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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 « 3 of 4 »

2019

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 Proceedings Article

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 Proceedings Article

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 Proceedings Article

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:

2017

Resilient Flocking for Mobile Robot Teams

Saulnier, Kelsey; Saldaña, David; Prorok, Amanda; Pappas, George J.; Kumar, Vijay

Resilient Flocking for Mobile Robot Teams Journal Article

In: IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 1039-1046, 2017.

BibTeX | Links:

Resilient consensus for time-varying networks of dynamic agents

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

Resilient consensus for time-varying networks of dynamic agents Proceedings Article

In: 2017 American Control Conference (ACC), pp. 252-258, 2017.

BibTeX | Links:

Jahn, Alexander; Alitappeh, Reza Javanmard; Saldaña, David; Pimenta, Luciano C. A.; Santos, Andre G.; Campos, Mario F. M.

Distributed multi-robot coordination for dynamic perimeter surveillance in uncertain environments Proceedings Article

In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 273-278, 2017.

BibTeX | Links:

A decentralized algorithm for assembling structures with modular robots

Saldaña, David; Gabrich, Bruno; Whitzer, Michael; Prorok, Amanda; Campos, Mario F. M.; Yim, Mark; Kumar, Vijay

A decentralized algorithm for assembling structures with modular robots Proceedings Article

In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2736-2743, 2017.

BibTeX | Links:

Cooperative prediction of time-varying boundaries with a team of robots

Saldaña, David; Assunção, Renato; Hsieh, M. Ani; Campos, Mario F. M.; Kumar, Vijay

Cooperative prediction of time-varying boundaries with a team of robots Proceedings Article

In: 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 9-16, 2017.

BibTeX | Links:

36 entries « 3 of 4 »