Por motivos de mantenimiento se ha deshabilitado el inicio de sesión temporalmente. Rogamos disculpen las molestias.
NameOllero Baturone, Aníbal
DepartmentIngeniería de Sistemas y Automática
Knowledge areaIngeniería de Sistemas y Automática
Professional categoryProfesor Emérito
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  • No. publications

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PhD Thesis
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Strengthening robot perception in information-degraded environments for aerial inspection and maintenance

López Paneque, Julio José; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (2024)
Esta Tesis Doctoral aborda el diseño, desarrollo y validación experimental de diferentes métodos para reforzar la percepción ...
Article
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Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems

Ago, Giancarlo D´; Selvaggio, Mario; Suárez Fernández-Miranda, Alejandro; Gañán Onieva, Francisco Javier; Buonocore, Luca Rosario; Castro, Mario Di; Lippiello, Vincenzo; Ollero Baturone, Aníbal; Ruggiero, Fabio (Elsevier, 2024)
This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended ...
Article
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Free-floating space manipulator impacting a floating object: Modeling and output SDRE controller design

Nekoo, Saeed Rafee; Sharf, Inna; Ollero Baturone, Aníbal (Elsevier, 2024)
This work investigates the dynamics modeling, control, and impact resolution between a floating object and a free-floating ...
Article
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Finite-time state-dependent Riccati equation regulation of anthropomorphic dual-arm space manipulator system in free-flying conditions

Scalvini, Alessandro; Suárez Fernández-Miranda, Alejandro; Nekoo, Saeed Rafee; Ollero Baturone, Aníbal (Elsevier, 2024)
This paper introduces a novel approach for regulating the pose of a free-flying dual-arm anthropomorphic space manipulator ...
Final Degree Project
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Implementación en Arquitectura Heterogé Formato de Publicación de la Escuela Técnica Superior de Ingeniería nea de Sistema de Procesamiento para Cáma ras de Eventos

Gordillo Durán, Rodrigo; Martínez de Dios, José Ramiro; Muñoz Chavero, Fernando; Ollero Baturone, Aníbal (2024)
Eltrabajo que aquí se presenta está asociado a una beca de colaboración ofrecida por el Minis terio de Educación, Formación ...
Article
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Controlled Shaking of Trees With an Aerial Manipulator

González Morgado, Antonio; Cuniato, Eugenio; Tognon, Marco; Heredia Benot, Guillermo; Siegwart, Roland; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers (IEEE), 2024)
In recent years, the fields of application of aerial manipulators have expanded, ranging from infrastructure inspection ...
Article
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Ultra-lightweight anthropomorphic dual-arm rolling robot for dexterous manipulation tasks on linear infrastructures: A self-stabilizing system

Suárez Fernández-Miranda, Alejandro; Nekoo, Saeed Rafee; Ollero Baturone, Aníbal (Elsevier, 2023)
This paper proposes the application of a very low weight (3.2 kg) anthropomorphic dual-arm system capable of rolling along ...
PhD Thesis
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Developing Soft Bio-Inspired Cooperation Methods and Mechanisms for Flapping Wings Aerial Robots (FWAR)

Pérez-Sánchez, Vicente; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (2023)
Esta tesis doctoral contribuye al estado actual de la robótica aérea desarrollando sistemas bioinspirados que permiten ...
Article
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Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation

Pérez Sánchez, Vicente Raúl; García Rubiales, Francisco Javier; Nekoo, Saeed Rafee; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (MDPI, 2023)
The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment ...
Article
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Benchmark Evaluation of Hybrid Fixed-Flapping Wing Aerial Robot with Autopilot Architecture for Autonomous Outdoor Flight Operations

Gayango, Diego B.; Salmoral Lorenzo-Arroyo, Rafael; Romero Rodríguez, Honorio; Carmona Téllez, José Manuel; Suárez Fernández-Miranda, Alejandro; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers, 2023)
This letter is focused on the benchmark evaluation and comparison of the flapping and fixed wing flight modes on an hybrid ...
PhD Thesis
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Event-based Perception for Aerial Robots: From Multirotors to Ornithopters

Rodríguez Gómez, Juan Pablo; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (2023)
This Ph.D. Thesis aims at contributing to the robot perception community by exploring the advantages of event cameras for ...
Article
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UAV fully-actuated modelo, control y comparación con configuración coplanaria

