Data

NameOllero Baturone, Aníbal
DepartmentIngeniería de Sistemas y Automática
Knowledge areaIngeniería de Sistemas y Automática
Professional categoryCatedrático de Universidad
E-mailRequest
           

  Statistics

  • Items

    133

  • Visits

    16065

  • Downloads

    20936

  Publications

 

Article
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A Lightweight Beak-Like Sensing System for Grasping Tasks of Flapping Aerial Robots

Feliu-Talegon, Daniel; Acosta Rodríguez, José Ángel; Feliu-Battle, Vicente; Ollero Baturone, Aníbal (IEEE, 2022-04-01)
Many sensor systems in robotics are bio-inspired by similar mechanisms in living creatures. Birds frequently use their ...
Article
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Perception-Aware Perching on Powerlines with Multirotors

Paneque, Julio L.; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Hanover, Drew; Sun, Sihao; Romero, Angel; Scaramuzza, Davide (IEEE, 2022-04-01)
Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection ...
Article
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Free as a Bird: Event-Based Dynamic Sense-and-Avoid for Ornithopter Robot Flight

Rodríguez-Gómez, J.P.; Tapia López, Raúl; Guzmán García, María del Mar; Martínez-de Dios, José Ramiro; Ollero Baturone, Aníbal (IEEE, 2022-04-01)
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid ...
Article
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Aerodynamic reduced-order Volterra model of an ornithopter under high-amplitude flapping

Ruiz Páez, Cristina; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (Elsevier, 2022-02-01)
The unsteady aerodynamics of flapping low-aspect-ratio ellipsoidal-wings in ornithopters is analyzed and modeled by the ...
Article
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Gravity compensation and optimal control of actuated multibody system dynamics

Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (Institution of Engineering and Technology (IET) and Wiley Open access, 2022-01-01)
This work investigates the gravity compensation topic, from a control perspective. Thegravity could be levelled by a ...
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Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (Cambridge University Press, 2022-01-01)
The quaternion is a powerful and common tool to avoid singularity in rotational dynamics in three-dimensional (3D) space. ...
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A PD-type state-dependent Riccati equation with iterative learning augmentation for mechanical systems

Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2022-01-01)
This work proposes a novel proportional-derivative (PD)-type state-dependent Riccati equation (SDRE) approach with iterative ...
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Release of Sterile Mosquitoes with Drones in Urban and Rural Environments under the European Drone Regulation

García, Manuel; Maza Alcañiz, Jesús Iván; Ollero Baturone, Aníbal; Gutiérrez, Daniel; Aguirre, Idoia; Viguria Jiménez, Luis Antidio (MDPI, 2021-12-01)
In recent years, several countries have developed the use of sterile insect techniques (SIT) to fight against mosquitoes ...
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Autonomous UAV System for Cleaning Insulators in Power Line Inspection and Maintenance

López López, Ricardo; Batista Sánchez, Manuel Jesús; Pérez Jiménez, Manuel; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (MDPI, 2021-11-01)
The inspection and maintenance tasks of electrical installations are very demanding. Nowadays, insulator cleaning is carried ...
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Aerial Robotic Solution for Detailed Inspection of Viaducts

Caballero, Rafael; González Parra, Jesús Rafael; Trujillo Soto, Miguel Ángel; Pérez Grau, Francisco Javier; Viguria, Antidio; Ollero Baturone, Aníbal (MDPI, 2021-09-01)
The inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the ...
PhD Thesis
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Nonlinear Control Strategies for Outdoor Aerial Manipulators

Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Rodríguez De Cos, Carlos (2021-03-26)
In this thesis, the design, validation and implementation of nonlinear control strategies for aerial manipulators {i.e. ...
Article
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Bio-Inspired Morphing Tail for Flapping-Wings Aerial Robots Using Macro Fiber Composites

Pérez-Sánchez, Vicente; Gómez-Tamm, Alejandro E.; Savastano, Emanuela; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (MDPI, 2021-03-01)
The aim of this work is to present the development of a bio-inspired approach for a robotic tail using Macro Fiber Composites ...
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Cartesian Aerial Manipulator with Compliant Arm

Suarez Fernández Miranda, Alejandro; Pérez, Manuel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (MDPI, 2021-01-22)
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) ...
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Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction

Real, Fran; Rodríguez Castaño, Ángel; Torres-González, Arturo Eugenio; Capitán Fernández, Jesús; Sánchez Cuevas, Pedro Jesús; Fernández, Manuel J.; Villar, Manuel; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021-01-01)
This article presents a team of multiple Unmanned Aerial Vehicles (UAVs) to perform cooperative missions for autonomous ...
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Unmanned Aerial Traffic Management System Architecture for U-Space In-Flight Services

Capitán, Carlos; Pérez-León, Héctor; Capitán Fernández, Jesús; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal (MDPI, 2021-01-01)
This paper presents a software architecture for Unmanned aerial system Traffic Management (UTM). The work is framed within ...
Final Degree Project
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Sistema de navegación de robot aéreo y visualización en la estación en tierra

