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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

31 entries « 2 of 4 »

2020

Dense r-robust formations on lattices

Guerrero-Bonilla, Luis; Saldaña, David; Kumar, Vijay

Dense r-robust formations on lattices Inproceedings

In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 6633-6639, 2020.

BibTeX | Links:

Modular Robot Formation and Routing for Resilient Consensus

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

Modular Robot Formation and Routing for Resilient Consensus Inproceedings

In: 2020 American Control Conference (ACC), pp. 2464-2471, 2020.

BibTeX

Self-Reconfiguration in Response to Faults in Modular Aerial Systems

Gandhi, Neeraj; Saldaña, David; Kumar, Vijay; Phan, Linh T. X.

Self-Reconfiguration in Response to Faults in Modular Aerial Systems Journal Article

In: IEEE Robotics and Automation Letters, 5 (2), pp. 2522-2529, 2020.

BibTeX

2019

Design and Control of Aerial Modules for Inflight Self-Disassembly

Saldaña, David; Gupta, P. M.; Kumar, Vijay

Design and Control of Aerial Modules for Inflight Self-Disassembly Journal Article

In: IEEE Robotics and Automation Letters, 4 (4), pp. 3410-3417, 2019, ISSN: 2377-3766.

BibTeX | Links:

Design Guarantees for Resilient Robot Formations on Lattices

Guerrero-Bonilla, Luis; Saldaña, David; Kumar, Vijay

Design Guarantees for Resilient Robot Formations on Lattices Journal Article

In: IEEE Robotics and Automation Letters, 4 (1), pp. 89-96, 2019, ISSN: 2377-3766.

BibTeX | Links:

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor

Li, Guanrui; Gabrich, Bruno; Saldaña, David; Das, Jnaneshwar; Kumar, Vijay; Yim, Mark

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor Inproceedings

In: 2019 International Conference on Robotics and Automation (ICRA), pp. 346-352, 2019.

BibTeX | Links:

2018

Resilient Backbones in Hexagonal Robot Formations

Saldaña, David; Guerrero-Bonilla, Luis; Kumar, Vijay

Resilient Backbones in Hexagonal Robot Formations Book Chapter

In: Distributed Autonomous Robotic Systems: The 14th International Symposium, pp. 427–440, Cham, 2018, ISBN: 978-3-030-05816-6.

BibTeX

ModQuad: The Flying Modular Structure that Self-Assembles in Midair

Saldaña, David; Gabrich, Bruno; Li, Guanrui; Yim, Mark; Kumar, Vijay

ModQuad: The Flying Modular Structure that Self-Assembles in Midair Inproceedings

In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 691-698, 2018, ISSN: 2577-087X.

BibTeX | Links:

A Flying Gripper Based on Cuboid Modular Robots

Gabrich, Bruno; Saldaña, David; Kumar, Vijay; Yim, Mark

A Flying Gripper Based on Cuboid Modular Robots Inproceedings

In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 7024-7030, 2018, ISSN: 2577-087X.

BibTeX | Links:

Triangular Networks for Resilient Formations

Saldaña, David; Prorok, Amanda; Campos, Mario F. M.; Kumar, Vijay

Triangular Networks for Resilient Formations Book Chapter

In: Groß, Roderich; Kolling, Andreas; Berman, Spring; Frazzoli, Emilio; Martinoli, Alcherio; Matsuno, Fumitoshi; Gauci, Melvin (Ed.): Distributed Autonomous Robotic Systems: The 13th International Symposium, pp. 147–159, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-73008-0.

Abstract | BibTeX | Links:

31 entries « 2 of 4 »