González Morgado, Antonio; Álvarez Cía, Carlos; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Comité Español de Autonomática (CEA-IFAC), 2023)
Con el desarrollo de la robótica aérea han aparecido nuevas plataformas de multirotores de actuación completa (fully-actuated ...
Article
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Optimal elastic wing for flapping-wing robots through passive morphing

Ruiz Páez, Cristina; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (IEEE, 2023)
Flapping wing robots show promise as platforms for safe and efficient flight in near-human operations, thanks to their ...
PhD Thesis
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Contributions to deconfliction advanced U-space services for multiple unmanned aerial systems including field tests validation

Pérez León, Héctor; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2023)
Unmanned Aerial Systems (UAS) will become commonplace, the number of UAS flying in European airspace is expected to increase ...
Presentation
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A proportional closed-loop control for equivalent vertical dynamics of flapping-wing flying robot

Nekoo, Saeed Rafee; Ollero Baturone, Aníbal (IEEE, 2023)
The closed-loop position control of a flapping-wing flying robot (FWFR) is a challenging task. A complete six-degree-of-freedom ...
Article
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Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment

Nekoo, Saeed Rafee; Ollero Baturone, Aníbal (Elsevier, 2023)
The flapping-wing technology has emerged recently in the application of unmanned aerial robotics for autonomous flight, ...
Article
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A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system

Nekoo, Saeed Rafee; Feliu Talegón, Daniel; Tapia López, Raúl; Satué, Álvaro C.; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (Cambridge University Press, 2023)
The sampling and monitoring of nature have become an important subject due to the rapid loss of green areas. This work ...
Final Degree Project
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Planificación de caminos para sistemas multi- UAV en aplicaciones de inspección y mantenimiento

Román Escorza, Francisco Javier; Caballero Gómez, Álvaro; Ollero Baturone, Aníbal (2023)
Dentro de la robótica actual, muchas líneas de investigación tienden al trabajo coordinado de sistemas autónomos multi-UAV ...
Master's Final Project
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Herramienta de gestión para sistemas de inspección basados en múltiples drones

Poma Aguilar, Álvaro Ramiro; Maza Alcañiz, Jesús Iván; Ollero Baturone, Aníbal (2023)
El uso de múltiples vehículos aéreos no tripulados (UAVs por las siglas en inglés de Unmanned Aerial Vehicles) en tareas ...
Presentation
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Constrained design optimization of a long-reach dual-arm aerial manipulator for maintenance tasks

Nekoo, Saeed Rafee; Suárez Fernández-Miranda, Alejandro; Acosta Rodríguez, José Ángel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (IEEE, 2023)
Motivated by the convenience of improving the performance of long-reach aerial manipulators in the realization of maintenance ...
Article
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Unsteady Propulsion of a Two-Dimensional Flapping Thin Airfoil in a Pulsating Stream

Sánchez-Laulhé, Ernesto; Fernández Feria, Ramón; Ollero Baturone, Aníbal (AIAA International, 2023)
The cruising velocity of animals, or robotic vehicles, that use flapping wings or fins to propel themselves is not constant ...
Presentation
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Equivalent Vertical Dynamics of Flapping-Wing Flying Robot in Regulation Control: Displacement Transmissibility Ratio

Nekoo, Saeed Rafee; Ollero Baturone, Aníbal (IEEE, 2023)
This paper presents an equivalent dynamic model for vertical regulation control of a flapping-wing flying robot. The model ...
Final Degree Project
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Sensorización y Control de Maniobras en Ornitópteros

Satué Crespo, Álvaro César; Ollero Baturone, Aníbal (2023)
Este trabajo se dedica a los robots aéreos bioinspirados, u ornitópteros, desarrollando sus ventajas tecnológicas frente ...
Presentation
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Benchmark on real-time long-range aircraft detection for safe RPAS operations

Alarcón, Víctor; Santana, Pablo; Ramos, Francisco; Pérez-Grau, Francisco Javier; Viguria, Antidio; Ollero Baturone, Aníbal (Springer, 2023)
The growing market in Remotely Piloted Aircraft Systems (RPAS) and the need for cost-effective “Detect and Avoid (DAA)” ...
Presentation
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Modeling and under-actuated control of stabilization before take-off phase for flapping-wing robots

