Marco Gutiérrez

Marco A. Gutiérrez

marcog (at) unex (dot) es
PhD. Student
Computer and Communication Technology Dept.PhD. Student

Brief Biography Description

I am a PhD Student at the Robotics and Artificial Vision Laboratory, from the university of extremadura. I currently do extensive work on the development of robocomp, an open source, component oriented robotics framework.

I have worked as coordinator of the Systems Administrator Team of the Architecture and Technology of Computing Systems Group (ArTeCS) from the University Complutense of Madrid. We designed and deployed the whole network, clusters and new servers and services.

My Master’s Degree in Computer Science, was obtained at the University Compluense of Madrid, which final project was a Virtual CPU scheduler for the Xen Hypervisor with load balancing on speed.

I worked at Electronic Arts, Madrid, Spain, as a »Technical Solutions Specialist» and I was part of the »Systems group». I was in charge of the development and execution of testing automation scripts in PC, Xbox 360, PS3, and Wii platforms.

I finished the last year of my five year degree in computer science at the University of New Mexico, USA, as an international exchange student, although I received from the University of Extremadura (UEX), Spain, last July 2008. I worked on a final research project, which involves next ­generation Synchronous Optical Networking (SONET) that is providing me with a lot of experience in network programming.

I also like to participate in programming contests, as I find very fun trying to come with smart solutions for challenging problems. I have already participated in many of them (ACM Rocky mountain, 2 ACM South West Europe…)


  • Social Robotics
  • Artificial Intelligence and Machine Learning
  • Cognitive Vision


Article, Books, Refereed Journals and Conferences

F. Fernández, M. Martínez, I. García-Varea, J. Martínez-Gómez, J.M. Pérez-Lorenzo, R. Viciana, P. Bustos, L.J. Manso, L. Calderita, M. Gutiérrez, P. Núñez, A. Bandera, A. Romero-Garcés, J.P. Bandera, R. Marfil. «Gualzru’s path to the Advertisement World». IROS Fine-R Workshop, 2015.

Dugan Um, M. Gutiérrez, P. Bustos, Sungchul Kang. «Simultaneous Planning and Mapping (SPAM) for a Manipulator by Best Move in Unknown Environments». International Conference on Intelligent Robots and Systems, IROS, November 3-8, 2013, Tokyo, Japan.

  • [PDF] [DOI] D. Um, M. A. Gutierrez, P. Bustos García, and S. Kang, «Simultaneous planning and mapping (SPAM) for a manipulator by best next move in unknown environments,» 2013 ieee/rsj international conference on intelligent robots and systems, p. 5273–5278, 2013. Ieee.
    abstract = {In this paper, we propose a SPAM (Simultaneous Planning and Mapping) technique for a manipulator type robot working in an uncertain environment via a Best Next Move algorithm. Demands for a smart decision to move a manipulator such as humanoid arms in uncertain or crowded environments call for a simultaneous planning and mapping technique. We assume no a priori knowledge of either the obstacles or the rest of the environment exits. For rapid map building and path planning, we use a skin type setup based on 3D depth camera sensors that completely encompass the entire body of a manipulator. The 3D sensors capture the point clouds used to create an instantaneous c-space map whereby a Best Next Move algorithm directs the motion of the manipulator. The Best Next Move algorithm utilizes the gradient of the density distribution of the k-nearest-neighborhood sets in c-space. It has tendency to travel along the direction by which the point clouds spread in space, thus rendering faster mapping of c-space obstacles. The proposed algorithm is compared with several sensor based algorithms for performance measurement such as map completion rate, distribution of samples, total nodes, etc. Some improved performances are reported for the proposed algorithm. Several possible applications include semi-autonomous tele-robotics planning, humanoid arm path planning, among others.},
    author = {Um, Dugan and Gutierrez, Marco A. and Bustos García, Pablo and Kang, Sungchul},
    doi = {10.1109/IROS.2013.6697119},
    isbn = {978-1-4673-6358-7},
    journal = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    month = {nov},
    pages = {5273--5278},
    publisher = {Ieee},
    title = {{Simultaneous planning and mapping (SPAM) for a manipulator by best next move in unknown environments}},
    url = {},
    year = {2013}

L.J. Manso, P. Bustos, Pilar Bachiller and M. Gutiérrez. «Graph Grammars for Active Perception». In Proc. of 12th International Conference on Autonomous Robot Systems and Competitions ISSN 978-972-98603-4-8, pp 63-68. April 2012

  • [PDF] L. J. Manso Argüelles, P. Bustos García, P. Bachiller, and M. A. Gutierrez, «Graph Grammars for Active Perception,» in 12th international conference on autonomous robot systems and competitions, Guimaraes, Portugal, 2012, p. 4–8.
    abstract = {The complexity of the applications in which robots are being used does not stop growing. Different solutions such as sophisticated control architectures have been proposed in order to deal with complexity in robot control. These solutions make robotic systems more robust, scalable and easier to distribute, understand and monitor. However, it is still not clear how to cope with the complexity of the interaction dynamics that underlie the perception of the environment. With this issue in mind this paper presents the concept of cognitive graph grammar and two algorithms that make use of it. Cognitive graph grammars are a grammar-based theoretical framework designed to support cognitive perception and, especially, the active nature of perception. They provide a means to describe how graph- based models can be generated and the behaviors to execute depending on the perceptual context. This is done in such a way that the information provided using this formalism can be used for different perceptive purposes at the same time, such as to link action and perception or to diminish perceptive errors. The paper also describes an experiment in which a cognitive graph grammar is used in an autonomous robot in order to efficiently model an environment made of rectangular rooms with obstacles},
    author = {Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller, Pilar and Gutierrez, Marco A},
    booktitle = {12th International Conference on Autonomous Robot Systems and Competitions},
    pages = {4--8},
    address = {Guimaraes, Portugal},
    title = {{Graph Grammars for Active Perception}},
    year = {2012}

A. Naranjo-Saucedo, C. Suárez, C. Parra-Calderón, E. González-Aguado, F. Böckel, A. Yuste, P. Bustos, L.J. Manso, Pilar Bachiller, S. Plana, J. Díaz, R. Boniche, M. Gutiérrez. «Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation».Book, Handbook of Research on Serious Games as Educational, Business and Research Tools: Development and Design, 2100, Books, pages 1212-1233, April, 2012.

  • [PDF] [DOI] A. Yuste-marco, P. Bustos García, L. J. Manso Argüelles, P. Bachiller Burgos, S. Plana, J. M. Diaz, and R. Boniche, Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation, , 2012.
    abstract = {Over the years, robotic has become a technological service tool in different application domains. This chapter presents a direct application of games and robotics as therapeutic tools in the health care of patients These strategies are used in ACROSS project, involving more than 100 researchers from 13 Spanish entities. The main objective of this project will be to modify the current perspective of the therapies, taking advantage of the game properties that will be implemented in social robots which are blocked in providing predefined services. These new systems are able to self-reconfigure and adapt autonomously. In 1 order to provide an open framework for collaboration between universities, research centres and the Administration, ACROSS will develop Open Source Services available to everybody. This chapter aims to contribute a new overview of treatment therapies with elderly and paediatric patients that present cognitive and motor impairments as well as present the methodology of evaluation to determine the effect of games and social robots as a means to carry out a therapy},
    author = {Yuste-marco, Antoni and Bustos García, Pablo and Manso Argüelles, Luis Jesús and Bachiller Burgos, Pilar and Plana, Sergi and Diaz, Jose M and Boniche, Ricardo},
    booktitle = {Handbook of Research on Serious Games as Educational, Business and Research Tools: Development and Design},
    doi = {10.4018/978-1-4666-0149-9.ch063},
    isbn = {978-1-4666-0149-9 (Hardcover), 978-1-4666-0150-5 (Digital (undefined format))},
    keywords = {augmented reality,cerebral palsy,cognitive training,dementia,games,motor training,obstetrical brachial paralysis,robot assistant,social robotic},
    pages = {1212--1233},
    title = {{Interactive games with robotic and augmented reality technology in cognitive and motor rehabilitation}},
    year = {2012}

M. Gutiérrez, A. Romero-Garcés, P. Bustos, J. Martínez. «Progress in RoboComp». Workshop en Agentes Físicos (WAF2012), Santiago de Compostela, Spain, 3-4 September 2012.

  • [PDF] M. A. Gutiérrez, A. Romero-Garcés, P. Bustos, and J. Martínez, «Progress in RoboComp,» in Workshop of physical agents, Santiago de Compostela, Spain, 2012.
    author = {Gutiérrez Giraldo, Marco Antonio and A. Romero-Garc{\'{e}}s and Bustos García, Pablo and J. Mart{\'{i}}nez},
    abstract = {During the last six years the RoboComp robotics framework has been steadily growing in the number of software components, the variety of robots supported and in new solutions to the maintenance of large robotics software repositories. In this paper we present recent advances in the formal definition of the RoboComp component model and a new set of tools based on Domain Specific Languages that have been created to simplify the whole development cycle of the components. Moreover, a new robot simulation tool has been created providing perfect integration with RoboComp and better control over experiments than current existing simulators. Finally, the paper describes a working solution to the important problem of communications middleware independence, which allows users to decide which middleware the components will be compiled with. Our solution has been validated by the integration of Nerve, a novel middle- ware for critical robotics tasks, in RoboComp.},
    address = {Santiago de Compostela, Spain},
    author = {Guti{\'{e}}rrez, M. A. and Romero-Garc{\'{e}}s, A. and Bustos, P. and Mart{\'{i}}nez, J.},
    booktitle = {Workshop of Physical Agents},
    title = {{Progress in RoboComp}},
    year = {2012}

