore, Singapore, May-June 2017.
[draft] [code] [bibtex]
icra17_rdube
IROS 2016 C. Cadena, Y. Latif, I.D. Reid
Measuring the Performance of Single Image Depth Estimation Methods
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Daejeon, Korea, October 2016.
[draft] [bibtex]
iros16
RSS 2016 C. Cadena, A. Dick, I.D. Reid
Multimodal AutoEncoders as Joint Estimators for Robotics Scene Understanding
Robotics Science and Systems, Ann Arbor, MI, USA, June 2016.
[pdf] [demo] [bibtex]
rss16
ICRA 2016 JH. Kim, C. Cadena, I.D. Reid
Direct Semi-dense SLAM for Rolling Shutter Cameras
IEEE International Conference on Robotics and Automation,
Stockholm, Sweden, May 2016.
[draft] [code] [bibtex]
icra16
ICRA 2015 C. Cadena, A. Dick, I.D. Reid
A Fast, Modular Scene Understanding System using Context-Aware Object Detection
IEEE International Conference on Robotics and Automation,
Seatle, Washington, USA, May 2015.
[draft] [bibtex]
icra15
IROS 2014 Y. Latif, C. Cadena, J. Neira
Robust Graph SLAM Back-Ends: A Comparative Analysis
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Chicago, Illinois, USA, September 2014.
[draft] [bibtex]
iros14
ICRA 2014 C. Cadena, J. Kosecka
Semantic Segmentation with Heterogeneous Sensor Coverages
IEEE International Conference on Robotics and Automation,
Hong Kong, China, May 2014.
[draft] [bibtex]
icra14
ISRR 2013 C. Cadena, J. Kosecka
Recursive Inference for Prediction of Objects in Urban Environments
The 16th International Symposium on Robotics Research,
Singapore, December 2013.
[draft] [interactive poster] [bibtex]
isrr13
IROS 2012 Y. Latif, C. Cadena, J. Neira
Realizing, Reversing, Recovering:
Incremental Robust Loop Closing over time using the iRRR algorithm

IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Vilamoura-Algarve, Portugal, October 2012.
[draft] [bibtex]
iros12
RSS 2012 Y. Latif, C. Cadena, J. Neira
Robust Loop Closing Over Time
Robotics Science and Systems, Sydney, NSW, Australia, July 2012.
[pdf] [bibtex]
rss12
IFAC 2011 C. Cadena, J. McDonald, J.J. Leonard, J. Neira
Place Recognition using Near and Far Visual Information
18th IFAC World Congress, Milano, Italy, August-September 2011.
[draft] [bibtex]
ifac11
ECMR 2011 J. McDonald, M. Kaess, C. Cadena, J. Neira, J.J. Leonard
6-DOF Multi-session Visual SLAM using Anchor Nodes
European Conference on Mobile Robots, Örebro, Sweden, September 2011.
[pdf] [bibtex]
ecmr11
IROS 2010 C. Cadena, D. Gálvez-López, F. Ramos, J.D. Tardós, J. Neira
Robust Place Recognition with Stereo Cameras
IEEE/RJS Int. Conference on Intelligent RObots and Systems, Taipei, Taiwan, October 2010.
[pdf] [bibtex]
iros10
ECMR 2009 C. Cadena, F. Ramos, J. Neira
Efficient Large Scale SLAM including data association using the Combined Filter
European Conference on Mobile Robots, Mlini/Dubrovnik, Croatia, September 2009.
[pdf] [bibtex]
ecmr09
IROS 2009 C. Cadena, J. Neira
SLAM in O(log n) with the Combined Kalman - Information Filter
IEEE/RJS Int. Conference on Intelligent RObots and Systems, St. Louis, MO, USA, October 2009.
[pdf] [bibtex]
iros09

                      Journal abstracts

ASAIO Journal C. Cadena, D.M. Tabima, J.C. Briceno
Tensile Mechanical Properties of Porcine Small Intestinal Submucosa Scaffolds: Effect of Orientation and Number of Layers
American Society of Artificial Internal Organs, ASAIO, Journal. 51(2):10A, March/April 2005.
SIS

                       PhD Thesis

PhD Thesis C. Cadena
Efficient Simultaneous Localisation And Mapping in Large and Complex Environments
Universidad de Zaragoza
[pdf] [bibtex]

                      Other publications

GMU C. Cadena, J. Kosecka
Semantic Segmentation of Urban Environments into Object and Background Categories
Technical Report, Computer Science Department
GMU-CS-TR-2013-6
streetview
UniAndes C. Cadena, A. Gauthier
Validación del Modelo y Control de Seguimiento de un Dirigible
Thesis of Master in Engineering, Bogotá, Colombia, 2006.
Control

C. Cadena, A. Gauthier
Estudio del Modelo e Identificación de un Dirigible
Thesis of Electronic Engineering, Bogotá, Colombia, 2005.
Blimb

C. Cadena, J.C. Briceno
Caracterización de las Propiedades Mecánicas de la Pared Arterial
Thesis of Mechanical Engineering, Bogotá, Colombia, 2004.
P-V


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