Ollero Baturone, Aníbal; Borrego Villa, Joaquín (2021-01-01)
En las últimas décadas y gracias al avance que se ha visto en la tecnología y sobre todo en la electrónica se ha conseguido ...
Article
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Past, Present, and Future of Aerial Robotic Manipulators

Ollero Baturone, Aníbal; Tognon, Marco; Suárez Fernández-Miranda, Alejandro; Lee, Dongjun; Franchi, Antonio (IEEE, 2021-01-01)
This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional ...
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Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation

Rodríguez Castaño, Ángel; Nekoo S.R.; Romero Rodríguez, Honorio; Salmoral Lorenzo-Arroyo, Rafael; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (MDPI AG, 2021-01-01)
This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird ...
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Safe local aerial manipulation for the installation of devices on power lines: Aerial-core first year results and designs

Cacace, Jonathan; Orozco-Soto, Santos M.; Suarez, Alejandro; Caballero Gómez, Álvaro; Orsag, Matko; Bogdan, Stjepan; Vasiljevic, Goran; Ebeid, Emad; Acosta Rodríguez, José Alberto; Ollero Baturone, Aníbal (MDPI AG, 2021-01-01)
The power grid is an essential infrastructure in any country, comprising thousands of kilometers of power lines that require ...
Final Degree Project
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Asistencia sanitaria con RPAS controlado a través de la red 5G

Ollero Baturone, Aníbal; Rangel Muñoz, Miguel (2021-01-01)
Las personas que sufren una parada cardíaca tienen un 70% más de posibilidad de vivir si son atendidas en los tres primeros ...
Final Degree Project
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Multi-rotor con cable de unión a un robot terrestre

Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Pérez García, Rafael (2021-01-01)
En este Trabajo Fin de Grado se lleva a cabo el desarrollo de los algoritmos de control del autopiloto para un UAV tipo ...
Final Degree Project
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Modelado de consumo energético en vehículos aéreos no tripulados de ala rotatoria

Ollero Baturone, Aníbal; Escobar Llori, Víctor Manuel (2021-01-01)
El objetivo de este trabajo consiste en modelar el consumo energético de un vehículo aéreo no tripulado (UAV) de tipo ...
Presentation
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Why fly blind? Event-based visual guidance for ornithopter robot flight

Rodríguez-Gómez, J.P.; Tapia López, Raúl; Maldonado, F.J.; Acosta Rodríguez, José Ángel; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Gómez-Eguíluz, A. (IEEE, 2021-01-01)
The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to ...
Presentation
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Winged Aerial Robot: Modular Design Approach

Díez de los Ríos Luis, Iván; Suárez Fernández-Miranda, Alejandro; Sánchez-Laulhé, Ernesto; Armengol, Inmaculada; Ollero Baturone, Aníbal (IEEE, 2021-01-01)
This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built ...
Presentation
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Design and comparison of tails for bird-scale flapping-wing robots

Guzmán, M. M.; Páez, C. Ruiz; Maldonado, F.J.; Zufferey, R.; Tormo Barbero, Jesús; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (IEEE, 2021-01-01)
Flapping-wing robots (so-called ornithopters) are a promising type of platform to perform efficient winged flight and ...
PhD Thesis
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Modelling And Control Of Aerial Manipulators Considering Aerodynamic Effects

Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Sánchez Cuevas, Pedro Jesús (2020-12-18)
The interest of the research community in Unmanned Aerial Vehicles (UAVs) has signi cantly grown in the last decade. ...
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Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

Suárez Fernández-Miranda, Alejandro; Sánchez Cuevas, Pedro Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (MDPI, 2020-12-01)
This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the ...
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Audio-Based Aircraft Detection System for Safe RPAS BVLOS Operations

Mariscal Harana, Jorge; Alarcón, Víctor; González, Fidel; Calvente, Juan José; Pérez Grau, Francisco Javier; Viguria, Antidio Jiménez; Ollero Baturone, Aníbal (MDPI, 2020-12-01)
For the Remotely Piloted Aircraft Systems (RPAS) market to continue its current growth rate, cost-effective ‘Detect and ...
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Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control

Sánchez Cuevas, Pedro Jesús; González Morgado, Antonio; Cortés, Nicolás; Gayango, Diego B.; Jiménez Cano, Antonio Enrique; Ollero Baturone, Aníbal; Heredia Benot, Guillermo (MDPI, 2020-08-01)
This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection ...
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Unmanned aerial vehicle abstraction layer: An abstraction layer to operate unmanned aerial vehicles

Real Pérez, Francisco Javier; Torres González, Arturo Eugenio; Ramón Soria, Pablo; Capitán, Jesús; Ollero Baturone, Aníbal (SAGE, 2020-07-01)
This article presents a software layer to abstract users of unmanned aerial vehicles from the specific hardware of the ...
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Winged Aerial Manipulation Robot with Dual Arm and Tail

