Now showing items 1-16 of 16

  • A flexible hardware-in-the-loop architecture for UAVs 

    Lepej, Peter; Santamaria Navarro, Àngel; Solà, Joan (2017)
    Conference report
    Open Access
    As robotic technology matures, fully autonomous robots become a realistic possibility, but demand very complex solutions to be rapidly engineered. In order to be able to quickly set up a working ...
  • Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors 

    Santamaria Navarro, Àngel; Loianno, Giuseppe; Solà Ortega, Joan; Kumar, Vijay; Andrade-Cetto, Juan (2018-06-01)
    Article
    Open Access
    The combination of visual and inertial sensors for state estimation has recently found wide echo in the robotics community, especially in the aerial robotics field, due to the lightweight and complementary characteristics ...
  • Hierarchical task control for aerial inspection 

    Santamaria Navarro, Àngel; Andrade-Cetto, Juan (2014)
    Conference report
    Open Access
    This paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a camera attached to its end-effector. With this setting the camera can reach a new set of orientations previously ...
  • High-frequency MAV state estimation using low-cost inertial and optical flow measurement units 

    Santamaria Navarro, Àngel; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    This paper develops a new method for 3D, high rate vehicle state estimation, specially designed for free-flying Micro Aerial Vehicles (MAVs). We fuse observations from inertial and optical flow low-cost measurement units, ...
  • Hybrid visual servoing with hierarchical task composition for aerial manipulation 

    Lippiello, Vincenzo; Cacace, Jonathan; Santamaria Navarro, Àngel; Andrade-Cetto, Juan; Trujillo, Miguel Angel; Rodrigez Esteves, Yamnia; Viguria, Antidio (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Article
    Open Access
    In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach ...
  • Nonlinear model predictive control for aerial manipulation 

    Lunni, Dario; Santamaria Navarro, Àngel; Rossi, Roberto; Rocco, Paolo; Bascetta, Luca; Andrade-Cetto, Juan (2017)
    Conference report
    Open Access
    This paper presents a nonlinear model predictive controller to follow desired 3D trajectories with the end effector of an unmanned aerial manipulator (i.e., a multirotor with a serial arm attached). To the knowledge ...
  • Odometry estimation for aerial manipulation 

    Santamaria Navarro, Àngel; Solà Ortega, Joan; Andrade-Cetto, Juan (Springer, 2019)
    Part of book or chapter of book
    Open Access
    This chapter explains a fast and low-cost state localization estimation method for small-sized UAVs, that uses an IMU, a smart camera and an infrared time-of-flight range sensor that act as an odometer providing absolute ...
  • Planar PØP: feature-less pose estimation with applications in UAV localization 

    Amor Martínez, Adrián; Santamaria Navarro, Àngel; Herrero Cotarelo, Fernando; Ruiz, Alberto; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from ...
  • Task priority control for aerial manipulation 

    Santamaria Navarro, Àngel; Lippiello, Vincenzo; Andrade-Cetto, Juan (2014)
    Conference report
    Open Access
    This paper presents a task oriented control strategy for aerial vehicles equipped with a manipulator. A camera is attached to the end-effector of the manipulator to perform a primary task consisting on visual servoing ...
  • Terrain classification in complex three-dimensional outdoor environments 

    Santamaria Navarro, Àngel; Teniente Avilés, Ernesto Homar; Morta Garriga, Martí; Andrade-Cetto, Juan (2015)
    Article
    Open Access
    This paper presents two techniques to detect and classify navigable terrain in complex three-dimensional (3D) environments. The first method is a low level on-line mechanism aimed at detecting obstacles and holes at a fast ...
  • Trajectory generation for unmanned aerial manipulators through quadratic programming 

    Rossi, Roberto; Santamaria Navarro, Àngel; Andrade-Cetto, Juan; Rocco, Paolo (Institute of Electrical and Electronics Engineers (IEEE), 2017-04-01)
    Article
    Open Access
    In this paper a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e. for the control of an aerial vehicle equipped with a robot arm. The proposed approach ...
  • Uncalibrated image-based visual servoing 

    Santamaria Navarro, Àngel; Andrade-Cetto, Juan (2013)
    Conference report
    Open Access
    This paper develops a new method for uncalibrated image-based visual servoing. In contrast to traditional image-based visual servo, the proposed solution does not require a known value of camera focal length for the ...
  • Uncalibrated visual servo for unmanned aerial manipulation 

    Santamaria Navarro, Àngel; Grosch Obregon, Patrick John; Lippiello, Vincenzo; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
    Article
    Open Access
    This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ...
  • Visual guidance of unmanned aerial manipulators 

    Santamaria Navarro, Àngel (Universitat Politècnica de Catalunya, 2017-04-24)
    Doctoral thesis
    Open Access
    The ability to fly has greatly expanded the possibilities for robots to perform surveillance, inspection or map generation tasks. Yet it was only in recent years that research in aerial robotics was mature enough to allow ...
  • Visual servoing of aerial manipulators 

    Santamaria Navarro, Àngel; Andrade-Cetto, Juan; Lippiello, Vincenzo (Springer, 2019)
    Part of book or chapter of book
    Open Access
    This chapter describes the classical techniques to control an aerial manipulator by means of visual information and presents an uncalibrated image-based visual servo method to drive the aerial vehicle. The proposed technique ...
  • Xarxes inalàmbriques. Implantació d'una xarxa Wi-Fi 

    Santamaria Navarro, Àngel (Universitat Politècnica de Catalunya, 2004)
    Master thesis (pre-Bologna period)
    Restricted access - author's decision