jtordesillas@comillas.edu             GitHub              Google Scholar              LinkedIn

EDUCATION (Download Resume)

• Assistant Professor at Comillas-ICAI (June’24-Present)
• Postdoc in Robotics at ETH Zurich (RSL, Jan’23-May’24)
• Postdoc in Robotics at MIT (ACL, Sept’22-Jan’23)
• PhD in Robotics at MIT (ACL, 2019-2022)
• Internship at NASA JPL (Group 347T, Summer 2019)
• MS in Robotics at MIT (ACL, 2017-2019)
• MS in Robotics and Electronics at ETSII-UPM (2016-2018)
• BS in Robotics and Electronics at ETSII-UPM (2012-2016)

PUBLICATIONS

DiffSim2Real

Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation
Paper DiffOpt, CoRL 2024

Continuous-Time State Estimation

Continuous-Time State Estimation Methods in Robotics: A Survey
Paper In review

PRIMER

Perception-Aware Learning-based Multiagent Trajectory Planner
Paper ICRA 2025

Differentiable Simulation

Learning Quadrupedal Locomotion via Differentiable Simulation
Paper Video In review

RAYEN

Imposition of Hard Convex Constraints on Neural Networks
Paper Code In review

Tutorial

Optimization, Optimal Control, Trajectory Optimization, and Splines
Video

RMADER Planner

Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Comm. Delay
Best Poster Award in CAMRS Workshop (ICRA)
RA-L Paper ICRA Paper Video Code RA-L and ICRA 2023

PhD Thesis

Trajectory Planning for Flights in Multiagent and Dynamic Environments
Video of the defense Dissertation

Deep-PANTHER Planner

Deep-PANTHER: Learning-Based Perception-Aware Traj. Planner in Dynamic Enviroments
Paper Video Code RA-L

PANTHER Planner

Perception-Aware Trajectory Planner in Dynamic Environments
Paper Video Code IEEE Access

MADER Planner

Trajectory Planner in Multi-Agent and Dynamic Environments
Paper Video Code T-RO

MINVO Basis

Finding Simplexes with Minimum Volume Enclosing Polynomial Curves
Paper Video Code CAD journal

Mine in West Virginia, 275 meters underground

LION Estimator

Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
Paper Video ISER 2020

Mine in West Virginia, 275 meters underground

Traversability

Autonomous Navigation in GPS-Denied and Perceptually-Degraded Environments
Paper Video ISER 2020

NeBula Autonomy

DARPA Subterranean Challenge
1^st place in Urban Circuit (Darpa Subt. Challenge)
2^nd place in Tunnel Circuit (Darpa Subt. Challenge)
Paper Video Code JFR

FASTER Planner

Fast and Safe Trajectory Planner for Navigation in Unknown Environments.
Finalist: Best Paper Award in Search and Rescue Robotics
IROS Paper T-RO Paper Video Code T-RO and IROS 2019

Drone detection using depth maps

Onboard Detection and Localization of Drones Using Depth Maps.
Paper Video IEEE Access 2020

Multi-Fidelity Planner

Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments.
Paper Video Code ICRA 2019

Trajectory Optimization

Trajectory optimization for multirotors using Gurobi
Paper Video Code

Drone Racing

Trajectory optimization using GPOPS-II
Thesis Video Code Master’s Thesis

Aerial Manipulation

Agile Plate Transport with a Hexacopter with Canted Motors.
Video

Adaptive Control for a Multirotor

TEB, CG, BFG and CF adaptive controllers
Paper Code

Reinforcement Learning vs Opt. Control

A numerical comparison of performance and robustness in model-based and model-free methodologies.
Paper

Finite Element Simulation for C-Legs

Finite Element Simulation for C-Legs using Autodesk Simulation Mechanical.
Thesis Video Undergraduate thesis

Hexapod Design

3D design of a hexapod robot using Autodesk Inventor.
Plans Video Undergraduate thesis

Gait Models for a Hexapod Robot

Analysis of different gaits Models applied to a hexapod robot with C-Legs.
Thesis Video Undergraduate thesis

Robot Kinematics with C-Legs

Kinematic model of a hexapod robot with C-Legs. Simulations with Autodesk Inventor.
Paper Video Jorn. de Automática 2016

Test Bench for C-Legs

Test Bench to tests C-Legs built using and Arduino Mega and drivers L298N.
Thesis Video Undergraduate thesis

Robotic Manipulator

Robotic Manipulator design and building using Arduino and LabView.
Video

FPGA and VHDL

Schematic design and implementation on a FPGA.
Schematic designed