Now showing items 1-20 of 24

    • 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 ...
    • ACHORD: communication-aware multi-robot coordination with intermittent connectivity 

      Saboia Da Silva, Maira; Clack, Lillian; Thangavelu, Vivek; Edlund, Jeffrey; Kyohei, Otsu; Correa, Gustavo J; Varadharajan, Vivek Shankar; Santamaria Navarro, Àngel; Touma, Thomas; Bouman, Amanda; Melikyan, Hovhannes; Pailevanian, Torkom; Kim, Sung-Kyun; Archanian, Avak; Vaquero, Tiago Stegun; Beltrame, Giovanni; Napp, Nils; Pessin, Gustavo; Agha-mohammadi, Ali-akbar (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Article
      Open Access
      Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring ...
    • 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, ...
    • Human acceptance in the Human-Robot Interaction scenario for last-mile goods delivery 

      Puig-Pey Clavería, Ana María; Zamora i Mestre, Joan-Lluís; Amante García, Beatriz; Moreno Sanz, Joan; Garrell Zulueta, Anais; Grau Saldes, Antoni; Bolea Monte, Yolanda; Santamaria Navarro, Àngel; Sanfeliu Cortés, Alberto (2023)
      Conference report
      Open Access
      The introduction of robotic technology in an existing scenario must be analyzed from the point of view of all the human roles involved in that scenario. In the case of dealing with urban public space, the analysis must ...
    • 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 ...
    • Multi-task closed-loop inverse kinematics stability through semidefinite programming 

      Martí Saumell, Josep; Santamaria Navarro, Àngel; Ocampo-Martínez, Carlos; Andrade-Cetto, Juan (2020)
      Conference report
      Open Access
      Today’s complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the stability ...
    • NeBula: TEAM CoSTAR’s robotic autonomy solution that won phase II of DARPA subterranean challenge 

      Morrell, Benjamin; Thakker, Rohan; Santamaria Navarro, Àngel; Bouman, Amanda; Lei, Xiaoming; Edlund, Jeffrey; Pailevanian, Torkom; Vaquero, Tiago Stegun; Chang, Yun Lin; Touma, Thomas; Tamayo Arias, Johnny Alexander; Correa, Gustavo J; Leopold, Henrik; Melikyan, Hovhannes; Choi, Hnuyok; Beltrame, Giovanni; Burdick, Jack (2022-03-10)
      Article
      Open Access
      This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, ...
    • 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 ...
    • Squash-box feasibility driven differential dynamic programming 

      Martí Saumell, Josep; Solà Ortega, Joan; Mastalli, Carlos; Santamaria Navarro, Àngel (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Conference report
      Open Access
      Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that ...
    • 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 ...
    • The LogiSmile Project - Piloting autonomous vehicles for last-mile Logistics in european cities 

      Conill de Azpiazu, Maria; Vietor, Tim; Sanfeliu Cortés, Alberto; Lemardele, Clement; Baldó Oliva, Albert; Aniculaesei, Adina; Rausch, Andreas; Santamaria Navarro, Àngel (Elsevier, 2023)
      Article
      Open Access
      The use of autonomous technologies for last-mile logistics has the potential to reduce operation costs, cut emissions from the delivery sector, improve safety levels in communities, and provide efficient delivery solutions ...
    • The LogiSmile project: piloting autonomous vehicles for lastmile logistics in European cities 

      Lemardele, Clement; Baldó Canut, Albert; Pagès Giralt, Laia; Aniculaesei, Adina; Rausch, Andreas; Conill de Azpiazu, Maria; Everding, Lars; Hegerhorst, Torben; Henze, Roman; Sanfeliu Cortés, Alberto; Santamaria Navarro, Àngel (2023)
      Conference report
      Restricted access - publisher's policy
      The use of autonomous technologies for last-mile logistics has the potential to reduce operation costs, cut emissions from the delivery sector, improve safety levels in communities, and provide efficient delivery solutions ...
    • Towards resilient autonomous navigation of drones 

      Santamaria Navarro, Àngel; Thakker, Rohan; Fan, David D.; Morrell, Benjamin; Agha-mohammadi, Ali-akbar (Springer, 2019)
      Conference report
      Restricted access - publisher's policy
      Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is ...
    • 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 ...