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Dr. David Saldaña

Head of Laboratory
Assistant Professor
Department of Computer Science and Engineering
Lehigh University
E-mail
saldana [at] lehigh.edu
Office address
Office: 319
Building C
Mountaintop Campus
Lehigh University

Photo by Eric Sucar at Penn Today

About Me

I am Assistant Professor in Computer Science & Engineering at Lehigh University. Before joining Lehigh, I worked as a Post-Doctoral Researcher at the GRASP Laboratory, University of Pennsylvania, with Prof. Vijay Kumar.

I completed my PhD in Artifical Intelligence and Robotics, advised by Prof. Mario Fernando Campos , and Prof. Renato Assunção, in the Laboratory of Computer Vision and Robotics – VeRLab, Department of Computer Science at Federal University of Minas Gerais, Brazil.

Research Interests

Flying Modular Robots
Multi-rotor systems, self-assembly algorithms, cooperative flying robots.
Environmental Monitoring
Prediction of environmental boundaries, Multi-robot coordination.
Resilient Robot Swarms
Robot Swarms, perimeter surveillance, resilient consensus.

Academic Timeline

  • 2005 – 2010

B.Sc. in Engineering of Systems and Informatics Universidad Nacional de Colombia, Medellin, Colombia

  • 2011 – 2012

M.Sc. in Engineering – Systems Engineering Universidad Nacional de Colombia, Medellin, Colombia

  • 2013 – 2017

PhD. in Computer Science Laboratory of Computer Vision and Robotics – VeRLab
Federal University of Minas Gerais, Brazil

  • 2015 – 2017

Visiting Reseach Scholar GRASP Laboratory University of Pennsylvania, USA

  • 2017 – 2019

Post-Doctoral Researcher GRASP Laboratory University of Pennsylvania, USA

  • 2019 – Present

Assistant Professor Computer Science & Engineering Lehigh University, USA

Publications

36 entries « 1 of 4 »

2023

SBlimp: Design, Model, and Translational Motion Control for a Swing-Blimp

Xu, Jiawei; Ammirato, Dominic J; D’Antonio, Diego S.; Saldaña, David

SBlimp: Design, Model, and Translational Motion Control for a Swing-Blimp Proceedings Article

In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), IEEE Robotics and Automation Society 2023.

Abstract | BibTeX | Links:

Toward Fine Contact Interactions: Learning to Control Normal Contact Force with Limited Information

Cui, Jinda; Xu, Jiawei; Saldaña, David; Trinkle, Jeffrey

Toward Fine Contact Interactions: Learning to Control Normal Contact Force with Limited Information Proceedings Article Forthcoming

In: 40th IEEE International Conference on Robotics and Automation, IEEE Robotics and Automation Society Forthcoming.

Abstract | BibTeX

Finding Optimal Modular Robots for Aerial Tasks

Xu, Jiawei; Saldaña, David

Finding Optimal Modular Robots for Aerial Tasks Proceedings Article Forthcoming

In: 40th IEEE International Conference on Robotics and Automation, IEEE Robotics and Automation Society Forthcoming.

Abstract | BibTeX | Links:

Forming and Controlling Hitches in Midair Using Aerial Robots

D’Antonio, Diego S.; Bhattacharya, Subhrajit; Saldaña, David

Forming and Controlling Hitches in Midair Using Aerial Robots Proceedings Article

In: 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), 2023.

Abstract | BibTeX | Links:

2022

PogoDrone: Design, Model, and Control of a Jumping Quadrotor

Zhu, Brian; Xu, Jiawei; Charway, Andrew; Saldaña, David

PogoDrone: Design, Model, and Control of a Jumping Quadrotor Proceedings Article

In: 2022 IEEE International Conference on Robotics and Automation, 2022.

Abstract | BibTeX | Links:

Folding Knots Using a Team of Aerial Robots

D’Antonio, Diego S.; Saldaña, David

Folding Knots Using a Team of Aerial Robots Proceedings Article

In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3372-3377, 2022.

Abstract | BibTeX | Links:

2021

H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF

Xu, Jiawei; D’Antonio, Diego S.; Saldaña, David

H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF Proceedings Article

In: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN: 978-1-7281-9077-8.

Abstract | BibTeX | Links:

Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot

Cardona, Gustavo A.; D’Antonio, Diego S.; Vasile, Cristian-Ioan; Saldaña, David

Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot Proceedings Article

In: 2021.

Abstract | BibTeX | Links:

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors

D’Antonio, Diego S.; Cardona, Gustavo A.; Saldaña, David

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors Journal Article

In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3857-3863, 2021, ISSN: 2377-3766.

Abstract | BibTeX | Links:

Resilient Consensus in Robot Swarms With Periodic Motion and Intermittent Communication

Yu, Xi; Saldaña, David; Shishika, Daigo; Hsieh, M Ani

Resilient Consensus in Robot Swarms With Periodic Motion and Intermittent Communication Journal Article

In: IEEE Transactions on Robotics, 2021.

BibTeX | Links:

36 entries « 1 of 4 »