Suárez Fernández-Miranda, Alejandro; Grau, Pedro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (MDPI, 2020-07-01)
This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated ...
PhD Thesis
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Autonomous landing of fixed-wing aircraft on mobile platforms

Ollero Baturone, Aníbal; Muskardin, Tin (2020-05-18)
E n esta tesis se propone un nuevo sistema que permite la operación de aeronaves autónomas sin tren de aterrizaje. El ...
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Director Tools for Autonomous Media Production with a Team of Drones

Montes Romero, Ángel Manuel; Torres González, Arturo Eugenio; Capitán Fernández, Jesús; Montagnuolo, Maurizio; Metta, Sabino; Negro, Fulvio; Messina, Alberto; Ollero Baturone, Aníbal (MDPI, 2020-02-01)
Featured Application: This work can be applied for media production with aerial cameras. The system supports media crew to film outdoor events with an autonomous fleet of drones.
PhD Thesis
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Accurate navigation applied to landing maneuvers on mobile platforms for unmanned aerial vehicles

Ollero Baturone, Aníbal; Viguria Jiménez, Luis Antidio; Alarcón Romero, Francisco (2020-01-09)
Drones are quickly developing worldwide and in Europe in particular. They represent the future of a high percentage of ...
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An efficient distributed area division method for cooperative monitoring applications with multiple uavs

Acevedo Báñez, José Joaquín; Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Arrue Ullés, Begoña C. (MDPI, 2020-01-01)
This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring ...
Presentation
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An aerial robot path follower based on the ’Carrot chasing’ algorithm

Pérez-León, Héctor; Acevedo Báñez, José Joaquín; Millán Romera, José Andrés; Castillejo Calle, Alejandro; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (Springer Verlag, 2020-01-01)
This paper presents a three-dimensional path follower implementation for an aerial robot based on the carrot-chasing ...
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A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control

Feliu-Talegon, Daniel; Acosta Rodríguez, José Ángel; Suárez Fernández-Miranda, Alejandro; Ollero Baturone, Aníbal (MDPI AG, 2020-01-01)
Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. ...
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Procedures for the Integration of Drones into the Airspace Based on U-Space Services

Alarcón, Víctor; García, Manuel; Alarcón, Francisco; Viguria Jiménez, Luis Antidio; Martínez, A.; Janisch, Dominik; Acevedo Báñez, José Joaquín; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (MDPI AG, 2020-01-01)
A safe integration of drones into the airspace is fundamental to unblock the potential of drone applications. U-space is ...
Final Degree Project
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Sistema de coordinación y control de múltiples vehículos aéreos no tripulados en testbed de interiores

Ollero Baturone, Aníbal; Zahínos Marín, Raúl (2020-01-01)
En este trabajo se ha llevado a cabo la puesta en marcha de un sistema que permite volar simultáneamente un elevado número ...
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Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

Suárez Fernández-Miranda, Alejandro; Real Pérez, Francisco Javier; Vega, Víctor; Heredia Benot, Guillermo; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal (IEEE, 2020-01-01)
The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a ...
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High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems

Rodríguez De Cos, Carlos; Fernández, Manuel J.; Sánchez-Cuevas, Pedro Jesús; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2020-01-01)
A redundant fast prototyping autopilot solution for unmanned aerial systems has been developed and successfully tested ...
PhD Thesis
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Aerial robots for robust contact inspection an manipulation

Ollero Baturone, Aníbal; Viguria Jiménez, Luis Antidio; Trujillo Soto, Miguel Ángel (2019-11-13)
Performing any type of manual work at height usually involves important risks for the personnel. Besides, these operations ...
PhD Thesis
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Modelling and control of aerial manipulators

Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Jiménez Cano, Antonio Enrique (2019-09-27)
Hace unos años, dentro de la robótica aérea, surgió la manipulación aérea como campo de investigación. Desde su nacimiento, ...
Presentation
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Diseño y desarrollo de un robot aéreo para la inspección de colectores de saneamiento

Andrade Pineda, José Luis; Romero Rodríguez, Honorio; Rodríguez Castaño, Ángel; Pérez Grau, Francisco Javier; Carpes Hortal, Graciano; Ollero Baturone, Aníbal (Universidade da Coruña, Servizo de Publicacións, 2019-09-01)
Este artículo presenta el diseño y desarrollo de un robot aéreo para la inspección de colectores de saneamiento visitables ...
PhD Thesis
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Architecture for planning and execution of missions with fleets of unmanned vehicles

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Muñoz Morera, Jorge Juan (2019-07-17)
Esta tesis presenta contribuciones en el campo de la planificación automática y la programación de tareas, la rama de la ...
PhD Thesis
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Visual Perception System for Aerial Manipulation: Methods and Implementations

