7 accepted papers
This paper presents a fast cost-aware any-angle path planning algorithm for aerial robots in 3D building-like environments. The approach integrates Euclidean Distance Fields (EDF) and Lazy Theta* algorithm to compute safe and smooth paths. We show how to consider the analytical proper-ties of EDFs f…
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…
Human collaboration is more likely to lead to cognitive growth when all group-members are actively involved in the collaborative process. However, there are cases that intragroup relationships need support. In this paper, we present an autonomous robotic system designed to interact with a pair of ch…
In this work we present a bioinspired visual system sensor to estimate angular rates in unmanned aerial vehicles (UAV) using Neural Networks. We have conceived a hardware setup to emulate Drosophila's ocellar system, three simple eyes related to stabilization. This device is composed of three low re…
This paper presents a methodology for mapping and localization of Unmanned Aerial Vehicles (UAVs) based on the integration of sensors from different modalities. Particularly, we integrate distance estimations to Ultra-Wideband (UWB) sensors and 3D point-clouds from RGB-D sensors. First, a novel appr…
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…
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…