References of "Sanchez Lopez, Jose Luis 50027149"
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See detailFast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors
Bavle, Hriday; Sanchez Lopez, Jose Luis UL; de la Puente, Paloma et al

in Aerospace (2018), 5(3),

This paper presents a fast and robust approach for estimating the flight altitude of multirotor Unmanned Aerial Vehicles (UAVs) using 3D point cloud sensors in cluttered, unstructured, and dynamic indoor ... [more ▼]

This paper presents a fast and robust approach for estimating the flight altitude of multirotor Unmanned Aerial Vehicles (UAVs) using 3D point cloud sensors in cluttered, unstructured, and dynamic indoor environments. The objective is to present a flight altitude estimation algorithm, replacing the conventional sensors such as laser altimeters, barometers, or accelerometers, which have several limitations when used individually. Our proposed algorithm includes two stages: in the first stage, a fast clustering of the measured 3D point cloud data is performed, along with the segmentation of the clustered data into horizontal planes. In the second stage, these segmented horizontal planes are mapped based on the vertical distance with respect to the point cloud sensor frame of reference, in order to provide a robust flight altitude estimation even in presence of several static as well as dynamic ground obstacles. We validate our approach using the IROS 2011 Kinect dataset available in the literature, estimating the altitude of the RGB-D camera using the provided 3D point clouds. We further validate our approach using a point cloud sensor on board a UAV, by means of several autonomous real flights, closing its altitude control loop using the flight altitude estimated by our proposed method, in presence of several different static as well as dynamic ground obstacles. In addition, the implementation of our approach has been integrated in our open-source software framework for aerial robotics called Aerostack. [less ▲]

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See detailTowards trajectory planning from a given path for multirotor aerial robots trajectory tracking
Sanchez Lopez, Jose Luis UL; Olivares Mendez, Miguel Angel UL; Castillo Lopez, Manuel UL et al

in 2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018 (2018, June)

Planning feasible trajectories given desired collision-free paths is an essential capability of multirotor aerial robots that enables the trajectory tracking task, in contrast to path following. This ... [more ▼]

Planning feasible trajectories given desired collision-free paths is an essential capability of multirotor aerial robots that enables the trajectory tracking task, in contrast to path following. This paper presents a trajectory planner for multirotor aerial robots carefully designed considering the requirements of real applications such as aerial inspection or package delivery, unlike other research works that focus on aggressive maneuvering. Our planned trajectory is formed by a set of polynomials of two kinds, acceleration/deceleration and constant velocity. The trajectory planning is carried out by means of an optimization that minimizes the trajectory tracking time, applying some typical constraints as m-continuity or limits on velocity, acceleration and jerk, but also the maximum distance between the trajectory and the given path. Our trajectory planner has been tested in real flights with a big and heavy aerial platform such the one that would be used in a real operation. Our experiments demonstrate that the proposed trajectory planner is suitable for real applications and it is positively influencing the controller for the trajectory tracking task. [less ▲]

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See detailModel Predictive Control for Aerial Collision Avoidance in Dynamic Environments
Castillo Lopez, Manuel UL; Sajadi Alamdari, Seyed Amin UL; Sanchez Lopez, Jose Luis UL et al

in 26th Mediterranean Conference on Control and Automation (MED), Zadar, Croatia, 19-22 June 2018 (2018, June)

Autonomous navigation in unknown environments populated by humans and other robots is one of the main challenges when working with mobile robots. In this paper, we present a new approach to dynamic ... [more ▼]

Autonomous navigation in unknown environments populated by humans and other robots is one of the main challenges when working with mobile robots. In this paper, we present a new approach to dynamic collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). A new nonlinear model predictive control (NMPC) approach is proposed to safely navigate in a workspace populated by static and/or moving obstacles. The uniqueness of our approach lies in its ability to anticipate the dynamics of multiple obstacles, avoiding them in real-time. Exploiting active set algorithms, only the obstacles that affect to the UAV during the prediction horizon are considered at each sample time. We also improve the fluency of avoidance maneuvers by reformulating the obstacles as orientable ellipsoids, being less prone to local minima and allowing the definition of a preferred avoidance direction. Finally, we present two real-time implementations based on simulation. The former demonstrates that our approach outperforms its analog static formulation in terms of safety and efficiency. The latter shows its capability to avoid multiple dynamic obstacles. [less ▲]

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See detailA Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Sanchez Lopez, Jose Luis UL; Wang, Min UL; Olivares Mendez, Miguel Angel UL et al

in Journal of Intelligent and Robotic Systems (2018)

Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for ... [more ▼]

Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles. Whenever a planning query is received, the generated probabilistic graph is then explored by an A$^{\star}$ discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened. Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system. [less ▲]

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See detailHuman-Robot Cooperation in Surface Inspection Aerial Missions
Molina, Martin; Frau, Pedro; Maraval, Dario et al

in 2017 International Micro Air Vehicle Conference and Flight Competition (IMAV), Toulouse, France, 18-21 Septembre 2017 (2017, September 21)

The goal of the work presented in this paper is to facilitate the cooperation between human opera- tors and aerial robots to perform surface inspec- tion missions. Our approach is based on a model of ... [more ▼]

The goal of the work presented in this paper is to facilitate the cooperation between human opera- tors and aerial robots to perform surface inspec- tion missions. Our approach is based on a model of human collaborative control with a mixed ini- tiative interaction. In the paper, we present our human-robot cooperation model based on the combination of a supervisory mode and an as- sistance mode with a set of interaction patterns. We developed a software system implementing this interaction model and carried out several real flight experiments that proved that this ap- proach can be used in aerial robotics for sur- face inspection missions (e.g., in vision based indoor missions). Compared to a conventional tele-operated inspection system, the solution pre- sented in this paper gives more autonomy to the aerial systems, reducing the cognitive load of the operator during the mission development. [less ▲]

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