Alejandro Valencia Rojas

@inproceedings{ValenciaRojas2026,
title = {Atención multimodal y seguimiento robusto del interlocutor en HRI natural},
author = {Valencia-Rojas, Alejandro and Hormigo-Jimenez, Pablo and Quemada-Torres, Eulogio and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},
doi = {10.17979/ja-cea.2026.47.13811},
issn = {3045-4093},
year  = {2026},
date = {2026-09-01},
urldate = {2026-09-01},
booktitle = {XLVII Jornadas de Automática, Córdoba},
journal = {XLVII Jornadas de Automática, Córdoba},
volume = {Robótica},
number = {47},
publisher = {Universidade da Coruna},
abstract = {<jats:p>This paper presents a multimodal architecture designed to enhance naturalness in Human-Robot Interaction. To overcome spatial ambiguities, a microphone array is integrated to estimate the direction of arrival of sound omnidirectionally. This allows the robot to orient itself naturally through the coordination of its head and mobile base. Furthermore, an efficient visual recognition method is proposed that shifts the computational burden from continuous facial analysis to full-body tracking. This approach utilizes an identity cache that successfully maintains the interlocutor's identity during temporary occlusions or face turns. The system is completed with a conversational agent managed by Large Language Models and an expressivity module that synchronizes the mouth with speech and adapts the facial expression to the dialogue context. The architecture has been successfully validated on a social robot from the MAPIR-UMA research group.</jats:p>},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{HormigoJiménez2026,
title = {Sistema de toma de decisiones jerárquico para robots de servicio},
author = {Hormigo-Jimenez, Pablo and Valencia-Rojas, Alejandro and Cañete-Baena, Antonio and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
doi = {10.17979/ja-cea.2026.47.13815},
issn = {3045-4093},
year  = {2026},
date = {2026-09-01},
urldate = {2026-09-01},
booktitle = {XLVII Jornadas de Automática, Córdoba},
journal = {XLVII Jornadas de Automática, Córdoba},
volume = {Robótica},
number = {47},
publisher = {Universidade da Coruna},
abstract = {<jats:p>The deployment of service robots in shared environments requires decision-making architectures capable of managing inte-rruptions and maintaining continuous operation. This paper presents a hierarchical control system based on Behavior Trees (BT)designed for the Sancho robotic platform. The system is structured into four priority layers: energy management, conversationalinterruptions, high-level mission execution, and passive idle routines. Through its implementation in ROS 2 and the use of ashared memory (Blackboard), the design separates decision-making from the underlying navigation, perception, and interactionmodules. Experimental evaluation in a physical environment demonstrates the platform’s responsiveness to context changes.The system allows interrupting base navigation to attend to voice commands, seamlessly integrating newly queued missions,and aborting execution in the face of critical events to ensure recharging, validating the feasibility of the design for unattendedoperation.</jats:p>},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}