References of "Sanchez Lopez, Jose Luis 50027149"
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See detailFloor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles
Pestana, Jesus; Mellado-Bataller, ignacio; Sanchez Lopez, Jose Luis UL et al

in ROBOT2013: First Iberian Robotics Conference (2013, November)

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See detailVision based GPS-denied Object Tracking and following for unmanned aerial vehicles
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; Campoy, Pascual et al

in 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013, October)

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking ... [more ▼]

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants. [less ▲]

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See detailIdentificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012
Hernandez Hernandez, Lucia; Pestana, Jesus; Casares Palomeque, Daniel et al

in RIAI - Revista Iberoamericana de Automatica e Informatica Industrial (2013), 10(3),

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See detailVisual quadrotor swarm for the IMAV 2013 indoor competition
Sanchez Lopez, Jose Luis UL; Pestana, Jesus; de la Puente, Paloma et al

Scientific Conference (2013, September)

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See detailToward visual autonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis UL; Saripalli, Srikanth; Campoy, Pascual et al

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the ... [more ▼]

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera. To deal with the noise and the possible fails of the computer vision, a state estimator was created. With all of this, we are now able to develop and test a controller that closes the loop and finish the autonomous landing task. [less ▲]

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See detailAutonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis UL; Saripalli, Srikanth; Campoy, Pascual

in 69th American Helicopter Society International Annual Forum 2013 (2013, May)

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See detailA general purpose configurable navigation controller for micro aerial multirotor vehicles
Pestana, Jesus; Mellado-Bataller, Ignacio; Fu, Changhong et al

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements ... [more ▼]

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on “Best Automatic Performance - IMAV 2012” and the second overall prize in the participating category “Indoor Flight Dynamics - Rotary Wing MAV”. Most of the code related to the present work is available as two open-source projects hosted in GitHub. [less ▲]

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See detailA Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
Martinez Luna, Carol UL; Mondragón, Iván; Campoy, Pascual et al

in Journal of Intelligent & Robotic Systems (2013), 72(3-4), 517-539

In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of ... [more ▼]

In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of this tracking strategy allows to achieve the tasks at real-time frame rates and to overcome problems posed by the challenging conditions of the tasks: e.g. constant vibrations, fast 3D changes, or limited capacity on-board. The vast majority of approaches make use of featurebased methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations in which part of the object to track is outside of the field of view of the camera. The performance of the proposed tracking strategy onboard UAVs is evaluated with images from realflight tests using manually-generated ground truthinformation, accurate position estimation using a Vicon system, and also with simulated data from a simulation environment. Results show that the hierarchical tracking strategy performs better than well-known feature-based algorithms and wellknown configurations of direct methods, and that its performance is robust enough for vision-in-theloop tasks, e.g. for vision-based landing tasks. [less ▲]

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See detailAutonomous Guided Car Using a Fuzzy Controller
Olivares Mendez, Miguel Angel UL; Campoy, Pascual; Mellado-Bataller, Ignacio et al

in Sen Gupta, Gourab; Bailey, Donald; Demidenko, Serge (Eds.) et al Recent Advances in Robotics and Automation (2013)

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just ... [more ▼]

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors. [less ▲]

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See detailPath Following Control System for car-like Unmanned Ground Systems
Sanchez Lopez, Jose Luis UL

Bachelor/master dissertation (2012)

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See detailAR Drone identification and navigation control at CVG-UPM
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; Mellado-Bataller, Ignacio et al

Scientific Conference (2012, September)

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See detailA visual guided quadrotor for IMAV 2012 indoor autonomy competition and visual control of a quadrotor for the IMAV 2012 indoor dynamics competition
Pestana, Jesus; Mellado-Bataller, Ignacio; Fu, Changhong et al

Scientific Conference (2012, July)

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See detailVisual identification and tracking for vertical and horizontal targets in the IMAV competition
Fu, Changhong; Pestana, Jesus; Mellado-Bataller, Ignacio et al

Scientific Conference (2012, June)

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See detailA Hierarchical Strategy for Real-Time Tracking On-Board UAVs
Martinez, Carol; Campoy, Pascual; Mondragon, Ivan F. et al

in ICUAS 2012 : 2012 International Conference on Unmanned Aircraft Systems (2012, June)

In this paper, we present a real-time tracking strategy based on direct methods for tracking tasks on-board UAVs, that is able to overcome problems posed by the challenging conditions of the task: e.g ... [more ▼]

In this paper, we present a real-time tracking strategy based on direct methods for tracking tasks on-board UAVs, that is able to overcome problems posed by the challenging conditions of the task: e.g. constant vibrations, fast 3D changes, and limited capacity on-board. The vast majority of approaches make use of feature-based methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations where part of the object to track is out the field of view of the camera. The performance of the proposed strategy is evaluated with images from real-flight tests using different evaluation mechanisms (e.g. accurate position estimation using a Vicon sytem). Results show that our tracking strategy performs better than well known feature-based algorithms and well known configurations of direct methods, and that the recovered data is robust enough for vision-in-the-loop tasks. [less ▲]

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See detailAdaptive Control System based on Lineal Control Theory for the Path-Following Problem of a Car-Like Mobile Robot
Sanchez Lopez, Jose Luis UL; Campoy, Pascual; Olivares Mendez, Miguel Angel UL et al

in IFAC Conference on Advances in PID Control PID'12 (2012)

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the ... [more ▼]

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to ful l control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot. [less ▲]

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See detailA hierarchical strategy for real-time tracking on-board uavs
Martinez Luna, Carol UL; Campoy, Pascual; Mondragón, Iván F. et al

in ICUAS 2012: 2012 International Conference on Unmanned Aircraft Systems (2012)

Detailed reference viewed: 36 (0 UL)