Ollero Baturone, Aníbal; Arrue Ullés, Begoña C.; Ramón Soria, Pablo (2019-04-26)
La tecnología se evoluciona a gran velocidad y los sistemas autónomos están empezado a ser una realidad. Las compañías ...
Article
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Novel Aerial Manipulator for Accurate and Robust Industrial NDT Contact Inspection: A New Tool for the Oil and Gas Inspection Industry

Trujillo, Miguel Ángel; Martínez de Dios, José Ramiro; Martín, Carlos; Viguria, Antidio; Ollero Baturone, Aníbal (MDPI, 2019-03-01)
There is a strong demand in the oil and gas industry to develop alternatives to manual inspection. This paper presents ...
Article
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A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs

Alarcón, Francisco; García, Manuel; Maza Alcañiz, Iván; Viguria, Antidio; Ollero Baturone, Aníbal (MDPI, 2019-02-01)
This article presents a precise landing system that allows rotary-wing UAVs to approach and land safely on moving platforms, ...
PhD Thesis
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Compliant aerial manipulation.

Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Suárez Fernández-Miranda, Alejandro (2019-01-15)
The aerial manipulation is a research field which proposes the integration of robotic manipulators in aerial platforms, ...
Master's Final Project
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Diseño e implementación de un sistema para la gestión de una flota de drones para la inspección de plantas fotovoltaicas

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Castillejo Calle, Alejandro (2019-01-01)
Este documento presenta una solución diseñada para inspección de plantas solares fotovoltáicas con una flota de multiples ...
Master's Final Project
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Efficient robot cooperation using MTSP

Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Caballero Rodríguez, Jesús (2019-01-01)
El objetivo principal de este trabajo consiste en implementar una solución del denominado Problema del Viajero (TSP) en ...
Presentation
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Generación eficiente de mosaicos para inspección de infraestructuras lineales mediante robots aéreos

Calvo Rolle, José Luis; Casteleiro-Roca, José-Luis; Fernández Ibáñez, María Isabel; Tapia López, Raúl; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (Universidade da Coruña, 2019-01-01)
Este artículo presenta un método de generación de mosaicos mediante imágenes tomadas por robots aéreos para aplicaciones ...
Final Degree Project
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Diseño de mecanismo de batimiento y variación del ángulo de ataque de las alas de un ornitóptero.

Ollero Baturone, Aníbal; Carrasco Teruel, Silvia (2019-01-01)
En este proyecto se realiza el diseño de un ornitóptero prestando especial atención al mecanismo que realiza el movimiento. ...
Master's Final Project
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Development of a ROS environment for researching machine learning techniques applied to drones

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Millán Romera, José Andrés (2019-01-01)
The first part of this dissertation presents ROS-MAGNA, a general framework for the definition and management of cooperative ...
Final Degree Project
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Diseño de mecanismo de batimiento y semiplegado de las alas de un ornitóptero

Ollero Baturone, Aníbal; Guzmán García, María del Mar (2019-01-01)
En este proyecto se realiza el diseño de un ornitóptero que incluye un mecanismo que integra la capacidad del batimiento ...
Final Degree Project
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Modelado, control y simulación de manipuladores aéreos incluyendo modelos de sensores

Ollero Baturone, Aníbal; Orta Hernández, Manuel (2019-01-01)
Los manipuladores aéreos son vehículos aéreos no tripulados dotados de capacidad de manipulación gracias al acoplamiento ...
Article
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Robotic System for Inspection by Contact of Bridge Beams Using UAVs

Sánchez-Cuevas, Pedro Jesús; Ramón-Soria, Pablo; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Heredia Benot, Guillermo (MDPI, 2019-01-01)
This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical ...
Article
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Al-Robotics team: A cooperative multi-unmanned aerial vehicle approach for the Mohamed Bin Zayed International Robotic Challenge

Rodríguez Castaño, Ángel; Real, Fran; Ramón Soria, Pablo; Capitán Fernández, Jesús; Vega, Víctor; Arrue Ullés, Begoña C.; Torres González, Arturo Eugenio; Ollero Baturone, Aníbal (John Wiley and Sons Inc., 2019-01-01)
The Al-Robotics team was selected as one of the 25 finalist teams out of 143 applications received to participate in the ...
Article
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Decentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environments

Ferrera, Eduardo; Alcántara Marín, Alfonso; Capitán Fernández, Jesús; Rodríguez Castaño, Ángel; Marrón, Pedro; Ollero Baturone, Aníbal (2018-11-23)
The use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, ...
PhD Thesis
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UAS planning and trajectory generation for safe and long-duration oceanic and coastal missions.