Feliu-Talegon, Daniel; Nekoo, Saeed Rafee; Suárez Fernández-Miranda, Alejandro; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (Springer, 2023)
This work studies a stabilization problem of flapping-wing flying robots (FWFRs) before a take-off phase while a robot is ...
Article
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ASAP: adaptive transmission scheme for online processing of event-based algorithms

Tapia López, Raúl; Martínez de Dios, José Ramiro; Gómez-Eguíluz, A.; Ollero Baturone, Aníbal (Springer, 2022)
Online event-based perception techniques on board robots navigating in complex, unstructured, and dynamic environments can ...
Article
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A search algorithm for constrained engineering optimization and tuning the gains of controllers

Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (Elsevier, 2022)
In this work, the application of an optimization algorithm is investigated to optimize static and dynamic engineering ...
PhD Thesis
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Motion planning with dynamics and environment awareness for aerial robotic manipulation in inspection and maintenance

Caballero Gómez, Álvaro; Ollero Baturone, Aníbal; Béjar Domínguez, Manuel (2022)
Unmanned Aerial Vehicles (UAVs) endowed with robotic manipulation capabilities, also known as Aerial Robotic Manipulators ...
Article
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Aeroelastics-aware compensation system for soft aerial vehicle stabilization

Ruiz Vincueria, Fernando; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (Frontiers, 2022)
This paper describes a compensation system for soft aerial vehicle stabilization. Balancing the arms is one of the main ...
Article
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Simplified Model for Forward-Flight Transitions of a Bio-Inspired Unmanned Aerial Vehicle

Sánchez-Laulhé, Ernesto; Fernández Feria, Ramón; Ollero Baturone, Aníbal (MDPI, 2022)
A new forward-flight model for bird-like ornithopters is presented. The flight dynamics model uses results from potential, ...
Article
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SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment

Ruiz Vincueria, Fernando; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2022)
This letter presents the first design of a soft and lightweight UAV, entirely 3D-printed in flexible filament. The drone’s ...
Article
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Design of a Wireless Drone Recharging Station and a Special Robot End Effector for Installation on a Power Line

Stuhne, Dario; Hoang, Viet Duong; Vasiljevic, Goran; Bogdan, Stjepan; Kovacic, Zdenko; Ollero Baturone, Aníbal; Ebeid, Emad (IEEE, 2022)
Drone autonomous operations near power lines are growing steadily and require innovative techniques to keep them on air. ...
Article
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Development of a Fixed-Wing Drone System for Aerial Insect Sampling

Mulero Pázmány, Margarita; Martínez de Dios, José Ramiro; Popa Lisseanu, Ana G.; Gray, Russell J.; Alarcón, Francisco; Sánchez-Bedoya, Carlos Albo; Viguria, Antidio; Ibáñez, Carlos; Negro, Juan José; Ollero Baturone, Aníbal; Marrón, P. J. (MDPI, 2022)
Most current insect research techniques are ground-based and provide scarce information about flying insects in the planetary ...
Article
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Threat Management Methodology for Unmanned Aerial Systems operating in the U-space

Capitán, Carlos; Capitán Fernández, Jesús; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal (IEEE, 2022)
This paper presents a threat management methodology for Unmanned Aircraft Systems (UAS) operating in the civil airspace. ...
Article
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Numerical-experimental evaluation and modelling of aerodynamic ground effect for small-scale tilted propellers at low Reynolds numbers

Garófano Soldado, Ambar; Sánchez Cuevas, Pedro Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Elsevier, 2022)
In recent years, aerial manipulators with fully-actuated capabilities are gaining popularity for being used in aerial ...
Article
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A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application

Nekoo, Saeed Rafee; Feliu-Talegon, Daniel; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (IEEE, 2022)
The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence ...
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)
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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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)
Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection ...
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)
Many sensor systems in robotics are bio-inspired by similar mechanisms in living creatures. Birds frequently use their ...
Patent. Invention
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Tren de aterrizaje acoplable a una estructura de un dron

