Setup of the yaskawa sda10f robot for industrial applications, using ros-industrial

in Advances in Automation and Robotics Research in Latin America (2017)

A general purpose configurable controller for indoors and outdoors gps-denied navigation for multirotor unmanned aerial vehicles

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

A general purpose configurable navigation controller for micro aerial multirotor vehicles

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 ▲]

Autonomous Guided Car Using a Fuzzy Controller

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 ▲]

A visual guided quadrotor for IMAV 2012 indoor autonomy competition and visual control of a quadrotor for the IMAV 2012 indoor dynamics competition

Scientific Conference (2012, July)

Aerial object following using visual fuzzy servoing

in First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011) (2011)

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an ... [more ▼]

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation [less ▲]

A Pan-Tilt Camera Fuzzy Vision Controller on an Unmanned Aerial Vehicle

in 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (2009)

This paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an IJAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which ... [more ▼]

This paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an IJAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller to follow the object by moving a two axis servo-platform, regardless the UAV vibrations and movements. The two Fuzzy controllers for each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those controllers. The controllers have shown very good performances in real flights for statics objects, tested on the Colibri prototypes. [less ▲]

Computer Vision Onboard UAVs for Civilian Tasks

in Journal of Intelligent and Robotic Systems (2009), 54(1-3), 105-135

Computer vision is much more than a technique to sense and recover environmental information from an UAV. It should play a main role regarding UAVs' functionality because of the big amount of information ... [more ▼]

Computer vision is much more than a technique to sense and recover environmental information from an UAV. It should play a main role regarding UAVs' functionality because of the big amount of information that can be extracted, its possible uses and applications, and its natural connection to human driven tasks, taking into account that vision is our main interface to world understanding. Our current research's focus lays on the development of techniques that allow UAVs to maneuver in spaces using visual information as their main input source. This task involves the creation of techniques that allow an UAV to maneuver towards features of interest whenever a GPS signal is not reliable or sufficient, e. g. when signal dropouts occur (which usually happens in urban areas, when flying through terrestrial urban canyons or when operating on remote planetary bodies), or when tracking or inspecting visual targets-including moving ones-without knowing their exact UMT coordinates. This paper also investigates visual servoing control techniques that use velocity and position of suitable image features to compute the references for flight control. This paper aims to give a global view of the main aspects related to the research field of computer vision for UAVs, clustered in four main active research lines: visual servoing and control, stereo-based visual navigation, image processing algorithms for detection and tracking, and visual SLAM. Finally, the results of applying these techniques in several applications are presented and discussed: this study will encompass power line inspection, mobile target tracking, stereo distance estimation, mapping and positioning. [less ▲]