Cobano Suárez, José Antonio; Ollero Baturone, Aníbal; Rodríguez Salazar, Leopoldo (2018-07-16)
La presente tesis doctoral, muestra el diseño de un sistema para la extensión de la duración de vuelo de sistemas autónomos ...
PhD Thesis
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Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Balampanis, Fotios (2018-07-16)
This Thesis focuses on a high-level framework proposal for heterogeneous aerial, fixed wing teams of robots, which operate ...
Article
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Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation

Suárez, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2018-05-01)
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial ...
Final Degree Project
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Diseño e implementación de un sistema para la interoperabilidad de dispositivos LonWorks, BACnet y ModBus

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Ladrón de Guevara Pérez, Juan Diego (2018-01-01)
En cualquier instalación de edificios o viviendas de nuestra época, una parte avanzada y novedosa para el usuario final, ...
Final Degree Project
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Modelado y control de un hexarotor de hélices no coplanarias

Heredia Benot, Guillermo; Ollero Baturone, Aníbal; González Morgado, Antonio (2018-01-01)
El objetivo principal de este trabajo fin de grado es el estudio de la configuración de rotores inclinados en un hexarotor, ...
Final Degree Project
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Diseño e implementación de un sistema para la interoperabilidad de dispositivos LonWorks, BACnet y ModBus

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Ladrón de Guevara Pérez, Juan Diego (2018-01-01)
En cualquier instalación de edificios o viviendas de nuestra época, una parte avanzada y novedosa para el usuario final, ...
Final Degree Project
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Application of neural networks to the collision avoidance problem in 2D based on the TensorFlow library

Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Fernández Niederacher, Rebeca (2018-01-01)
The objective of this paper is the learning and initiation into the world of neural networks using the Google tool, ...
Final Degree Project
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Implementación y análisis de algoritmos de planificación de caminos. Aplicación a sistemas aéreos no tripulados.

Ollero Baturone, Aníbal; Tretiyakov, Nikita (2018-01-01)
El objetivo de este trabajo es el análisis y la comparación de los algoritmos de búsqueda de caminos más usados hoy ...
Master's Final Project
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Evaluación experimental de sensores para la medida de deflexión articular

Ollero Baturone, Aníbal; Suárez Fernández-Miranda, Alejandro; Pérez García, Manuel (2018-01-01)
Este documento recoge el análisis, desarrollo y evaluación experimental de posibles soluciones para la medida de deflexión ...
Article
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Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms

Caballero, Álvaro; Béjar Domínguez, Manuel; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal (SAGE Publications Inc., 2018-01-01)
Human activities in maintenance of industrial plants pose elevated risks as well as significant costs due to the required ...
Article
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Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications

Suárez, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Hindawi Limited, 2018-01-01)
This paper considers the problem of fault detection and identification (FDI) in applications carried out by a group of ...
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Combining a hierarchical task network planner with a constraint satisfaction solver for assembly operations involving routing problems in a multi-robot context

Muñoz-Morera, Jorge; Alarcón, Francisco; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (SAGE Publications Inc., 2018-01-01)
This work addresses the combination of a symbolic hierarchical task network planner and a constraint satisfaction solver ...
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Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation

Pérez Grau, Francisco Javier; Caballero Benítez, Fernando; Viguria, Antidio; Ollero Baturone, Aníbal (SAGE Publications, 2017-09-01)
This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in ...
Article
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On-Line RSSI-Range Model Learning for Target Localization and Tracking

Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Fernández Jiménez, Francisco José; Regoli, Carolina (MDPI AG, 2017-08-01)
The interactions of Received Signal Strength Indicator (RSSI) with the environment are very difficult to be modeled, ...
Article
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Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Sánchez-Cuevas, Pedro Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Hindawi, 2017-08-01)
This paper analyzes the ground effect in multirotors, that is, the change in the thrust generated by the rotors when flying ...
PhD Thesis
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A multi-hypothesis approach for range-only simultaneous localization and mapping with aerial robots

Ollero Baturone, Aníbal; Caballero Benítez, Fernando; Fabresse, Felipe Ramón (2017-07-21)
Los sistemas de Range-only SLAM (o RO-SLAM) tienen como objetivo la construcción de un mapa formado por la posición de un ...
PhD Thesis
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Localización a largo plazo de vehículos aéreos no tripulados basada en la percepción tridimensional del entorno

Ollero Baturone, Aníbal; Caballero Benítez, Fernando; Pérez Grau, Francisco Javier (2017-07-17)
Los vehículos aéreos no tripulados (UAVs por sus siglas en inglés, Unmanned Aerial Vehicles) se utilizan actualmente en ...
Article
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Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation

Torres González, Arturo Eugenio; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (MDPI, 2017-04-20)
This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only ...
Article
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Coastal Areas Division and Coverage with Multiple UAVs for Remote Sensing

Balampanis, Fotios; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (MDPI, 2017-04-09)
This paper tackles the problems of exact cell decomposition and partitioning of a coastal region for a team of heterogeneous ...
Article
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Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation

Martínez de Dios, José Ramiro; San Bernabé Clemente, Alberto de; Viguria, Antidio; Torres González, Arturo Eugenio; Ollero Baturone, Aníbal (MDPI, 2017-04-01)
The combination of remote sensing and sensor network technologies can provide unprecedented earth observation capabilities, ...
PhD Thesis
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Range-only SLAM schemes exploiting robot-sensor network cooperation

