Exploració per autor "Rubí Perelló, Bartomeu"Més informació

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    • A deep reinforcement learning approach for path following on a quadrotor 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2020)
      Text en actes de congrés
      Accés obert
      This paper proposes the Deep Deterministic Policy Grandient (DDPG) reinforcement learning algorithm to solve the path following problem in a quadrotor vehicle. This agent is implemented using a separated control and guidance ...

    • A Survey of path following control strategies for UAVs focused on quadrotors 

      Rubí Perelló, Bartomeu; Pérez Magrané, Ramon; Morcego Seix, Bernardo (2019-11-09)
      Article
      Accés obert
      The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference ...

    • Adaptive nonlinear guidance law using neural networks applied to a quadrotor 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2019)
      Text en actes de congrés
      Accés obert
      The NonLinear Guidance Law (NLGL) is a geometric algorithm commonly employed to solve the path following problem on different unmanned vehicles. NLGL is simple (does no depend on the model of the vehicle), effective and ...

    • Deep reinforcement learning for quadrotor path following with adaptive velocity 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2020-10-24)
      Article
      Accés obert
      This paper proposes a solution for the path following problem of a quadrotor vehicle based on deep reinforcement learning theory. Three different approaches implementing the Deep Deterministic Policy Gradient algorithm are ...

    • Implementación de un control Fuzzy en el lazo de control de velocidad de un helicóptero coaxial no tripulado 

      Rubí Perelló, Bartomeu (Comité Español de Automática (CEA-IFAC), 2016)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      El objetivo de este trabajo es el de estudiar el comportamiento de un controlador Fuzzy en el control de las velocidades lineales de un vehículo aéreo no tripulado, en el caso concreto de aplicación en un helicóptero coaxial ...

    • Quadrotor path following and reactive obstacle avoidance with deep reinforcement learning 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2021-11)
      Article
      Accés obert
      A deep reinforcement learning approach for solving the quadrotor path following and obstacle avoidance problem is proposed in this paper. The problem is solved with two agents: one for the path following task and another ...

    • Study for the modelling and control of a coaxial helicòpter Unmaned Aerial Vehicle (UAV) 

      Rubí Perelló, Bartomeu (Universitat Politècnica de Catalunya, 2015-06)
      Projecte Final de Màster Oficial
      Accés obert
      El present document es tracta de la memòria del Treball Final de Màster dels estudis de Màster Universitari en Enginyeria de Sistemes Automàtics i Electrònica Industrial (MUESAEI), a l'Escolta Tècnica Superior d'Enginyeries ...