D. Alejo

2 accepted papers

2021

Optimization-based Trajectory Planning for Tethered Aerial Robots

S. Martínez-Rozas, D. Alejo, F. Caballero, L. Merino

ICRA 2021poster

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by means of a tether. The result is a collision-free trajector…

Cited by 10 Source ↗code ↗Scholar ↗

2017

RGBD-based robot localization in sewer networks

D. Alejo, F. Caballero, L. Merino

IROS 2017poster

This paper presents a vision-based localization system for global pose estimation of a sewer inspection robot given prior information of the sewer network from local institutions. The system is based on a Monte-Carlo Localization system that uses RGBD odometry for the prediction stage. The update st…

Cited by 22 Source ↗Scholar ↗