AIConfPaper
← Search

A. Ollero

23 accepted papers

2023

A Comparison Between Framed-Based and Event-Based Cameras for Flapping-Wing Robot Perception

R. Tapia, J.P. Rodríguez-Gómez, J.A. Sanchez-Diaz, F.J. Gañán, I.G. Rodríguez, J. Luna-Santamaria +2
IROS 2023poster

Perception systems for ornithopters face severe challenges. The harsh vibrations and abrupt movements caused during flapping are prone to produce motion blur and strong lighting condition changes. Their strict restrictions in weight, size, and energy consumption also limit the type and number of sen…

Cited by 9Source ↗Scholar ↗
2023

A Finite-Time State-Dependent Differential Riccati Equation Control Design for Closed-Loop SMA-Actuated Hip Joint

V. Perez-Sanchez, S. R. Nekoo, B. Arrue, A. Ollero
IROS 2023poster

This paper presents the modeling and closed loop control of the shape-memory-alloy (SMA)-actuated hip joint of a flapping-wing flying robot (FWFR). Despite the lightweight legs/claw mechanism, a strong force of grasping is needed. The SMAs show high force delivery; however, it is difficult to contro…

Cited by 2Source ↗Scholar ↗
2021

Design and comparison of tails for bird-scale flapping-wing robots

M.M. Guzmán, C. Ruiz Páez, F. J. Maldonado, R. Zufferey, J. Tormo-Barbero, J.Á Acosta +1
IROS 2021poster

Flapping-wing robots (so-called ornithopters) are a promising type of platform to perform efficient winged flight and interaction with the environment. However, the control of such vehicles is challenging due to their under-actuated morphology to meet lightweight requirements. Consequently, the flig…

Cited by 20Source ↗Scholar ↗
2021

Why fly blind? Event-based visual guidance for ornithopter robot flight

A. Gómez Eguíluz, J.P. Rodríguez-Gómez, R. Tapia, F.J. Maldonado, J.Á. Acosta, J.R. Martínez-de Dios +1
IROS 2021poster

The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to perform autonomously is an under-researched area. This paper presents a fully onboard event-based method for ornithopter robot visual guidance. The method uses event cameras to explo…

Cited by 25Source ↗Scholar ↗
2020

A Linearized Model for an Ornithopter in Gliding Flight: Experiments and Simulations

R. Lopez-Lopez, V. Perez-Sanchez, P. Ramon-Soria, A. Martín-Alcántara, R. Fernandez-Feria, B.C. Arrue +1
ICRA 2020poster

This work studies the accuracy of a simple but effective analytical model for a flapping-wings UAV in longitudinal gliding flight configuration comparing it with experimental results of a real ornithopter. The aerodynamic forces are modeled following the linearized potential theory for a flat plate…

Cited by 12Source ↗Scholar ↗
2020

Adaptive Nonlinear Control For Perching of a Bioinspired Ornithopter

F. J. Maldonado, J. Á. Acosta, J. Tormo-Barbero, P. Grau, M. M. Guzmán, A. Ollero
IROS 2020poster

This work presents a model-free nonlinear controller for an ornithopter prototype with bioinspired wings and tail. The size and power requirements have been thought to allocate a customized autopilot on board. To assess the functionality and performance of the full mechatronic design, a controller h…

Cited by 31Source ↗Scholar ↗
2020

Asynchronous Event-based Line Tracking for Time-to-Contact Maneuvers in UAS

A. Gómez Eguíluz, J.P. Rodríguez-Gómez, J.R. Martínez-de Dios, A. Ollero
IROS 2020poster

This paper presents an bio-inspired event-based perception scheme for agile aerial robot maneuvering. It tries to mimic birds, which perform purposeful maneuvers by closing the separation in the retinal image (w.r.t. the goal) to follow time-to-contact trajectories. The proposed approach is based on…

Cited by 24Source ↗Scholar ↗
2020

Asynchronous event-based clustering and tracking for intrusion monitoring in UAS

J.P. Rodríguez-Gomez, A. Gómez Eguíluz, J.R. Martínez-de Dios, A. Ollero
ICRA 2020poster

Automatic surveillance and monitoring using Unmanned Aerial Systems (UAS) require the development of perception systems that robustly work under different illumination conditions. Event cameras are neuromorphic sensors that capture the illumination changes in the scene with very low latency and high…

Cited by 50Source ↗Scholar ↗
2020

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

A. Lopez-Lora, P.J. Sanchez-Cuevas, A. Suarez, A. Garofano-Soldado, A. Ollero, G. Heredia
IROS 2020poster

In this paper, we propose a new concept of robot which is hybrid, including aerial and crawling subsystems and an arm, and also modular with interchangeable crawling subsystems for different pipe configurations, since it has been designed to cover most industrial oil & gas end-users' requirements. T…

Cited by 31Source ↗Scholar ↗
2020

SMA Actuated Low-Weight Bio-Inspired Claws for Grasping and Perching Using Flapping Wing Aerial Systems

A. E. Gomez-Tamm, V. Perez-Sanchez, B. C. Arrue, A. Ollero
IROS 2020poster

Taking inspiration from nature, the work presented in this paper aims to develop bio-inspired claws to be used for grasping and perching in flapping-wing aerial systems. These claws can be 3D printed out of two different materials and will be capable of adapt to any shape. Also, they will be soft fo…

Cited by 25Source ↗Scholar ↗
2019

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

P. Ramon-Soria, A.E. Gomez-Tamm, F.J. Garcia-Rubiales, B.C. Arrue, A. Ollero
IROS 2019poster

The use of unmanned aerial systems for industrial applications has evolved considerably in recent years. This paper presents an aerial system capable of perching autonomously on pipes for inspection and maintenance in industrial environments. The target pipe to perch on is detected using a visual al…

