17 Result(s)
within
Jose Luis Sanchez-Lopez
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Article
Open AccessGraph-Based vs. Error State Kalman Filter-Based Fusion of 5G and Inertial Data for MAV Indoor Pose Estimation
5G New Radio Time of Arrival (ToA) data has the potential to revolutionize indoor localization for micro aerial vehicles (MAVs). However, its performance under varying network setups, especially when combined ...
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Article
Open AccessUnclonable human-invisible machine vision markers leveraging the omnidirectional chiral Bragg diffraction of cholesteric spherical reflectors
The seemingly simple step of molding a cholesteric liquid crystal into spherical shape, yielding a Cholesteric Spherical Reflector (CSR), has profound optical consequences that open a range of opportunities for p...
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Article
Open AccessA Hybrid Modelling Approach for Aerial Manipulators
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and its manipulator form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describi...
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Article
Trajectory Tracking for Aerial Robots: an Optimization-Based Planning and Control Approach
In this work, we present an optimization-based trajectory tracking solution for multirotor aerial robots given a geometrically feasible path. A trajectory planner generates a minimum-time kinematically and dyn...
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Article
A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multi...
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Article
A Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework
To achieve fully autonomous operation for Unmanned Aerial Systems (UAS) it is necessary to integrate multiple and heterogeneous technical solutions (e.g., control-based methods, computer vision methods, automa...
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Article
A Reliable Open-Source System Architecture for the Fast Designing and Prototy** of Autonomous Multi-UAV Systems: Simulation and Experimentation
During the process of design and development of an autonomous Multi-UAV System, two main problems appear. The first one is the difficulty of designing all the modules and behaviors of the aerial multi-robot sy...
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Article
A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition
This paper presents a completely autonomous solution to participate in the Indoor Challenge of the 2013 International Micro Air Vehicle Competition (IMAV 2013). Our proposal is a multi-robot system with no cen...
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Chapter and Conference Paper
FuSeOn: A Low-Cost Portable Multi Sensor Fusion Research Testbed for Robotics
Nowadays, the utilization of multiple sensors on every robotic platform is a reality due to their low cost, small size and light weight. Multi Sensor Fusion (MSF) algorithms are required to take advance of all...
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Chapter and Conference Paper
UBRISTES: UAV-Based Building Rehabilitation with Visible and Thermal Infrared Remote Sensing
Building inspection is a critical issue for designing rehabilitation projects, which are recently gaining importance for environmental and energy efficiency reasons. Image sensors on-board unmanned aerial vehi...
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Article
HMPMR strategy for real-time tracking in aerial images, using direct methods
The vast majority of approaches make use of features to track objects. In this paper, we address the tracking problem with a tracking-by-registration strategy based on direct methods. We propose a hierarchical...
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Article
An Approach Toward Visual Autonomous Ship Board Landing of a VTOL UAV
We present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. To demonstrate the efficacy of our algorithms we emulate the dynamics of the ship-deck, ...
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Chapter and Conference Paper
Visual Quadrotor Swarm for the IMAV 2013 Indoor Competition
This paper presents a low-cost framework for visual quadrotor swarm prototy** which will be utilized to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition. The testbed facilita...
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Article
A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
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 pre...
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Chapter and Conference Paper
Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles
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 ca...
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Article
A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of this tra...
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Chapter
Autonomous Guided Car Using a Fuzzy Controller
The goal of the work described in this chapter is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the v...