Ollero Baturone, Aníbal; Martínez de Dios, José Ramiro; Torres González, Arturo Eugenio (2017-03-31)
Simultaneous localization and mapping (SLAM) is a key problem in robotics. A robot with no previous knowledge of the ...
Article
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Detection, location and grasping objects using a stereo sensor on UAV in outdoor environments

Ramón Soria, Pablo; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (MDPI, 2017-01-07)
The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real ...
Presentation
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Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

López García, Hilario; Suárez Fernández-Miranda, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Servicio de Publicaciones de la Universidad de Oviedo, 2017-01-01)
Este artículo presenta el primer robot manipulador aéreo con dos brazos antropomórficos diseñado para aplicarse en tareas ...
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Small UAS-based wind feature identification system. Part 1: Integration and validation

Rodríguez Salazar, Leopoldo; Cobano Suárez, José Antonio; Ollero Baturone, Aníbal (MDPI, 2016-12-23)
This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular ...
PhD Thesis
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Modeling and control techniques of autonomous helicopters for landing on moving platforms

Béjar Domínguez, Manuel; Ollero Baturone, Aníbal; Sandino Velásquez, Luis Alberto (2016-02-09)
En los últimos años se ha incrementado notablemente la investigación con sistemas de aeronaves no tripuladas (UAS por sus ...
Final Degree Project
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Generación de trayectorias en tiempo real a partir de diagramas de Voronoi

Cobano Suárez, José Antonio; Ollero Baturone, Aníbal; Moya Carrasco, Ángel (2016-01-01)
Este trabajo aborda el problema de planificación local de trayectorias en entornos desconocidos. Para ello se utilizan ...
Master's Final Project
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Simulación de vuelo de múltiples UAVs de ala fija

Ollero Baturone, Aníbal; Lobit Cerrato, Alberto (2016-01-01)
El objetivo de este Trabajo Fin de Máster es la simulación en el entorno de programación MATLAB® de distintos casos de ...
Article
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Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors

Ramón Soria, Pablo; Bevec, Robert; Arrue Ullés, Begoña C.; Ude, Aleš; Ollero Baturone, Aníbal (MDPI, 2016-01-01)
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. ...
Presentation
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Cooperative Sensor Fault Recovery in Multi-UAV Systems

Suárez Fernández-Miranda, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Elsevier, 2016-01-01)
This paper presents the design and experimental validation of a Fault Detection, Identification and Recovery (FDIR) system ...
Article
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Collision Avoidance for Multiple UAVs using Rolling-horizon Policy

Vera Rendón, Santiago; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Springer, 2016-01-01)
This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method ...
Article
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A reactive method for collision avoidance in industrial environments

Alejo Teissière, David; Cobano Suárez, José Antonio; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Springer Verlag, 2016-01-01)
This paper presents a reactive method for collision avoidance with multiple aerial vehicles that has been applied in real ...
Article
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High-speed autonomous navigation system for heavy vehicles

Rodríguez Castaño, Ángel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Elsevier, 2016-01-01)
This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has ...
PhD Thesis
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Coordination on Systems of Multiple UAVs

Ollero Baturone, Aníbal; Heredia Benot, Guillermo; Alejo Teissière, David (2015-12-03)
Esta tesis trata acerca de métodos para coordinar las trayectorias de un sistema de Vehículos Aéreos no Tripulados y ...
PhD Thesis
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Trajectory planning based on collocation methods for multiple aerial and ground autonomous vehicles

Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Vera Rendón, Santiago (2015-03-31)
Esta tesis doctorar presenta una serie de contribuciones en los métodos de coordinación y generación de trayectorias de ...
Article
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Ten years of cooperation between mobile robots and sensor networks

Capitán Fernández, Jesús; Martínez de Dios, José Ramiro; Maza Alcañiz, Iván; Fabresse, Felipe Ramón; Ollero Baturone, Aníbal (SAGE Publications, 2015-01-01)
This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC) at the University ...
Final Degree Project
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Métodos reactivos basados en campos potenciales para UAVs

Ollero Baturone, Aníbal; Cobano Suárez, José Antonio; Mera Prieto, Carmen (2015-01-01)
Este trabajo presenta un método reactivo para evitar colisiones de vehículos aéreos no tripulados (Unmanned Aerial Vehicles, ...
Final Degree Project
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Generación de caminos para un multi-rotor con brazo manipulador mediante el uso de planificadores RRT

Ollero Baturone, Aníbal; Maza Alcañiz, Iván; Márquez Bonilla, Francisco José (2015-01-01)
Presentation
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Safe Trajectory Planning for Multiple Aerial Vehicles with Segmentation-Adaptive Pseudospectral Collocation