Cited by 50Source ↗Scholar ↗
2019

Multi-Sensor 6-DoF Localization For Aerial Robots In Complex GNSS-Denied Environments

J.L. Paneque, J.R. Martínez-de Dios, A. Ollero
IROS 2019poster

The need for robots autonomously navigating in more and more complex environments has motivated intense R& D efforts in making robot pose estimation more accurate and reliable. This paper presents a multi-sensor multi-hypothesis method for robust 6-DoF localization in complex environments. Robustnes…

Cited by 22Source ↗Scholar ↗
2019

Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli +3
ICRA 2019poster

The paper presents a multiple task-priority inverse kinematics algorithm for a dual-arm aerial manipulator. Both tasks defined as equality constraints and inequality constraints are handled by means of a singularity robust method based on the Null-Space based Behavioral control. The proposed schema…

Cited by 23Source ↗Scholar ↗
2018

Robust Decentralized Context-Aware Sensor Fault Detection with In-Place Self-Calibration

J.L. Paneque, J.R. Martinez-Dedios, A. Ollero
IROS 2018poster

There is a high demand in advanced fault detection methods suitable for sensor networks monitoring complex dynamic systems such as industrial plants or large infrastructure units. This paper proposes a robust and efficient decentralized sensor fault detection method with in-place sensor self-recalib…

Cited by 3Source ↗Scholar ↗
2017

Energy-efficient trajectory generation with spline curves considering environmental and dynamic constraints for small UAS

L. Rodríguez, F. Balampanis, J. A. Cobano, I. Maza, A. Ollero
IROS 2017poster

This paper presents a method for trajectory generation with Bézier curves, by considering the wind field and dynamic constraints for small Unmanned Aerial Systems (UAS). Atmospheric phenomena affect UAS trajectories, so the wind presence should be considered in order efficiently perform a mission. T…

Cited by 10Source ↗Scholar ↗
2016

Impedance Control of an aerial-manipulator: Preliminary results

E. Cataldi, G. Muscio, M. A. Trujillo, Y. Rodriguez, F. Pierri, G. Antonelli +4
IROS 2016poster

In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment. The proposed control has a multi-level architecture, in detail the outer loop is composed by a trajectory generator and an impeda…

Cited by 90Source ↗Scholar ↗
2016

Wind field estimation and identification having shear wind and discrete gusts features with a small UAS

L. Rodriguez, J. A. Cobano, A. Ollero
IROS 2016poster

This paper presents a new method for estimation and identification of shear wind and discrete gusts of a previously unknown wind field by using an Unmanned Aircraft System (UAS). Wind estimation and identification is key in energy-efficient trajectory planning and dynamic soaring applications. The r…

Cited by 28Source ↗Scholar ↗
2015

A multilayer control for multirotor UAVs equipped with a servo robot arm

F. Ruggiero, M.A. Trujillo, R. Cano, H. Ascorbe, A. Viguria, C. Peréz +3
ICRA 2015poster

A multilayer architecture to control multirotor UAVs equipped with a servo robot arm is proposed in this paper. The main purpose is to control the aerial platform taking into account the presence of the moving manipulator. Three layers are considered in this work. First, a novel mechanism is propose…

Cited by 222Source ↗Scholar ↗
2015

Aerial manipulator for structure inspection by contact from the underside

A.E Jimenez-Cano, J. Braga, G. Heredia, A. Ollero
IROS 2015poster

This paper presents an aerial manipulator consisting of a multirotor equipped with a robotic multi-link arm attached to the top of the multirotor body. This setup has strong potentialities for inspection of structures, since the arm is able to safely touching the structure surface with a sensor whil…

Cited by 140Source ↗Scholar ↗
2015

Decentralized simultaneous localization and mapping for multiple aerial vehicles using range-only sensors

F.R. Fabresse, F. Caballero, A. Ollero
ICRA 2015poster

This paper presents an approach for decentralized range-only simultaneous localization and mapping (RO-SLAM) of a network of aerial vehicles and a set of static range-only sensors deployed in the environment. The paper makes use of a multi-hypothesis framework developed by the authors [1] in order t…

Cited by 26Source ↗Scholar ↗
2015

Experiments on behavioral coordinated control of an Unmanned Aerial Vehicle manipulator system

K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale +3
ICRA 2015poster

This work tackles the problem of controlling an Unmanned Aerial Vehicle equipped with a robotic Manipulator and it has been developed within the framework of the EU-funded ARCAS (Aerial Robotics Cooperative Assembly System) project. A behavioral control, based on the Null Space-based Behavioral (NSB…

Cited by 47Source ↗Scholar ↗
2015

Safe trajectory planning for multiple aerial vehicles with Segmentation-adaptive Pseudospectral collocation

J. A. Cobano, S. Vera, G. Heredia, A. Ollero
ICRA 2015poster

This paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe trajectory generation in missions with cooperating multiple aerial vehicles. Pseudospectral collocation can generate optimized collision-free trajectories, but for multiple aerial vehi…

Cited by 2Source ↗Scholar ↗
2015

The synchronization problem for information exchange between aerial robots under communication constraints

J.M. Díaz-Báñez, E. Caraballo, M.A. Lopez, S. Bereg, I. Maza, A. Ollero
ICRA 2015poster

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a previously assigned closed path. When two robots are close enou…

Cited by 15Source ↗Scholar ↗