Ara es mostren els items 21-40 de 42

    • EKF-based parameter identification of multi-rotor unmanned aerial vehiclesmodels 

      Munguía Alcalá, Rodrigo Francisco; Urzúa Sarquis, Isidro; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2019-09-26)
      Article
      Accés obert
      This work presents a method for estimating the model parameters of multi-rotor unmanned aerial vehicles by means of an extended Kalman filter. Different from test-bed based identification methods, the proposed approach ...
    • FIDD bearing-only SLAM 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (IEEE Press. Institute of Electrical and Electronics Engineers, 2010)
      Text en actes de congrés
      Accés obert
      Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...
    • Full autonomous navigation for an aerial robot using behavior-based control motion and SLAM 

      Gómez Anaya, David; Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This work presents a complete navigation architecture for an autonomous aerial robot. The proposed scheme consist of: i) a low-level controller for establishing the attitude and position of the vehicle, ii) a Simultaneous ...
    • Human collaborative localization and mapping in indoor environments with non-continuous stereo 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2016-02-24)
      Article
      Accés obert
      A new approach to the monocular simultaneous localization and mapping (SLAM) problem is presented in this work. Data obtained from additional bearing-only sensors deployed as wearable devices is fully fused into an Extended ...
    • Human-Robot SLAM in industrial environments 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      A novel approach to the SLAM problem has been tested in an industrial environment within a robotic assistance context. In order to be fully reliable in non-modelled circumstances where the environment cannot be considered ...
    • Image processing techniques in vision-based robot navigation 

      Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Motivated by the problems of vision-based mobile robot map building and localization, we present a comparative study of statistical methods for matching image features in a wide base line between learning and recognition ...
    • Minimalistic approach for monocular SLAM system applied to micro aerial vehicles in GPS-denied environments 

      Sarquís Urzúa Cevallos, Isidro; Munguía Alcalá, Rodrigo Francisco; Nuño Ortega, Emmanuel; Grau Saldes, Antoni (2018-12-01)
      Article
      Accés obert
      In this work, a novel monocular simultaneous localization and mapping (SLAM) system with application to micro aerial vehicles is proposed. The main difference with respect to previous approaches is that a barometer is used ...
    • Monocular SLAM for autonomous robots with enhanced features initialization 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2014-04-02)
      Article
      Accés obert
      This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI) framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D ...
    • Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2012-09)
      Article
      Accés obert
      This paper describes in a detailed manner a method to implement a simultaneous localization and mapping SLAM system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation ...
    • Monocular SLAM system for MAVs aided with altitude and range measurements: a GPS-free approach 

      Urzua, Sarquis; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2019-04)
      Article
      Accés obert
      A typical navigation system for a Micro Aerial Vehicle (MAV) relies basically on GPS for position estimation. However,for several kinds of applications, the precision of the GPS is inappropriate or even its signal can be ...
    • Monocular visual SLAM based on a cooperative UAV–target system 

      Trujillo, Juan Carlos; Munguía Alcalá, Rodrigo Francisco; Sarquís Urzúa Cevallos, Isidro; Guerra Paradas, Edmundo; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2020-06-22)
      Article
      Accés obert
      To obtain autonomy in applications that involve Unmanned Aerial Vehicles (UAVs), the capacity of self-location and perception of the operational environment is a fundamental requirement. To this effect, GPS represents the ...
    • New approach on bearing-only SLAM for indoor environments 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguía Alcalá, Rodrigo Francisco (2011)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, ...
    • Pose identification and updating in autonomous vehicles 

      Grau Saldes, Antoni; Bolea Monte, Yolanda; Munguía Alcalá, Rodrigo Francisco (International Academy, Research, and Industry Association (IARIA), 2017)
      Comunicació de congrés
      Accés obert
      In this paper, a novel algorithm to know the pose of any autonomous vehicle is described. Such a system (Attitude and Heading Reference System, AHRS) is essential for real time vehicle navigation, guidance and control ...
    • Robotic monocular SLAM in wastewater treatment plants with a sampling device 

      Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (Springer, Charm, 2019)
      Comunicació de congrés
      Accés obert
      A novel application is presented in this paper. Wastewater treatment plants need to sample water to follow the cleaned process continuously. This task is very tedious for laboratory workers and, mainly, can be done in ...
    • Sampling operation with robotic UAV 

      Guerra Paradas, Edmundo; Grau Saldes, Antoni; Bolea Monte, Yolanda; Munguía Alcalá, Rodrigo Francisco (2019)
      Text en actes de congrés
      Accés obert
      This work presents a solution to automatize sampling tasks in a wastewater treatment plant with open air basins. At the behest of human operators, a set of UAVs managed as a network of autonomous agents will perform sample ...
    • SLAM con mediciones angulares: método por triangulación estocástica 

      Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2013-04)
      Article
      Accés obert
      El SLAM (simultaneous localization and mapping) es una técnica en la cual un robot o vehículo autónomo opera en un entorno a priori desconocido, utilizando únicamente sus sensores de abordo, mientras construye un mapa de ...
    • UAV visual and laser sensors fusion for detection and positioning in industrial applications 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (Multidisciplinary Digital Publishing Institute (MDPI), 2018-06-28)
      Article
      Accés obert
      This work presents a solution to localize Unmanned Autonomous Vehicles with respect to pipes and other cylindrical elements found in inspection and maintenance tasks both in industrial and civilian infrastructures. The ...
    • UAV visual and laser sensors fusion for detection and positioning in industrial applications 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (MDPI AG, 2017-12-04)
      Altres
      Accés obert
    • Validation of Data Association for Monocular SLAM 

      Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2013-05)
      Article
      Accés obert
      SimultaneousMapping and Localization (SLAM) is amultidisciplinary problem with ramifications within several fields. One of the key aspects for its popularity and success is the data fusion produced by SLAM techniques, ...
    • Vision-based SLAM system for MAVs in GPS-denied environments 

      Urzua, Sarquis; Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2017-06)
      Article
      Accés obert
      Using a camera, a micro aerial vehicle (MAV) can perform visual-based navigation in periods or circumstances when GPS is not available, or when it is partially available. In this context, the monocular simultaneous ...