Sánchez Cuevas, Pedro Jesús; Romero Suárez, Javier; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Grau Morgado, Pedro; López Lora, Abraham; Vega García, Víctor (Oficina Española de Patentes y Marcas (OEPM), 2022)
Tren de aterrizaje, acoplable a una superficie inferior de un dron (3), para posicionar sensores sobre una tubería para ...
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)
The unsteady aerodynamics of flapping low-aspect-ratio ellipsoidal-wings in ornithopters is analyzed and modeled by the ...
Final Degree Project
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Ampliación de la máquina de estados usada en un sistema de navegación autónoma para RPAS

Moreno Prieto, Javier; Ollero Baturone, Aníbal (2022)
La fundación FADA-CATEC desarrolló en 2020 un framework para la creación y ejecución de misiones de seguimiento de waypoints ...
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)
This work investigates the gravity compensation topic, from a control perspective. Thegravity could be levelled by a ...
Article
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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)
The quaternion is a powerful and common tool to avoid singularity in rotational dynamics in three-dimensional (3D) space. ...
Final Degree Project
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Estudio, optimización y comparativa de algoritmos de procesamiento de nubes de puntos para detección de obstáculos desde UAVs

Jiménez Cámara, Pablo; Ollero Baturone, Aníbal (2022)
Este trabajo va a tratar sobre el estudio de varias librerías de procesamiento de nubes de puntos y el desarrollo de ...
Article
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How ornithopters can perch autonomously on a branch

Zufferey, Raphael; Tormo Barbero, Jesús; Feliu-Talegon, Daniel; Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal;  (Nature Publishing Group, 2022)
Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, ...
Article
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Kinodynamic planning for an energy-efficient autonomous ornithopter

Rodríguez, Fabio; Díaz Báñez, José Miguel; Sánchez-Laulhé, Ernesto; Capitán Fernández, Jesús; Ollero Baturone, Aníbal (Elsevier Ltd, 2022)
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, ...
Final Degree Project
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Desarrollo de una aplicación de posicionamiento GNSS para su integración en UAVs

León Barriga, Pablo; Ollero Baturone, Aníbal (2022)
Los drones se encuentran cada vez más integrados en la vida diaria de las personas. Desde usos industriales como la ...
Final Degree Project
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Task management for aerial robots in missions with physical interaction with the environment

Gutiérrez Rodríguez, Iván; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (2022)
Este trabajo de fin de grado se enmarca en el proyecto del programa europeo Horizons 2020, PILOTING, el cual está enfocado ...
Presentation
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UAV fully-actuated: modelo, control y comparación con configuración coplanaria

González Morgado, Antonio; Álvarez Cía, Carlos; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Comité Español de Automática, 2022)
Con el desarrollo de la robótica aérea han aparecido nuevas plataformas de multirotores de actuación completa (fully-actuated ...
Article
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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)
This work proposes a novel proportional-derivative (PD)-type state-dependent Riccati equation (SDRE) approach with iterative ...
Article
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Release of Sterile Mosquitoes with Drones in Urban and Rural Environments under the European Drone Regulation

García, Manuel; Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Gutiérrez, Daniel; Aguirre, Idoia; Viguria Jiménez, Luis Antidio;  (MDPI, 2021)
In recent years, several countries have developed the use of sterile insect techniques (SIT) to fight against mosquitoes ...
Article
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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)
The inspection and maintenance tasks of electrical installations are very demanding. Nowadays, insulator cleaning is carried ...
Article
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Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks

Benjumea Gayango, Diego Jesús; Alcántara Marín, Alfonso; Ramos Hurtado, Agustín; Torres González, Arturo Eugenio; Sánchez Cuevas, Pedro Jesús; Capitán Fernández, Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (MDPI, 2021)
This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure ...
Article
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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)
The inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the ...
Article
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Integration of a 4D-trajectory Follower to Improve Multi-UAV Conflict Management Within the U-Space Context

Pérez León, Héctor; Acevedo, José Joaquín; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (Springer Nature, 2021)
A safe integration of UAVs into the airspace is fundamental to unblock all the potential of drone applications. U-space ...
Article
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Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

García Rubiales, Francisco Javier; Ramón Soria, Pablo; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (MDPI, 2021)
This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe ...
PhD Thesis
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Nonlinear Control Strategies for Outdoor Aerial Manipulators

Rodríguez De Cos, Carlos; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (2021)
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)
The aim of this work is to present the development of a bio-inspired approach for a robotic tail using Macro Fiber Composites ...
Article
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Cartesian Aerial Manipulator with Compliant Arm

