Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Omnidirectional bearing-only see-and-avoid for small aerial robots:
Year:2011
Research Areas
  • Aerial robots
Information
Abstract
Abstract¿Motivated by the growing interest in unmanned aerial system¿s applications in indoor and outdoor settings and the standardization 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 guarantees 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 simulations and real-flight using small quadrotors.
International
Si
Congress
5th IEEE International Conference on Automation, Robotics and Applications ICARA 2011
960
Place
Wellington, New Zealand.
Reviewers
Si
ISBN/ISSN
978-1-4577-0328-7
10.1109/ICARA.2011.6144850
Start Date
06/12/2011
End Date
08/12/2011
From page
1
To page
6
Omnidirectional bearing-only see-and-avoid for small aerial robots:
Participants
  • Autor: Luis Mejías . (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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