%0 Conference Paper
%A Mejias Alvarez, Luis
%A Mondragon Bernal, Ivan Fernando
%A Campoy Cervera, Pascual
%B 2011 5th International Conference on Automation, Robotics and Applications (ICARA)
%C Wellington, Nueva Zelanda
%D 2011
%F upm:12181
%I IEEE
%T Omnidirectional bearing-only see-and-avoid for small aerial robots:
%U http://oa.upm.es/12181/
%X 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