Suarez Fernández Miranda, Alejandro; Pérez, Manuel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (MDPI, 2021)
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) ...
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)
This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built ...
Article
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Design of the High-Payload Flapping Wing Robot E-Flap

Zufferey, Raphael; Tormo Barbero, Jesús; Mar Guzmán, M.; Maldonado, F.J.; Sánchez Laulhe, Ernesto; Grau, Pedro; Pérez, Martín; Acosta, José Ángel; Ollero Baturone, Aníbal (2021)
Autonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying ...
Presentation
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Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach

Nekoo, Saeed Rafee; Sánchez Cuevas, Pedro Jesús; Acosta, José Ángel; Heredia, Guillermo; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
This paper presents an experimental study of the softlanding problem in quadrotors using the induced wind modeling approach. ...
Final Degree Project
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Multi-rotor con cable de unión a un robot terrestre

Pérez García, Rafael; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2021)
En este Trabajo Fin de Grado se lleva a cabo el desarrollo de los algoritmos de control del autopiloto para un UAV tipo ...
Article
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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)
The power grid is an essential infrastructure in any country, comprising thousands of kilometers of power lines that require ...
Presentation
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Analysis of Forces Involved in the Perching Maneuver of Flapping-Wing Aerial Systems and Development of an Ultra-Lightweight Perching System

Pérez-Sánchez, Vicente; Gómez-Tamm, Alejandro E.; García Rubiales, Francisco Javier; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
Trying to optimize the design of aerial robotics systems, this work presents an optimized low-weight landing system for ...
Article
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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)
This article presents a team of multiple Unmanned Aerial Vehicles (UAVs) to perform cooperative missions for autonomous ...
Presentation
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Design, Integration and Testing of Compliant Gripper for the Installation of Helical Bird Diverters on Power Lines

Armengol, Inmaculada; Suarez, Alejandro; Heredia, Guillermo; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
The installation and removal of bird diverters from power lines is conducted nowadays by human operators working from ...
Article
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The GRIFFIN perception dataset: Bridging the gap between flapping-wing flight and robotic perception

Rodríguez-Gómez, J.P.; Tapia, Raúl; Paneque, Julio L.; Grau, Pedro; Gómez Eguiluz, Augusto; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
The development of automatic perception systems and techniques for bio-inspired flapping-wing robots is severely hampered ...
Presentation
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UAV human teleoperation using event-based and frame-based cameras

Rodríguez Gómez, Juan Pablo; Tapia López, Raúl; Eguiluz, Augusto Gómez; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
Teleoperation is a crucial aspect for human-robot interaction with unmanned aerial vehicles (UAVs) applications. Fast ...
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, Raphael; Tormo Barbero, Jesús; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (IEEE, 2021)
Flapping-wing robots (so-called ornithopters) are a promising type of platform to perform efficient winged flight and ...
Article
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A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Elsevier Ltd, 2021)
This paper investigates the inspection-of-pipe topic in a new framework, by rotation around a pipe, peculiar to industrial ...
Final Degree Project
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Modelado de consumo energético en vehículos aéreos no tripulados de ala rotatoria

Escobar Llori, Víctor Manuel; Ollero Baturone, Aníbal (2021)
El objetivo de este trabajo consiste en modelar el consumo energético de un vehículo aéreo no tripulado (UAV) de tipo ...
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)
This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional ...
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)
The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to ...
Article
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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, Saeed Rafee; Romero Rodríguez, Honorio; Salmoral Lorenzo-Arroyo, Rafael; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal (MDPI AG, 2021)
This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird ...
Article
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Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles

Alcántara Marín, Alfonso; Capitán Fernández, Jesús; Cunha, Rita; Ollero Baturone, Aníbal (Elsevier B.V., 2021)
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing ...
Presentation
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Event-based human intrusion detection in UAS using Deep Learning

Pérez Cutino, M.A.; Eguiluz, Augusto Gómez; Dios, J. R. Martínez De; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
Automatic intrusion detection in unstructured and complex environments using autonomous Unmanned Aerial Systems (UAS) poses ...
Article
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Introducing autonomous aerial robots in industrial manufacturing

