References of "Olivares Mendez, Miguel Angel 50002787"
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See detailA Perspective of Security for Mobile Service Robots
Cornelius, Gary Philippe UL; Hochgeschwender, Nico UL; Voos, Holger UL et al

in ROBOT'2017 - Third Iberian Robotics Conference, Seville, Spain, 2017 (2017, November 22)

Future homes will contain Mobile Service Robots (MSR) with diversefunctionality. MSRs act in close proximity to humans and have the physical capa-bilities to cause serious harm to their environment ... [more ▼]

Future homes will contain Mobile Service Robots (MSR) with diversefunctionality. MSRs act in close proximity to humans and have the physical capa-bilities to cause serious harm to their environment. Furthermore, they have sen-sors that gather large amounts of data, which might contain sensitive informa-tion. A mobile service robot’s physical capabilities are controlled by networkedcomputers susceptible to faults and intrusions. The proximity to humans and thepossibility to physically interact with them makes it critical to think about thesecurity issues of MSRs. In this work, we investigate possible attacks on mobileservice robots. We survey adversary motivations to attack MSRs, analyse threatvectors and list different available defence mechanisms against attacks on MSRs. [less ▲]

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See detailEvasive Maneuvering for UAVs: An MPC Approach
Castillo Lopez, Manuel UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL

in ROBOT'2017 - Third Iberian Robotics Conference, Sevilla, Spain, 2017 (2017, November 22)

Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive ... [more ▼]

Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive flight controller that drives the UAV through collision-free trajectories to reach a given pose or follow a way-point path. The major advantage of this approach lies on the inclusion of three-dimensional obstacle avoidance in the control layer by adding ellipsoidal constraints to the optimal control problem. The obstacles can be added, moved and resized online, providing a way to perform waypoint navigation without the need of motion planning. In addition, the delays of the system are considered in the prediction by an experimental first order with delay model of the system. Successful experiments in 3D path tracking and obstacle avoidance validates its effectiveness for sense-and-avoid and surveillance applications presenting the proper structure to extent its autonomy and applications. [less ▲]

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See detailOperational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Aguilera Gonzalez, Adriana UL et al

in Journal of Intelligent Material Systems & Structures (2017)

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system ... [more ▼]

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm. [less ▲]

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See detailMulti-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction
Roldán, Juan Jesús; Peña-Tapia, Elena; Martín-Barrio, Andrés et al

in Sensors (2017), 17(8 1720),

Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation ... [more ▼]

Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation. [less ▲]

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See detailArea exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
Rosalie, Martin UL; Dentler, Jan Eric UL; Danoy, Grégoire UL et al

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, July 27)

The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already ... [more ▼]

The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility model as waypoints for real UAVs. A control model of the UAVs is deployed to test the efficiency of the coverage of an area by the swarm. We have tested our approach in a realistic robotics simulator (V-Rep) which is connected with ROS. We compare the performance in terms of coverage using several metrics to ensure that this mobility model is efficient for real UAVs. [less ▲]

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See detailReal time degradation identification of UAV using machine learning techniques
Manukyan, Anush UL; Olivares Mendez, Miguel Angel UL; Geist, Matthieu et al

in Manukyan, Anush; Olivares Mendez, Miguel Angel; Geist, Matthieu (Eds.) et al International Conference on Unmanned Aircraft Systems ICUAS. Miami, USA, 2017 (2017, June 13)

The usages and functionalities of Unmanned Aerial Vehicles (UAV) have grown rapidly during the last years. They are being engaged in many types of missions, ranging from military to agriculture passing by ... [more ▼]

The usages and functionalities of Unmanned Aerial Vehicles (UAV) have grown rapidly during the last years. They are being engaged in many types of missions, ranging from military to agriculture passing by entertainment and rescue or even delivery. Nonetheless, for being able to perform such tasks, UAVs have to navigate safely in an often dynamic and partly unknown environment. This brings many challenges to overcome, some of which can lead to damages or degradations of different body parts. Thus, new tools and methods are required to allow the successful analysis and identification of the different threats that UAVs have to manage during their missions or flights. Various approaches, addressing this domain, have been proposed. However, most of them typically identify the changes in the UAVs behavior rather than the issue. This work presents an approach, which focuses not only on identifying degradations of UAVs during flights, but estimate the source of the failure as well. [less ▲]

