References of "Mellado-Bataller, Ignacio"
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See detailA general purpose configurable controller for indoors and outdoors gps-denied navigation for multirotor unmanned aerial vehicles
Pestana, Jesus; Mellado-Bataller, Ignacio; Sanchez Lopez, Jose Luis UL et al

in Journal of Intelligent and Robotic Systems (2014), 73(1-4), 387--400

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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 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 detailCross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems
Olivares Mendez, Miguel Angel UL; Mejias, Luis; Campoy, Pascual et al

in Journal of Intelligent and Robotic Systems (2013), 69(1-4), 189-205

The Cross-Entropy (CE) is an efficient method for the estimation of rare-event probabilities and combinatorial optimization. This work presents a novel approach of the CE for optimization of a Soft ... [more ▼]

The Cross-Entropy (CE) is an efficient method for the estimation of rare-event probabilities and combinatorial optimization. This work presents a novel approach of the CE for optimization of a Soft-Computing controller. A Fuzzy controller was designed to command an unmanned aerial system (UAS) for avoiding collision task. The only sensor used to accomplish this task was a forward camera. The CE is used to reach a near-optimal controller by modifying the scaling factors of the controller inputs. The optimization was realized using the ROS-Gazebo simulation system. In order to evaluate the optimization a big amount of tests were carried out with a real quadcopter. [less ▲]

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See detailMAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers
Mellado-Bataller, Ignacio; Pestana, Jesús; Olivares Mendez, Miguel Angel UL et al

in Lee, Sukhan; Yoon, Kwang-Joon; Lee, Jangmyung (Eds.) Frontiers of Intelligent Autonomous Systems (2013)

Debugging control software for Micro Aerial Vehicles (MAV) can be risky out of the simulator, especially with professional drones that might harm people around or result in a high bill after a crash. We ... [more ▼]

Debugging control software for Micro Aerial Vehicles (MAV) can be risky out of the simulator, especially with professional drones that might harm people around or result in a high bill after a crash. We have designed a framework that enables a software application to communicate with multiple MAVs from a single unified interface. In this way, visual controllers can be first tested on a low-cost harmless MAV and, after safety is guaranteed, they can be moved to the production MAV at no additional cost. The framework is based on a distributed architecture over a network. This allows multiple configurations, like drone swarms or parallel processing of drones' video streams. Live tests have been performed and the results show comparatively low additional communication delays, while adding new functionalities and flexibility. This implementation is open-source and can be downloaded from github.com/uavster/mavwork [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 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 detailQuadcopter see and avoid using a fuzzy controller
Olivares Mendez, Miguel Angel UL; Mejias, Luis; Campoy, Pascual et al

in Uncertainty modeling in knowlege engineering and decision making : proceedings of the 10th International FLINS Conference (2012)

Unmanned Aerial Vehicles (UAVs) industry is a fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors or fixed-wings. Until UAVs demonstrate ... [more ▼]

Unmanned Aerial Vehicles (UAVs) industry is a fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors or fixed-wings. Until UAVs demonstrate advance capabilities such as autonomous collision avoidance they will be segregated and restricted to flight in controlled environments. This work presents a visual fuzzy servoing system for obstacle avoidance using UAVs. To accomplish this task we used the visual information from the front camera. Images are processed off-board and the result send to the Fuzzy Logic controller which then send commands to modify the orientation of the aircraft. Results from flight test are presented with a commercial off-the-shelf platform. [less ▲]

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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 detailSee-and-Avoid Quadcopter using Fuzzy Control Optimized by Cross-Entropy
Olivares Mendez, Miguel Angel UL; Campoy, Pascual; Mellado-Bataller, Ignacio et al

in See-and-Avoid Quadcopter using Fuzzy Control Optimized by Cross-Entropy (2012)

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The ... [more ▼]

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of cross-entropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights. [less ▲]

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See detailUAS See-and-Avoid using two different approaches of Fuzzy Control
Olivares Mendez, Miguel Angel UL; Mejias, Luis; Campoy, Pascual et al

in 2012 International Conference on Unmanned Aircraft Systems (ICUAS'12) (2012)

This work presents two UAS See and Avoid approaches using Fuzzy Control. We compare the performance of each controller when a Cross-Entropy method is applied to optimase the parameters for one of the ... [more ▼]

This work presents two UAS See and Avoid approaches using Fuzzy Control. We compare the performance of each controller when a Cross-Entropy method is applied to optimase the parameters for one of the controllers. Each controller receive information from an image processing frontend that detect and track targets in the environment. Visual information is then used under a visual servoing approach to perform autonomous avoidance. Experimental flight trials using a small quadrotor were performed to validate and compare the behaviour of both controllers. [less ▲]

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See detailRapid Prototyping Framework for Visual Control of Autonomous Micro Aerial Vehicles
Mellado-Bataller, Ignacio; Campoy, Pascual; Olivares Mendez, Miguel Angel UL et al

in Advances in Intelligent Systems and Computing (2012), 193

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro ... [more ▼]

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro Aerial Vehicles (MAV). We have applied a combination of a proxy-based network communication architecture and a custom Application Programming Interface. This allows multiple experimental configurations, like drone swarms or distributed processing of a drones video stream. Currently, the framework supports a low-cost MAV: the Parrot AR.Drone. Real tests have been performed on this platform and the results show comparatively low figures of the extra communication delay introduced by the framework, while adding new functionalities and flexibility to the selected drone. This implementation is open-source and can be downloaded from www.vision4uav.com/?q=VC4MAV-FW [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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