Pérez Grau, Francisco Javier; Martínez de Dios, José Ramiro; López Paneque, Julio José; Acevedo Báñez, José Joaquín; Torres González, Arturo Eugenio; Viguria, Antidio; Astorga, Juan R.; Ollero Baturone, Aníbal (Elsevier B.V., 2021)
Although ground robots have been successfully used for many years in manufacturing, the capability of aerial robots to ...
Presentation
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Experimental Evaluation of Aerial Manipulation Robot for the Installation of Clip Type Bird Diverters: Outdoor Flight Tests

Suárez Fernández-Miranda, Alejandro; Romero Rodríguez, Honorio; Salmoral Lorenzo-Arroyo, Rafael; Acosta, José Alberto; Zambrano, Jesús; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
This paper presents an aerial manipulation robot intended to conduct the installation of clip-type bird diverters on power ...
Final Degree Project
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Sistema de navegación de robot aéreo y visualización en la estación en tierra

Borrego Villa, Joaquín; Ollero Baturone, Aníbal (2021)
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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Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations

Suárez Fernández-Miranda, Alejandro; Salmoral Lorenzo-Arroyo, Rafael; Zarco Periñán, Pedro Javier; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the ...
Article
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Auto-tuned event-based perception scheme for intrusion monitoring with UAS

Rodríguez Gómez, Juan Pablo; Eguiluz, Augusto Gómez; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (Institute of Electrical and Electronics Engineers Inc., 2021)
This paper presents an asynchronous event-based scheme for automatic intrusion monitoring using Unmanned Aerial Systems ...
Final Degree Project
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Asistencia sanitaria con RPAS controlado a través de la red 5G

Rangel Muñoz, Miguel; Ollero Baturone, Aníbal (2021)
Las personas que sufren una parada cardíaca tienen un 70% más de posibilidad de vivir si son atendidas en los tres primeros ...
Article
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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)
This paper presents a software architecture for Unmanned aerial system Traffic Management (UTM). The work is framed within ...
PhD Thesis
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Modelling And Control Of Aerial Manipulators Considering Aerodynamic Effects

Sánchez Cuevas, Pedro Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2020)
The interest of the research community in Unmanned Aerial Vehicles (UAVs) has signi cantly grown in the last decade. ...
Article
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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)
For the Remotely Piloted Aircraft Systems (RPAS) market to continue its current growth rate, cost-effective ‘Detect and ...
Article
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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)
This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the ...
Article
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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)
This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection ...
Article
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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)
This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated ...
Article
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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 Fernández, Jesús; Ollero Baturone, Aníbal (SAGE, 2020)
This article presents a software layer to abstract users of unmanned aerial vehicles from the specific hardware of the ...
PhD Thesis
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Autonomous landing of fixed-wing aircraft on mobile platforms

Muskardin, Tin; Ollero Baturone, Aníbal (2020)
E n esta tesis se propone un nuevo sistema que permite la operación de aeronaves autónomas sin tren de aterrizaje. El ...
Article
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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)
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.
Article
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Grasp Planning and Visual Servoing for an Outdoors Aerial Dual Manipulator

Ramón Soria, Pablo; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (Elsevier, 2020)
This paper describes a system for grasping known objects with unmanned aerial vehicles (UAVs) provided with dual manipulators ...
PhD Thesis
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Accurate navigation applied to landing maneuvers on mobile platforms for unmanned aerial vehicles

Alarcón Romero, Francisco; Ollero Baturone, Aníbal; Viguria Jiménez, Luis Antidio (2020)
Drones are quickly developing worldwide and in Europe in particular. They represent the future of a high percentage of ...
Article
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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)
This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring ...
Article
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An aerodynamic extension for motion planning with dynamics awareness in aerial long-reach manipulators

Caballero Gómez, Álvaro; Sánchez Cuevas, Pedro Jesús; Béjar Domínguez, Manuel; Heredia Benot, Guillermo; Trujillo, Miguel Ángel; Ollero Baturone, Aníbal (Hindawi Publishing Corporation, 2020)
This paper presents a novel method for motion planning of aerial long-reach manipulators that considers the aerodynamic ...
Article
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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)
A redundant fast prototyping autopilot solution for unmanned aerial systems has been developed and successfully tested ...
Article
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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)
The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a ...
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)
This paper presents a three-dimensional path follower implementation for an aerial robot based on the carrot-chasing ...
Final Degree Project
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Sistema de coordinación y control de múltiples vehículos aéreos no tripulados en testbed de interiores