Cobano Suárez, José Antonio; Vera Rendón, Santiago; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers (IEEE), 2015-01-01)
This paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe ...
PhD Thesis
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Cooperation of multiple heterogeneous aerial robots in surveillance missions

Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Acevedo Báñez, José Joaquín (2014-11-01)
Esta Tesis está dedicada al desarrollo de técnicas que permitan aplicar de forma eficiente un equipo de robots aéreos en ...
PhD Thesis
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Efficient information-driven localization and tracking in ubiquitous systems combining range and bearing sensors

Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; San Bernabé Clemente, Alberto de (2014-11-01)
La localización es un problema crítico en la tecnología de sistemas de computación ubicua. Mientras que la localización ...
Article
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An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements

Torres González, Arturo Eugenio; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (MDPI, 2014-04-25)
This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks ...
Article
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Un Banco de Pruebas Remoto para Experimentación en Robótica Ubicua

Jiménez-González, Adrián ; Martínez de Dios, José Ramiro; San Bernabé Clemente, Alberto de; Núñez Guerrero, Gabriel; Ollero Baturone, Aníbal (Elsevier, 2014-01-01)
La escasez de herramientas experimentales adecuadas ha sido señalada como un factor crítico en el desarrollo de la robótica ...
Article
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Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

Kondak, Konstantin; Maza Alcañiz, Iván; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal; Albu Schaeffer, Alin (2013-01-01)
This paper is devoted to the control of aerial robots interacting physically with objects in the environment and with other ...
Article
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Modelado y control en vuelo estacionario de helicópteros autónomos con cable de fijación a tierra

Sandino Velásquez, Luis Alberto; Béjar Domínguez, Manuel; Kondak, Konstantin; Ollero Baturone, Aníbal (Elsevier, 2013-01-01)
Los helicópteros son conocidos por sus capacidades de vuelo estacionario (maniobra conocida como hovering), despegue ...
Article
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A WSN-Based Tool for Urban and Industrial Fire-Fighting

San Bernabé Clemente, Alberto de; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (MDPI, 2012-11-06)
This paper describes a WSN tool to increase safety in urban and industrial fire-fighting activities. Unlike most approaches, ...
Career Final Project
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Sistema LIDAR integrado en un UAV para la generación de Modelos Digitales del Terreno

Ollero Baturone, Aníbal; Sánchez García, Jesús (2012-01-01)
Article
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Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints

Acevedo Báñez, José Joaquín; Arrue Ullés, Begoña C.; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (Vienna University of Technology, 2012-01-01)
Using aerial robots in area coverage applications is an emerging topic. These applications need a coverage path planning ...
Article
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Proyecto AWARE. Integración de Vehículos Aéreos no Tripulados con Redes Inalámbricas de Sensores y Actuadores

Ollero Baturone, Aníbal; Ollero Baturone, Aníbal; Maza Alcañiz, Iván; Rodríguez Castaño, Ángel; Martínez de Dios, José Ramiro; Caballero Benítez, Fernando; Capitán Fernández, Jesús (Elsevier, 2012-01-01)
En este artículo se resumen los resultados obtenidos en el proyecto AWARE coordinado por el Grupo de Robótica Visión ...
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An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors

Jiménez-González, Adrián ; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (MDPI, 2011-12-09)
Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities ...
PhD Thesis
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Cooperación descentralizada para percepción activa con múltiples robots

Ollero Baturone, Aníbal; Merino Cabañas, Luis; Capitán Fernández, Jesús (2011-03-28)
La Tesis se centra en el estudio de técnicas de percepción cooperativa para equipos de múltiples robots. En nuestros días, ...
Article
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Automatic Forest-Fire Measuring Using Ground Stations and Unmanned Aerial Systems

Martínez de Dios, José Ramiro; Merino, Luis; Caballero Benítez, Fernando; Ollero Baturone, Aníbal (MDPI, 2011-01-01)
This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and ...
PhD Thesis
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Decentralized cooperation for active perception with multiple robots

Merino Cabañas, Luis; Ollero Baturone, Aníbal; Capitán Fernández, Jesús (2011-01-01)
La Tesis se centra en el estudio de técnicas de percepción cooperativa para equipos de múltiples robots. En nuestros días, ...
Article
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Detection of sensor faults in small helicopter UAVs using observer/Kalman filter identification

Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Hindawi Publishing Corporation, 2011-01-01)
Reliability is a critical issue in navigation of unmanned aerial vehicles UAVs since there is no human pilot that can ...
PhD Thesis
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Distributed architecture for the cooperation of multiple unmanned aerial vehicles in civil applications

Ollero Baturone, Aníbal; Maza Alcañiz, Iván (2010-01-01)
La robótica aérea tiene un gran potencial para la realización de tareas como la adquisición de datos e imágenes en áreas ...
Article
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Virtual Sensor for Failure Detection, Identification and Recovery in the Transition Phase of a Morphing Aircraft

