title: Omnidirectional bearing-only see-and-avoid for small aerial robots:
creator: Mejias Alvarez, Luis
creator: Mondragon Bernal, Ivan Fernando
creator: Campoy Cervera, Pascual
subject: Robotics and Industrial Computing
description: Motivated by the growing interest in unmanned aerial system's applications in indoor and outdoor settings and the standardisation of visual sensors as vehicle payload. 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 will achieve 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. We provide theoretical problem formulation, as well as results from real flight using small quadrotors
publisher: E.T.S.I. Industriales (UPM)
rights: http://creativecommons.org/licenses/by-nc-nd/3.0/es/
date: 2011
type: info:eu-repo/semantics/conferenceObject
type: Presentation at Congress or Conference
source: Proceedings of 2011 5th International Conference on Automation, Robotics and Applications (ICARA) | 2011 5th International Conference on Automation, Robotics and Applications (ICARA) | 06/12/2011 - 08/12/2011 | Wellington, Nueva Zelanda
type: PeerReviewed
format: application/pdf
language: eng
relation: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6144850&contentType=Conference+Publications
rights: info:eu-repo/semantics/openAccess
identifier: http://oa.upm.es/12181/