References of "Pestana, Jesús"
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See detailA vision-based quadrotor multi-robot solution for the indoor autonomy challenge of the 2013 international micro air vehicle competition
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; De La Puente, Paloma et al

in Journal of Intelligent and Robotic Systems (2016), 84(1-4), 601--620

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition ({IMAV2013}). Our proposal is a modular multi-robot swarm ... [more ▼]

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition ({IMAV2013}). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an {AR Drone 2.0} quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to improve the pose estimation based on the IMU and optical data flow by means of an Extended Kalman Filter localization and mapping method. The presented solution and the performance of the CVG\_UPM team were awarded with the First Prize in the Indoors Autonomy Challenge of the {IMAV2013} competition. [less ▲]

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See detailA reliable open-source system architecture for the fast designing and prototyping of autonomous multi-uav systems: Simulation and experimentation
Sanchez Lopez, Jose Luis UL; Pestana, Jesus; De La Puente, Paloma et al

in Journal of Intelligent and Robotic Systems (2016), 84(1-4), 779-797

During the process of design and development of an autonomous Multi-UAV System, two main problems appear. The first one is the difficulty of designing all the modules and behaviors of the aerial multi ... [more ▼]

During the process of design and development of an autonomous Multi-UAV System, two main problems appear. The first one is the difficulty of designing all the modules and behaviors of the aerial multi-robot system. The second one is the difficulty of having an autonomous prototype of the system for the developers that allows to test the performance of each module even in an early stage of the project. These two problems motivate this paper. A multipurpose system architecture for autonomous multi-UAV platforms is presented. This versatile system architecture can be used by the system designers as a template when developing their own systems. The proposed system architecture is general enough to be used in a wide range of applications, as demonstrated in the paper. This system architecture aims to be a reference for all designers. Additionally, to allow for the fast prototyping of autonomous multi-aerial systems, an Open Source framework based on the previously defined system architecture is introduced. It allows developers to have a flight proven multi-aerial system ready to use, so that they can test their algorithms even in an early stage of the project. The implementation of this framework, introduced in the paper with the name of ``CVG Quadrotor Swarm'', which has also the advantages of being modular and compatible with different aerial platforms, can be found at \url{https://github.com/Vision4UAV/cvg_quadrotor_swarm} with a consistent catalog of available modules. The good performance of this framework is demonstrated in the paper by choosing a basic instance of it and carrying out simulation and experimental tests whose results are summarized and discussed in this paper. [less ▲]

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See detailUBRISTES: UAV-based building rehabilitation with visible and thermal infrared remote sensing
Carrio, Adrian; Pestana, Jesus; Sanchez Lopez, Jose Luis UL et al

in Robot 2015: Second Iberian Robotics Conference (2016, November)

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See detailAEROSTACK: An architecture and open-source software framework for aerial robotics
Sanchez Lopez, Jose Luis UL; Suárez Fernández, Ramon; Bavle, Hriday et al

in 2016 International Conference on Unmanned Aircraft Systems (ICUAS) (2016, June)

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See detailA vision based aerial robot solution for the Mission 7 of the International Aerial Robotics Competition
Sanchez Lopez, Jose Luis UL; Pestana, Jesus; Collumeau, Jean-Francois et al

in 2015 International Conference on Unmanned Aircraft Systems (ICUAS) (2015, June)

The International Aerial Robotics Competition (IARC) aims at pulling forward the state of the art in UAV. The Mission's 7 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction ... [more ▼]

The International Aerial Robotics Competition (IARC) aims at pulling forward the state of the art in UAV. The Mission's 7 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and obstacle avoidance in the setting of a ground robot herding problem. We present in this paper our UAV which took part in the 2014 competition, in the China venue. This year, the mission was not completed by any participant but our team at Technical University of Madrid (UPM) were awarded with two special prizes: Best Target Detection and Best System Control. The platform, hardware and the developed software used in this top leading competition are presented in this paper. This software has three main components: the visual localization and mapping algorithm; the control algorithms; and the mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenger's are also included. [less ▲]

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See detailA vision based aerial robot solution for the IARC 2014 by the Technical University of Madrid
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; Suarez-Fernandez, Ramon et al

Scientific Conference (2014, August)

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See detailComputer vision based general object following for GPS-denied multirotor unmanned vehicles
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; Saripalli, Srikanth et al

in 2014 American Control Conference (2014, June)

The motivation of this research is to show that visual based object tracking and following is reliable using a cheap GPS-denied multirotor platform such as the AR Drone 2.0. Our architecture allows the ... [more ▼]

The motivation of this research is to show that visual based object tracking and following is reliable using a cheap GPS-denied multirotor platform such as the AR Drone 2.0. Our architecture allows the user to specify an object in the image that the robot has to follow from an approximate constant distance. At the current stage of our development, in the event of image tracking loss the system starts to hover and waits for the image tracking recovery or second detection, which requires the usage of odometry measurements for self stabilization. During the following task, our software utilizes the forward-facing camera images and part of the IMU data to calculate the references for the four on-board low-level control loops. To obtain a stronger wind disturbance rejection and an improved navigation performance, a yaw heading reference based on the IMU data is internally kept and updated by our control algorithm. We validate the architecture using an AR Drone 2.0 and the OpenTLD tracker in outdoor suburban areas. The experimental tests have shown robustness against wind perturbations, target occlusion and illumination changes, and the system's capability to track a great variety of objects present on suburban areas, for instance: walking or running people, windows, AC machines, static and moving cars and plants. [less ▲]

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See detailA system for the design and development of vision-based multi-robot quadrotor swarms
Sanchez Lopez, Jose Luis UL; Pestana, Jesus; de la Puente, Paloma et al

in 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May)

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and ... [more ▼]

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module. [less ▲]

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See detailA Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; de la Puente, Paloma et al

in 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014, May)

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm ... [more ▼]

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an AR Drone 2.0 quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to improve the pose estimation based on the IMU and optical data flow by means of an Extended Kalman Filter localization and mapping method. The presented solution and the performance of the CVG UPM team were awarded with the First Prize in the Indoors Autonomy Challenge of the IMAV2013 competition. [less ▲]

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See detailAn approach toward visual autonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis UL; Pestana, Jesus; Saripalli, Srikanth et al

in Journal of Intelligent and Robotic Systems (2014), 74(1-2), 113--127

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

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

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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 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 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 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 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 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 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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