Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
Nombre congreso	5th IEEE International Conference on Automation, Robotics and Applications ICARA 2011
Tipo de participación	960
Lugar del congreso	Wellington, New Zealand.
Revisores	Si
ISBN o ISSN	978-1-4577-0328-7
DOI	10.1109/ICARA.2011.6144850
Fecha inicio congreso	06/12/2011
Fecha fin congreso	08/12/2011
Desde la página	1
Hasta la página	6
Título de las actas	Omnidirectional bearing-only see-and-avoid for small aerial robots:

Esta actividad pertenece a memorias de investigación

• Autor: Luis Mejías . (UPM)
• Autor: Ivan Fernando Mondragon Bernal (UPM)
• Autor: Pascual Campoy Cervera (UPM)

• 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