M. Gutiérrez, Pilar Bachiller, L.J. Manso, P. Bustos, P. Núñez. «An incremental hybrid approach to indoor modeling». Proceedings, European Conference on Mobile Robots. September, 2011. Sweden.

  • [PDF] M. A. Gutiérrez Giraldo, P. Bachiller Burgos, L. J. Manso Argüelles, P. Bustos García, and P. Núñez Trujillo, «An incremental hybrid approach to indoor modeling,» in European conference on mobile robots, Sweden, 2011, p. 1–7.
    author = {Gutiérrez Giraldo, Marco Antonio and Bachiller Burgos, Pilar and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {European Conference on Mobile Robots},
    pages = {1--7},
    address = {Sweden},
    title = {An incremental hybrid approach to indoor modeling},
    year = {2011}

Adrián Romero-Garcés, L.J. Manso, M. Gutiérrez, Ramón Cintas and P. Bustos. «Improving the life cycle of robotics components using Domain Specific Languages». Proceedings, Second International Workshop on Domain-Specific Languages and models for ROBotics systems, DSLRob’11, September 2011

  • [PDF] a. Romero-Garcés, L. J. Manso Argüelles, M. A. Gutiérrez Giraldo, R. Cintas Peña, and P. Bustos García, «Improving the lifecycle of robotics components using domain-specific languages,» in Workshop on domain-specific languages and models for robotic systems, San Francisco, USA, 2011.
    abstract = {There is currently a large amount of robotics software using the component-oriented programming paradigm. However, the rapid growth in number and complexity of components may compromise the scalability and the whole lifecycle of robotics software systems. Model-Driven Engineering can be used to mitigate these problems. This paper describes how using Domain-Specific Languages to generate and describe critical parts of robotic systems helps developers to perform component managerial tasks such as component creation, modification, monitoring and deployment. Four different DSLs are proposed in this paper: i) CDSL for specifying the structure of the components, ii) IDSL for the description of their interfaces, iii) DDSL for describing the deployment process of component networks and iv) PDSL to define and configure component parameters. Their benefits have been demonstrated after their implementation in RoboComp, a general-purpose and component-based robotics framework. Examples of the usage of these DSLs are shown along with experiments that demonstrate the benefits they bring to the lifecycle of the components.},
    archivePrefix = {arXiv},
    arxivId = {arXiv:1301.6022v1},
    author = {Romero-Garc{\'{e}}s, a. and Manso Argüelles, Luis Jesús and Gutiérrez Giraldo, Marco Antonio and Cintas Peña, Ramón and Bustos García, Pablo},
    booktitle = {Workshop on Domain-Specific Languages and models for Robotic systems},
    eprint = {arXiv:1301.6022v1},
    title = {Improving the Lifecycle of Robotics Components using Domain-Specific Languages},
    url = {},
    year = {2011},
    address={San Francisco, USA}

M. Gutiérrez, E. Martinena, A Sánchez, Rosario G. Rodríguez, P. Núñez. «A Cost-Efficient 3D Sensing System for Autonomous Mobile Robots». Proceedings, Workshop of Phisical Agents, WAF 2011, September 2011

  • [PDF] M. A. Gutiérrez Giraldo, E. Martinena Guerrero, A. Sánchez Domínguez, R. G. Rodríguez, and P. Núñez Trujillo, «A Cost-Efficient 3D Sensing System for Autonomous Mobile Robots,» in Waf, Albacete, Spain, 2011, p. 1–8.
    author = {Gutiérrez Giraldo, Marco Antonio and Martinena Guerrero, Esteban and Sánchez Domínguez, Agustín and Rodr{\'{i}}guez, Rosario G. and Núñez Trujillo, Pedro},
    pages = {1--8},
    title = {{A Cost-Efficient 3D Sensing System for Autonomous Mobile Robots}},
    year = {2011},
    booktitle = {WAF},
    address = {Albacete, Spain}