Memorias de investigación
Communications at congresses:
A fully-autonomous aerial robotic solution for the 2016 international micro air vehicle competition
Year:2017

Research Areas
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
In this paper, a fully-autonomous quadrotor aerial robot for solving the different missions proposed in the 2016 International Micro Air Vehicle (IMAV) Indoor Competition is presented. The missions proposed in the IMAV 2016 competition involve the execution of high-level missions such as entering and exiting a building, exploring an unknown indoor environment, recognizing and interacting with objects, landing autonomously on a moving platform, etc. For solving the aforementioned missions, a fully-autonomous quadrotor aerial robot has been designed, based on a complete hardware configuration and a versatile software architecture, which allows the aerial robot to complete all the missions in a fully autonomous and consecutive manner. A thorough evaluation of the proposed system has been carried out in both simulated flights, using the Gazebo simulator in combination with PX4 Software-In-The-Loop, and real flights, demonstrating the appropriate capabilities of the proposed system for performing high-level missions and its flexibility for being adapted to a wide variety of applications.
International
Si
Congress
Unmanned Aircraft Systems (ICUAS), 2017 International Conference on
960
Place
Miami, FL, USA, USA
Reviewers
Si
ISBN/ISSN
978-1-5090-4495-5
10.1109/ICUAS.2017.7991442
Start Date
13/06/2017
End Date
16/06/2017
From page
989
To page
998
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Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial