@article{cuiral2020rgb,
  author={Cuiral-Zueco, Ignacio and L{\'o}pez-Nicol{\'a}s, Gonzalo},
  journal={IEEE Access},
  title={RGB-D Tracking and Optimal Perception of Deformable Objects},
  volume={8},
  pages={136884--136897},
  year={2020},  doi={10.1109/ACCESS.2020.3012067},  publisher={IEEE}
}

@inproceedings{cuiral2020dynamic,
  title={Dynamic occlusion handling for real time object perception},
  author={Cuiral-Zueco, Ignacio and L{\'o}pez-Nicol{\'a}s, Gonzalo},
  booktitle={2020 5th International Conference on Robotics and Automation Engineering (ICRAE)},
  pages={13--18},
  year={2020},  doi={10.1109/ICRAE50850.2020.9310850},  organization={IEEE}
}

@inproceedings{cuiral2021multi,
  title={Multi-scale Laplacian-based FMM for shape control},
  author={Cuiral-Zueco, Ignacio and L{\'o}pez-Nicol{\'a}s, Gonzalo},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3792--3797},
  year={2021},  doi={10.1109/IROS51168.2021.9636857},  organization={IEEE}
}

@inproceedings{cuiral2022gripper,
  title={Gripper positioning for object deformation tasks},
  author={Cuiral-Zueco, I and L{\'o}pez-Nicol{\'a}s, G and Araujo, H},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  pages={963--969},
  year={2022},  doi={10.1109/ICRA46639.2022.9812304},  organization={IEEE}
}

@article{cuiral2023contour,
  author={Cuiral-Zueco, Ignacio and Karayiannidis, Yiannis and L{\'o}pez-Nicol{\'a}s, Gonzalo},
  journal={IEEE Robotics and Automation Letters},
  title={Contour Based Object-Compliant Shape Control}, 
  year={2023},
  volume={8},
  number={8},
  pages={5164-5171},
  keywords={Shape;Deformation;Shape control;Measurement;Costs;Grippers;Task analysis;Multi-robot systems;perception for grasping and manipulation;shape control;visual servoing},
  doi={10.1109/LRA.2023.3292617}
  }

@article{cuiral2023multiscale,
  author={Cuiral-Zueco, Ignacio and López-Nicolás, Gonzalo},
  journal={IEEE/ASME Transactions on Mechatronics}, 
  title={Multiscale Procrustes-Based 3-D Shape Control}, 
  year={2024},
  volume={29},
  number={3},
  pages={1738-1748},
  keywords={Shape control;Grippers;Deformation;Task analysis;Rigidity;Jacobian matrices;Object detection;Deformable models;Multi-robot systems;Deformable object manipulation;multirobot manipulation;shape control;shape servoing},
  doi={10.1109/TMECH.2023.3325934}
  }

@inproceedings{cuiral2023elastic,
  title={Elastic Contour Mapping for the Estimation of Abrupt Shape Deformations},
  author={Cuiral-Zueco, Ignacio and L{\'o}pez-Nicol{\'a}s, Gonzalo},
  booktitle={Iberian Robotics conference},
  pages={400--408},
  year={2023},
  organization={Springer Nature Switzerland Cham}
}

@article{cuiral2024taxonomy,
   author={Cuiral-Zueco, Ignacio and López-Nicolás, Gonzalo},
  journal={IEEE Robotics and Automation Letters}, 
  title={Taxonomy of Deformable Object Shape Control}, 
  year={2024},
  volume={9},
  number={10},
  pages={9015-9022},
  keywords={Shape control;Three-dimensional displays;Shape;Taxonomy;Strain;Deformable models;Bending;Shape control;visual servoing;perception for grasping and manipulation},
  doi={10.1109/LRA.2024.3455770}}

@article{cuiral2025time,
  author={Cuiral-Zueco, Ignacio and López-Nicolás, Gonzalo},
  journal={IEEE Transactions on Automation Science and Engineering}, 
  title={Time Consistent Surface Mapping for Deformable Object Shape Control}, 
  year={2025},
  volume={22},
  number={},
  pages={11099-11111},
  keywords={Shape;Shape control;Surface treatment;Three-dimensional displays;Deformation;Visualization;Surface texture;Robots;Geometry;Cameras;Shape control;robot vision systems;multiple manipulators;deformable object manipulation},
  doi={10.1109/TASE.2025.3529180}}

@article{aranda2025distributed,
  author={Aranda, Miguel and Cuiral-Zueco, Ignacio and López-Nicolás, Gonzalo},
  journal={IEEE Control Systems Letters}, 
  title={Distributed Control of Flexible Chained Multiagent Formations}, 
  year={2025},
  volume={9},
  number={},
  pages={2018-2023},
  keywords={Vectors;Formation control;Indexes;Symmetric matrices;Shape;Robots;Mobile agents;Hands;Europe;Decentralized control;Cooperative control;distributed control;autonomous systems;robotics},
  doi={10.1109/LCSYS.2025.3590428}}

@article{cuiral2025multi,
  title = {Multi-scale elastic contour mapping for deformable object shape control},
journal = {Robotics and Autonomous Systems},
volume = {194},
pages = {105134},
year = {2025},
issn = {0921-8890},
doi = {https://doi.org/10.1016/j.robot.2025.105134},
url = {https://www.sciencedirect.com/science/article/pii/S0921889025002313},
author = {Ignacio Cuiral-Zueco and Gonzalo López-Nicolás},
abstract = {Shape control involves manipulating a deformable object towards a desired shape. In this paper we present a multi-scale elastic contour mapping method for shape control of texture-less deformable objects. Our method considers similar geometric features between the current and the target shape by means of multi-scale Laplacian descriptors. We compute elastic maps and thus define a contour point error that considers the stretching and compressing processes involved in shape control tasks. We validate the applicability of our novel mapping method in real shape control frameworks by means of a proposed shape control law. We perform simulations and experiments on different objects and materials with two robotic arms to validate our method.}
}

@article{caporali2026robotic,
  title={Robotic perception and manipulation of deformable linear objects: A survey},
  author={Caporali, Alessio and Cuiral-Zueco, Ignacio and L{\'o}pez-Nicol{\'a}s, Gonzalo and Palli, Gianluca},
  journal={The International Journal of Robotics Research},
  year={2026},
  doi={10.1177/02783649261432253}
}

@article{cuiral2026data,
  author={Cuiral-Zueco, Ignacio and López-Nicolás, Gonzalo},
  journal={IEEE/ASME Transactions on Mechatronics},
  title={Data-Driven Shape Trajectory Control of Deformable Linear Objects},
  year={2026},
  pages={1-12},
  keywords={Modeling;Shape;Robots;Trajectory;Deformation;Grippers;Shape control;Deformable object manipulation;shape control;visual servoing},
  doi={10.1109/TMECH.2026.3715312}
}

@inproceedings{cuiral2026language,
  title={The Language of Deformation: Semantic Failure Analysis as a Prerequisite for Dexterous Manipulation of Deformable Objects},
  author={Cuiral-Zueco, Ignacio and Hardman, David and Pierallini, Michele and Shahriari, Erfan},
  booktitle={European Robotics Forum (ERF)},
  year={2026},
  address={Stavanger, Norway}
}