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Visual control

3D Object Following based on Visual Information

3D Object Following based on Visual Information
A system and a control strategy for visual following of 3D moving object by an Unmanned Aerial Vehicles UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane.
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A system and a control strategy for visual following of 3D moving object by an Unmanned Aerial Vehicles UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane.

See & Avoid for Light UAV

See & Avoid for UAV
This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. It guarantees a minimum separation between the two vehicles involved by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing-only visual servoing approach.
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  See & Avoid for UAV based on visua

A robust real time method for UASs see and avoid based only in the visual information  provided by an omnidirectional camera sensor. The system was tested on Pelican UAV  flights with collision scenarios showing that the proposed method is an efficient technique for real time  evasion.

A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms

A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms
We present a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative and was demonstrated with the participation in the 2013 International Micro Air Vehicle Indoor Flight Competition (Toulouse, France) where it was awarded with the First Prize in the Indoors Autonomy Challenge.
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We present a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative and was demonstrated with the participation in the 2013 International Micro Air Vehicle Indoor Flight Competition (Toulouse, France) where it was awarded with the First Prize in the Indoors Autonomy Challenge.

  

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

Journal: 
Journal of Intelligent and Robotic Systems
Publication Date: 
2014

This research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan.

Identificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012

Journal: 
Revista Iberoamericana de Automática e Informática Industrial RIAI
Publication Date: 
July–September 2013

Lucía Hernández-Hernández 1, Jesús Pestana, Daniel Casares-Palomeque, Pascual Campoy, Jose Luis Sanchez-Lopez. Identificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012. Revista Iberoamericana de Automática e Informática Industrial RIAI. July–September 2013

Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles

Congresses name: 

Robot 2013: First Iberian Robotics Conference (ROBOT 2013)

Place: 

Madrid (Spain)

Date: 
Nov. 28-29, 2013

The presented work is focused on GPS-denied autonomous navigation for multirotor platforms. The problem of safe navigation based on noisy odometry measurements is discussed, and experimentally tested on the case of on-board optical flow measurements. A navigation controller is proposed which allows, through a group of configurable parameters, to ensure that the vehicle will fly on a speed specified flight envelope where the quality of the optical flow measurements is guaranteed.

Vision based GPS-denied Object tracking and Following for Unmanned Aerial Vehicles

Congresses name: 

The 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013)

Place: 

Linköping (Sweden)

Date: 
Oct 21-26, 2013

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane.

Toward Visual Autonomous Ship Board Landing of a VTOL UAV

Congresses name: 

2013 International Conference on Unmanned Aircraft Systems (ICUAS’13)

Place: 

Atlanta, Georgia (USA)

Date: 
May 28-31, 2013

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera.

A General Purpose Congurable Navigation Controller for Micro Aerial Multirotor Vehicles

Congresses name: 

2013 International Conference on Unmanned Aircraft Systems (ICUAS’13)

Place: 

Atlanta, Georgia (USA)

Date: 
May 28-31, 2013

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results.

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