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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Jesús Pestana Jean-Franois Collumeau Ramon Suarez-Fernandez Pascual Campoy Martin Molina Computer Vision Group Centre for Automation and Robotics Spain Aerial Vision Group Graz University of Technology - TUGraz Austria Robotics Institute Delft University of Technology (TU Delft) Delft The Netherlands Department of Artificial Intelligence Technical University of Madrid (UPM) Spain

ISBN: (纸本)9781479960118

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.

关键词： Robots computer architecture Optical sensors Vehicles computers Safety

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Flight performance assessment of land surveying trajectories for multiple UAV platforms

Flight performance assessment of land surveying trajectories...

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Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

作者： Andres Mora Sai Vemprala Adrian Carrio Srikanth Saripalli School of Earth and Space Exploration Arizona State University Tempe AZ USA Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain

Crop monitoring of large areas using unmanned aerial vehicles (UAV) is a process that involves multiple trade-offs. For a particular location a multicopter may be more suitable than a fixed-wing due to landscape, altitude, or weather conditions. In other cases the opposite may also be true and the best solution considering additional factors such as available energy and the time it takes to sample the area of interest. In this paper we evaluate the energy consumption, the total distance traveled, and the total time it takes for two unmanned aerial platforms, a fixed-wing and a multicopter to traverse different trajectories. We evaluate the performance of these two platforms using two trajectories: lawnmower and spiral. These trajectories guarantee a 60% both in overlap and sidelap. We analyze the trade-offs between traversing a given trajectory with both platforms and the impact of using a lawnmower instead of a spiral pattern in the context of precision agriculture applications.

关键词： Trajectory Vehicles Spirals Cameras DC motors Agriculture Energy consumption

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A vision-based quadrotor swarm for the participation in the 2013 international micro air vehicle competition

A vision-based quadrotor swarm for the participation in the ...

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2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014

作者： Pestana, Jesus Sanchez-Lopez, Jose Luis De La Puente, Paloma Carrio, Adrian Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSICUPM Spain Institut of Automation and Control Vienna University of Technology Austria

ISBN: (纸本)9781479923762

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an AR Drone 2.0 quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to improve the pose estimation based on the IMU and optical data flow by means of an Extended Kalman Filter localization and mapping method. The presented solution and the performance of the CVG UPM team were awarded with the First Prize in the Indoors Autonomy Challenge of the IMAV2013 competition. © 2014 IEEE.

关键词： Kalman filters

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A system for the design and development of vision-based multi-robot quadrotor swarms

A system for the design and development of vision-based mult...

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2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014

作者： Sanchez-Lopez, Jose Luis Pestana, Jesus De La Puente, Paloma Suarez-Fernandez, Ramon Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain Institut of Automation and Control Vienna University of Technology Austria

ISBN: (纸本)9781479923762

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module. © 2014 IEEE.

关键词： Drones

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Iterative learning control for machining with industrial robots 19

Iterative learning control for machining with industrial rob...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Marchal, Pablo Cano Sörnmo, Olof Olofsson, Björn Robertsson, Anders Ortega, Juan Gómez Johansson, Rolf Group of Robotics Automation and Computer Vision University of Jaén JaénES-23071 Spain Department of Automatic Control LTH Lund University LundSE-221 00 Sweden

ISBN: (纸本)9783902823625

We consider an iterative learning control (ILC) approach to machining with industrial robots. The robot and the milling process are modeled using system identification methods with a data-driven approach. Two different model-based ILC algorithms are proposed and subsequently experimentally verified in a milling scenario. The difference between the two approaches is the required sensors for acquiring relevant input data for the algorithms. The results from the experiments indicate that the proposed methods have the potential of significantly decreasing the position errors in robotic machining, up to 85% in the considered milling scenario. © IFAC.

关键词： Two term control systems

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A system for the design and development of vision-based multi-robot quadrotor swarms

A system for the design and development of vision-based mult...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Jesús Pestana Paloma de la Puente Ramon Suarez-Fernandez Pascual Campoy Computer Vision Group Centre for Automation and Robotics Institut of Automation and Control Vienna University of Technology

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition 3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module.

关键词： Unmanned aerial vehicles Visualization Trajectory Robots computers Wireless LAN Open source software

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A vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition

A Vision-based Quadrotor Swarm for the participation in the ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jesús Pestana Jose Luis Sanchez-Lopez Paloma de la Puente Adrian Carrio Pascual Campoy Computer Vision Group Centre for Automation and Robotics Institut of Automation and Control Vienna University of Technology

关键词： Trajectory Navigation Visualization Collision avoidance Robots computer architecture Ultrasonic variables measurement

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Optimal Production Planning for the Virgin Olive Oil Elaboration Process

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IFAC Proceedings Volumes 2014年第3期47卷 8921-8926页

作者： P. Cano Marchal D. Martínez Gila J. Gámez García J. Gómez Ortega Group of Robotics Automation and Computer Vision University of Jaén. Agrifood Campus of International Excellence (ceiA3) ES–23071 Jaén Spain

The quality and obtained quantity of Virgin Olive Oil is bounded by the characteristics of the olives to be processed, and further determined by the influence of the process variables during the actual elaboration. Since the quality of the olives evolves during the harvesting season, it is relevant to consider when to harvest the olives in order to maximize the profit over the whole season. This work proposes a method to determine an optimal production plan for the whole harvesting season and presents the results obtained in its application to four different scenarios.

关键词： Production planning and control Intelligent decision support systems in manufacturing

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Iterative Learning Control for Machining with Industrial Robots

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IFAC Proceedings Volumes 2014年第3期47卷 9327-9333页

作者： Pablo Cano Marchal Olof Sörnmo Björn Olofsson Anders Robertsson Juan Gómez Ortega Rolf Johansson Group of Robotics Automation and Computer Vision University of Jaén ES–23071 Jaén Spain Department of Automatic Control LTH Lund University SE–221 00 Lund Sweden

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Visual Predictive Control of Robot Manipulators using a 3D ToF Camera

Visual Predictive Control of Robot Manipulators using a 3D T...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： S. Satorres Martinez J. Gómez Ortega J. Gámez Garcia A. Sanchez Garcia J. de la Casa Cardenas Robotics Automation and Computer Vision Group University of Jaén Jaén Spain

ISBN: (纸本)9781479906505

This paper presents a visual servo strategy for an anthropomorphic manipulator with eye-to-hand configuration. As novelty, a time-of-flight (ToF) camera, together with a model-based predictive control (MPC), have been used to execute the manipulator tasks in an unstructured environment. The ToF camera provides 3-D data of a target object and the MPC cost function achieves convergence of robot motion. With this configuration, there is no requirement to estimate a 3-D feature point position from a 2-D image and the camera model. A procedure for the target segmentation on the depth data, which is based on a previous training, is also presented. Experimental results, obtained in a robotic platform, show that the proposed approach is well suited for visual servoing purposes.

关键词： Visual Servoing Time-of-Flight (ToF) Model-based Predictive Control

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