A Vision Based Aerial Robot solution for the Mission 7 of the International Aerial Robotics Competition

Sánchez López, José Luis; Pestana Puerta, Jesús; Collumeau, Jean-Françoise; Suárez Fernández, Ramón; Campoy Cervera, Pascual y Molina, Martin (2015). A Vision Based Aerial Robot solution for the Mission 7 of the International Aerial Robotics Competition. En: "2015 International Conference on Unmanned Aircraft Systems (ICUAS)", June 9-12, 2015, Denver, Colorado, USA. ISBN 978-1-4799-6009-5. pp. 1391-1400.

Descripción

Título: A Vision Based Aerial Robot solution for the Mission 7 of the International Aerial Robotics Competition
Autor/es:
  • Sánchez López, José Luis
  • Pestana Puerta, Jesús
  • Collumeau, Jean-Françoise
  • Suárez Fernández, Ramón
  • Campoy Cervera, Pascual
  • Molina, Martin
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2015 International Conference on Unmanned Aircraft Systems (ICUAS)
Fechas del Evento: June 9-12, 2015
Lugar del Evento: Denver, Colorado, USA
Título del Libro: 2015 International Conference on Unmanned Aircraft Systems (ICUAS)
Fecha: 2015
ISBN: 978-1-4799-6009-5
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Grupo Investigación UPM: Computer Vision Group, Centre for Automation and Robotics.
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

The International Aerial Robotics Competition (IARC) aims at pulling forward the state of the art in UAV. The Mission's 7 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and obstacle avoidance in the setting of a ground robot herding problem. We present in this paper our UAV which took part in the 2014 competition, in the China venue. This year, the mission was not completed by any participant but our team at Technical University of Madrid (UPM) were awarded with two special prizes: Best Target Detection and Best System Control. The platform, hardware and the developed software used in this top leading competition are presented in this paper. This software has three main components: the visual localization and mapping algorithm; the control algorithms; and the mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenger?s are also included.

Proyectos asociados

TipoCódigoAcrónimoResponsableTítulo
Gobierno de EspañaDPI2010-20751-C02-01Sin especificarSin especificarSin especificar

Más información

ID de Registro: 42823
Identificador DC: http://oa.upm.es/42823/
Identificador OAI: oai:oa.upm.es:42823
URL Oficial: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7143340
Depositado por: Memoria Investigacion
Depositado el: 13 Jul 2016 15:59
Ultima Modificación: 14 Jul 2016 15:02
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