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See detailModel predictive control for cooperative control of space robots
Kannan, Somasundar UL; Sajadi Alamdari, Seyed Amin UL; Dentler, Jan Eric UL et al

in Model predictive control for cooperative control of space robots (2017, January)

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through ... [more ▼]

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit. [less ▲]

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See detailAdaptive Control of Hysteretic Robotic arm in Operational Space
Kannan, Somasundar UL; Quintanar Guzman, Serket UL; Bezzaoucha, Souad UL et al

in 5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016 (2016, December 14)

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A ... [more ▼]

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A Closed Loop Inverse Kinematics Algorithm is used in the outer loop with Adaptive joint control in the inner loop. A composite stability analysis is used to analyse the stability of the closed loop system and finally successfully validated through simulation study. [less ▲]

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See detailA tracking error control approach for model predictive position control of a quadrotor with time varying reference
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in IEEE International Conference on Robotics and Biomimetics ROBIO, Qingdao, China, 2016 (2016, December 06)

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories ... [more ▼]

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem is modelled in this paper as quadrotor position tracking problem. The presented solution is a computationally light-weight target position control (T PC), that controls the tracking error of MPCs for constantly moving targets. The proposed technique is assessed mathematically in the Laplace domain, in simulation, as well as experimentally on a real quadrotor system. [less ▲]

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See detailA real-time model predictive position control with collision avoidance for commercial low-cost quadrotors
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in IEEE Multi-Conference on Systems and Control (MSC 2016), Buenos Aires, Argentina, 2016 (2016, September 20)

Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local ... [more ▼]

Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local infrastructure. This is not only interesting for delivery of private consumption goods up to the doorstep, but also particularly for smart factories. One drawback of autonomous drone technology is the high development costs, that limit research and development to a small audience. This work is introducing a position control with collision avoidance as a first step to make low-cost drones more accessible to the execution of autonomous tasks. The paper introduces a semilinear state-space model for a commercial quadrotor and its adaptation to the commercially available AR.Drone 2 system. The position control introduced in this paper is a model predictive control (MPC) based on a condensed multiple-shooting continuation generalized minimal residual method (CMSCGMRES). The collision avoidance is implemented in the MPC based on a sigmoid function. The real-time applicability of the proposed methods is demonstrated in two experiments with a real AR.Drone quadrotor, adressing position tracking and collision avoidance. The experiments show the computational efficiency of the proposed control design with a measured maximum computation time of less than 2ms. [less ▲]

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See detailOperational Space Control of a Lightweight Robotic Arm Actuated By Shape Memory Alloy (SMA) Wires
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in ASME 2016 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems, Vermont 28-30 September 2016 (2016, September)

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See detailUAV degradation identification for pilot notification using machine learning techniques
Manukyan, Anush UL; Olivares Mendez, Miguel Angel UL; Bissyande, Tegawendé François D Assise UL et al

in IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 2016 (2016, September)

Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings ... [more ▼]

Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings for missions in dangerous environments or in environments which are challenging to access. Combined with autonomous flying capabilities, many new possibilities, but also challenges, open up. To overcome the challenge of early identification of degradation, machine learning based on flight features is a promising direction. Existing approaches build classifiers that consider their features to be correlated. This prevents a fine-grained detection of degradation for the different hardware components. This work presents an approach where the data is considered uncorrelated and, using machine learning techniques, allows the precise identification of UAV’s damages. [less ▲]

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See detailLightweight robotic arm actuated by Shape Memory Alloy (SMA) Wires
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in 8th International Conference on Electronics, Computers and Artificial Intelligence, Ploiesti, Romania, 30 June-02 July 2016 (2016, July 01)

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See detailControl of Aerial Manipulation Vehicle in Operational Space
Kannan, Somasundar UL; Quintanar Guzman, Serket UL; Dentler, Jan Eric UL et al

in 8th International Conference on Electronics, Computers and Artificial Intelligence, Ploiesti, Romania, 30 June-02 July 2016 (2016, July 01)

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See detailA Modularization Approach for Nonlinear Model Predictive Control of Distributed Fast Systems
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in 24th Mediterranean Conference on Control and Automation (MED), Athens, Greece, June 21-24, 2016 (2016, June 22)

Distributed interconnected systems are omnipresent today. The development of advanced control methods for such systems are still challenging. Herein, the real-time applicability, flexibility, portability ... [more ▼]

