Avalanche beacon magnetic field calculations for rescue techniques improvement. - Natalia Ayuso; José Antonio Cuchí; Francisco Lera; José Luis Villarroel (IGARSS, 2007)

Accurately Locating a Vertical Magnetic Dipole Buried in a Conducting Earth. - Natalia Ayuso; José Antonio Cuchí; Francisco Lera; José Luis Villarroel (IEEE Trans. Geosci. Remote. Sens., 2010)

Transversal fading analysis in straight tunnels at 2.4 GHz. - Carlos Rizzo; Francisco Lera; José Luis Villarroel (ITST, 2013)

UHF and SHF Fading Analysis Using Wavelets in Tunnel Environments. - Carlos Rizzo; Francisco Lera; José Luis Villarroel (VTC Fall, 2013)

RF odometry for localization in pipes based on periodic signal fadings. - Carlos Rizzo; Vijay Kumar 001; Francisco Lera; José Luis Villarroel (IROS, 2014)

A Methodology for Localization in Tunnels Based on Periodic RF Signal Fadings. - Carlos Rizzo; Francisco Lera; José Luis Villarroel (MILCOM, 2014)

Guaranteeing Communication for Robotic Intervention in Long Tunnel Scenarios. - Carlos Rizzo; Domenico Sicignano; Luis Riazuelo; Danilo Tardioli; Francisco Lera; José Luis Villarroel; Luis Montano (ROBOT (1), 2015)

Low-Bandwidth Telerobotics in Fading Scenarios. - Samuel Barrios; Natalia Ayuso; Danilo Tardioli; Luis Riazuelo; Alejandro R. Mosteo; Francisco Lera; José Luis Villarroel (ROBOT (2), 2017)

Wireless Propagation Characterization of Underground Sewers Towards Autonomous Inspections with Drones. - Carlos Rizzo; Pedro Cavestany; François Chataigner; Marcel Soler; Germán Moreno; Daniel Serrano; Francisco Lera; José Luis Villarroel (ROBOT (2), 2017)

Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments. - Danilo Tardioli; Luis Riazuelo; Domenico Sicignano; Carlos Rizzo; Francisco Lera; José Luis Villarroel; Luis Montano (J. Field Robotics, 2019)

An alternative approach for robot localization inside pipes using RF spatial fadings. - Carlos Rizzo; Teresa Seco; Jesús Espelosín; Francisco Lera; José Luis Villarroel (Robotics Auton. Syst., 2021)

RoboBoat: A robotic boat for 3D mapping of partially flooded underground sites. - José Luis Villarroel; Francisco Lera; Danilo Tardioli; Luis Riazuelo; Luis Montano (J. Field Robotics, 2024)