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

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

Description

Title: A Vision Based Aerial Robot solution for the Mission 7 of the International Aerial Robotics Competition
Author/s:
  • Sánchez López, José Luis
  • Pestana Puerta, Jesús
  • Collumeau, Jean-Françoise
  • Suárez Fernández, Ramón
  • Campoy Cervera, Pascual
  • Molina, Martin
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2015 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: June 9-12, 2015
Event Location: Denver, Colorado, USA
Title of Book: 2015 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2015
ISBN: 978-1-4799-6009-5
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
UPM's Research Group: Computer Vision Group, Centre for Automation and Robotics.
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010-20751-C02-01UnspecifiedUnspecifiedUnspecified

More information

Item ID: 42823
DC Identifier: http://oa.upm.es/42823/
OAI Identifier: oai:oa.upm.es:42823
Official URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7143340
Deposited by: Memoria Investigacion
Deposited on: 13 Jul 2016 15:59
Last Modified: 14 Jul 2016 15:02
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