Distributed interconnected systems are omnipresent today. The development of advanced control methods for such systems are still challenging. Herein, the real-time applicability, flexibility, portability and ease of implementation are issues of the existing control solutions, especially for more advanced methods such as model predictive control. This paper is addressing these issues by presenting an efficient modular composition scheme for distributed fast nonlinear systems. The advantage of this modularization approach is the capability of changing control objectives, constraints, dynamics and system topology online while maintaining fast computation. This work analyzes the functions that have to be provided for a continuation generalized minimal residual method (CGMRES) model predictive controller based on the underlying control problem. The specific structure of these functions allows their decomposition into suitable fast modules. These modules are then used to recompose the functions which are required for the control of distributed systems in a computational efficient way, while maintaining the flexibility to dynamically exchange system parts. To validate this computational efficiency, the computation time of the proposed modular control approach is compared with a standard nonmodular implementation in a pursuit scenario of quadrotor unmanned aerial vehicles (UAV). Furthermore the real-time applicability is discussed for the given scenario. [less ▲]

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See detailEstimating speed profiles from aerial vision - A comparison of regression based sampling techniques
Freis, Sebastian; Olivares Mendez, Miguel Angel UL; Viti, Francesco UL

in Proceedings of the IEEE 24th Mediterranean Conference on Control and Automation (2016, June)

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See detailVision-Based Steering Control, Speed Assistance and Localization for Inner-CityVehicles
Olivares Mendez, Miguel Angel UL; Sanchez-Lopez, Jose Luis; Jimenez, Felipe et al

in Sensors (2016), 16(3), 362

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors ... [more ▼]

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption. [less ▲]

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See detailAdaptive Control of Robotic arm with Hysteretic Joint
Kannan, Somasundar UL; Bezzaoucha, Souad UL; Quintanar Guzman, Serket UL et al

in 4th International Conference on Control, Mechatronics and Automation (ICCMA'16), Barcelona, Spain 2016 (2016)

This article addresses the problem of control of robotic arm with a hysteretic joint behavior. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a ... [more ▼]

This article addresses the problem of control of robotic arm with a hysteretic joint behavior. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire based actuation of the joint makes the robotic arm lightweight but at the same time introduces hysteresis type nonlinearities. The nonlinear dynamic model of the robotic arm is introduced and an Adaptive control solution is presented to perform the joint reference tracking in the presence of unknown hysteresis behavior. The Lyapunov stability analysis of the closed loop system is presented and finally proposed adaptive control solution is validated through simulation study on the proposed nonlinear hysteretic robotic arm. [less ▲]

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See detailModel Predictive Control for Spacecraft Rendezvous
Kannan, Somasundar UL; Sajadi Alamdari, Seyed Amin UL; Dentler, Jan Eric UL et al

in 4th International Conference on Control, Mechatronics and Automation ICCMA '16, Barcelona, Spain, 2016 (2016)

The current paper addresses the problem of Spacecraft Rendezvous using Model Predictive Control (MPC). The Clohessy-Wiltshire-Hill equations are used to model the spacecraft relative motion. Here the ... [more ▼]

The current paper addresses the problem of Spacecraft Rendezvous using Model Predictive Control (MPC). The Clohessy-Wiltshire-Hill equations are used to model the spacecraft relative motion. Here the rendezvous problem is discussed by trajectory control using MPC method. Two different scenarios are addressed in trajectory control. The first scenario consist of position control with fuel constraint, secondly the position control is performed in the presence of obstacles. Here the problem of fuel consumption and obstacle avoidance is addressed directly in the cost function. The proposed methods are successfully analysed through simulations. [less ▲]

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See detailTowards an Autonomous Vision-Based Unmanned Aerial System against Wildlife Poachers
Olivares Mendez, Miguel Angel UL; Fu, Changhong; Ludivig, Philippe et al

in Sensors (2015), 15(12), 29861

Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources ... [more ▼]

Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $213 billion every year, which is even helping to fund armed conflicts. Poaching activities around the world are further pushing many animal species on the brink of extinction. Unfortunately, the traditional methods to fight against poachers are not enough, hence the new demands for more efficient approaches. In this context, the use of new technologies on sensors and algorithms, as well as aerial platforms is crucial to face the high increase of poaching activities in the last few years. Our work is focused on the use of vision sensors on UAVs for the detection and tracking of animals and poachers, as well as the use of such sensors to control quadrotors during autonomous vehicle following and autonomous landing. [less ▲]

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