Heredia Benot, Guillermo; Ollero Baturone, Aníbal (MDPI AG, 2010-01-01)
The Helicopter Adaptive Aircraft (HADA) is a morphing aircraft which is able to take-off as a helicopter and, when in ...
Article
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Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán Fernández, Jesús; Corominas, Andreu; Spaan, Matthijs T. J.; Ollero Baturone, Aníbal (MDPI, 2010-01-01)
In this article we explain the architecture for the environment and sensors that has been built for the European project ...
Article
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A Robust Head Tracking System Based on Monocular Vision and Planar Templates

Caballero Benítez, Fernando; Maza Alcañiz, Iván; Molina, Roberto; Esteban, David; Ollero Baturone, Aníbal (MDPI, 2009-11-11)
This paper details the implementation of a head tracking system suitable for its use in teleoperation stations or control ...
PhD Thesis
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Market-based distributed task allocation methodologies applied to multi-robot exploration

Ollero Baturone, Aníbal; Viguria Jiménez, Luis Antidio (2009-11-09)
A medida que los robots se van integrando en la vida diaria de las personas, se les pide que realicen tareas cada vez más ...
Article
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Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors

Heredia Benot, Guillermo; Caballero Benítez, Fernando; Maza Alcañiz, Iván; Merino, Luis; Viguria, Antidio; Ollero Baturone, Aníbal (MDPI, 2009-09-24)
This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and ...
PhD Thesis
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Methodology and techniques for designing control systems of autonomous helicopters

Ollero Baturone, Aníbal; Béjar Domínguez, Manuel (2009-01-01)
Article
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Planificación de Trayectorias Libres de Colisión para Múltiples UAVs usando el Perfil de Velocidad

Rebollo, Juan José; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (Elsevier, 2009-01-01)
Este artículo presenta un método de resolución de colisiones entre múltiples UAVs que comparten el espacio aéreo con ...
Article
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Modelado y control de helicópteros autónomos: revisión del estado de la técnica

Béjar Domínguez, Manuel; Ollero Baturone, Aníbal (Elsevier, 2008-01-01)
Este artículo presenta una revisión del estado de la técnica del modelado y control de helicópteros autónomos que incluye ...
Article
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Computer vision techniques for forest fire perception

Martínez de Dios, José Ramiro; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Merino, L.; Gómez Rodríguez, Francisco de Asís (Elsevier, 2008-01-01)
This paper presents computer vision techniques for forest fire perception involving measurement of forest fire properties ...
PhD Thesis
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Técnicas basadas en homografía para la autolocalización de vehículos autónomos aéreos utilizando secuencias de imagenes monoculares

Ollero Baturone, Aníbal; Ferruz Melero, Joaquín; Caballero Benítez, Fernando (2007-01-01)
PhD Thesis
PhD Thesis
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Estimación de posición y control de vehículos autónomos a elevada velocidad

Ollero Baturone, Aníbal; Vinagre Jara, Blas Manuel; Rodríguez Castaño, Ángel (2007-01-01)
El objetivo global de esta tesis es el diseño y desarrollo de algoritmos para el guiado autónomo de vehículos convencionales; ...
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Planificación de trayectorias con el Algoritmo RRT. Aplicación a Robots no Holónomos

López García, Diego; Gómez-Bravo, Fernando; Cuesta Rojo, Federico; Ollero Baturone, Aníbal (Elsevier, 2006-01-01)
Dentro de los métodos de planifi cación de trayectorias ,las técnicas basadas en el algoritmo RRT (Rapidly Exploring Random ...
Article
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Automatic design of fuzzy controllers for car-like autonomous robots

Baturone Castillo, María Iluminada; Moreno Velo, Francisco José; Sánchez Solano, Santiago; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers, 2004-01-01)
Presentation
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Automatic design of fuzzy control systems for autonomous mobile robots

Baturone Castillo, María Iluminada; Moreno Velo, Francisco José; Sánchez Solano, Santiago; Martín de Agar, R.; Ollero Baturone, Aníbal (2002-01-01)
This paper describes the design and implementation of a fuzzy controller for autonomous mobile robots. The tool Xfuzzy ...
PhD Thesis
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Contribuciones al modelado, control y análisis de estabilidad de sistemas borrosos aplicaciones

Ollero Baturone, Aníbal; Sánchez Pérez, Omar (2002-01-01)
PhD Thesis
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Detección y monitorización en entornos exteriores no estructurados empleando imágenes de infrarrojos. Aplicación a los incendios forestales

Ollero Baturone, Aníbal; Martínez de Dios, José Ramiro (2001-07-17)
Esta tesis aborda el problema de diseñar e implantar sistemas de detección y monitorización en entornos exteriores no ...
PhD Thesis
Article
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Fuzzy path tracking and position estimation of autonomous vehicles using differential GPS

Rodríguez Castaño, Ángel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2000-01-01)
This paper presents an autonomous vehicle position estimation system based on GPS, that uses a fuzzy sensor fusion technique. ...
PhD Thesis