18 Result(s)
within
Miguel A. Olivares-Mendez
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Chapter and Conference Paper
Mobility Strategy of Multi-limbed Climbing Robots for Asteroid Exploration
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing ...
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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
Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mob...
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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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Chapter and Conference Paper
Faster Visual-Based Localization with Mobile-PoseNet
Precise and robust localization is of fundamental importance for robots required to carry out autonomous tasks. Above all, in the case of Unmanned Aerial Vehicles (UAVs), efficiency and reliability are critica...
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Article
Analyzing and improving multi-robot missions by using process mining
Multi-robot missions can be compared to industrial processes or public services in terms of complexity, agents and interactions. Process mining is an emerging discipline that involves process modeling, analysi...
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Chapter and Conference Paper
Evasive Maneuvering for UAVs: An MPC Approach
Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive flight con...
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Chapter and Conference Paper
A Perspective of Security for Mobile Service Robots
Future homes will contain Mobile Service Robots (MSR) with diverse functionality. MSRs act in close proximity to humans and have the physical capabilities to cause serious harm to their environment. Furthermor...
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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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Chapter and Conference Paper
The NOAH Project: Giving a Chance to Threatened Species in Africa with UAVs
Organized crime now targets one of the most precious wealth in Africa, the wild life. The most affected by the poaching are the Big 5, whose survival requires attention and efforts from everyone, in accordance...
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Article
Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers
In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied environments using Mon...
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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...
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Chapter
Rapid Prototy** Framework for Visual Control of Autonomous Micro Aerial Vehicles
Rapid prototy** environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototy** of visual control algorithms for Micro Aerial V...
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Article
Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems
The Cross-Entropy (CE) is an efficient method for the estimation of rare-event probabilities and combinatorial optimization. This work presents a novel approach of the CE for optimization of a Soft-Computing c...
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Chapter
MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers
Debugging control software for Micro Aerial Vehicles (MAV) can be risky out of the simulator, especially with professional drones that might harm people around or result in a high bill after a crash. We have d...
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Article
On-board and Ground Visual Pose Estimation Techniques for UAV Control
In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board c...
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Article
Unmanned aerial vehicles UAVs attitude, height, motion estimation and control using visual systems
This paper presents an implementation of an aircraft pose and motion estimator using visual systems as the principal sensor for controlling an Unmanned Aerial Vehicle (UAV) or as a redundant system for an Iner...