Zahínos Marín, Raúl; Ollero Baturone, Aníbal (2020)
En este trabajo se ha llevado a cabo la puesta en marcha de un sistema que permite volar simultáneamente un elevado número ...
Article
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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)
A safe integration of drones into the airspace is fundamental to unblock the potential of drone applications. U-space is ...
Article
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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)
Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. ...
Article
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Autonomous execution of cinematographic shots with multiple drones

Alcántara Marín, Alfonso; Capitán Fernández, Jesús; Torres González, Arturo Eugenio; Cunha, Rita; Ollero Baturone, Aníbal (IEEE, 2020)
This paper presents a system for the execution of autonomous cinematography missions with a team of drones. The system ...
Article
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Hecatonquiros: Open-source hardware for aerial manipulation applications

Pérez Jiménez, Mario de Jesús; Ramón Soria, Pablo; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (SAGE, 2020)
This article presents Hecatonquiros, a complete open-source ecosystem for low cost and lightweight robotic manip ulators. ...
Article
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Aerial manipulator with rolling base for inspection of pipe arrays

Suárez Fernández-Miranda, Alejandro; Caballero Gómez, Álvaro; Garófano Soldado, Ambar; Sánchez Cuevas, Pedro Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (IEEE, 2020)
This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of ...
PhD Thesis
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Aerial robots for robust contact inspection an manipulation

Trujillo Soto, Miguel Ángel; Ollero Baturone, Aníbal; Viguria Jiménez, Luis Antidio (2019)
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

Jiménez Cano, Antonio Enrique; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2019)
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)
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

Muñoz Morera, Jorge Juan; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2019)
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

Ramón Soria, Pablo; Ollero Baturone, Aníbal; Arrue Ullés, Begoña C. (2019)
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)
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)
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.

Suárez Fernández-Miranda, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2019)
The aerial manipulation is a research field which proposes the integration of robotic manipulators in aerial platforms, ...
Presentation
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Generación eficiente de mosaicos para inspección de infraestructuras lineales mediante robots aéreos

Tapia López, Raúl; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Calvo Rolle, José Luis; Casteleiro-Roca, José-Luis; Fernández Ibáñez, María Isabel (Universidade da Coruña, 2019)
Este artículo presenta un método de generación de mosaicos mediante imágenes tomadas por robots aéreos para aplicaciones ...
Master's Final Project
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Efficient robot cooperation using MTSP

Caballero Rodríguez, Jesús; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (2019)
El objetivo principal de este trabajo consiste en implementar una solución del denominado Problema del Viajero (TSP) en ...
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)
The Al-Robotics team was selected as one of the 25 finalist teams out of 143 applications received to participate in the ...
Final Degree Project
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Diseño de mecanismo de batimiento y semiplegado de las alas de un ornitóptero

Guzmán García, María del Mar; Ollero Baturone, Aníbal (2019)
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

Orta Hernández, Manuel; Ollero Baturone, Aníbal (2019)
Los manipuladores aéreos son vehículos aéreos no tripulados dotados de capacidad de manipulación gracias al acoplamiento ...
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

Castillejo Calle, Alejandro; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2019)
Este documento presenta una solución diseñada para inspección de plantas solares fotovoltáicas con una flota de multiples ...
Final Degree Project
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Diseño de mecanismo de batimiento y variación del ángulo de ataque de las alas de un ornitóptero.

Carrasco Teruel, Silvia; Ollero Baturone, Aníbal (2019)
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

Millán Romera, José Andrés; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2019)
The first part of this dissertation presents ROS-MAGNA, a general framework for the definition and management of cooperative ...
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)
This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical ...
Article
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The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

Ollero Baturone, Aníbal; Heredia Benot, Guillermo; Franchi, Antonio; Martínez de Dios, José Ramiro; Rodríguez Castaño, Ángel (IEEE, 2018)
T his article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual ...
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)
The use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, ...
PhD Thesis
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Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.

Balampanis, Fotios; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2018)
This Thesis focuses on a high-level framework proposal for heterogeneous aerial, fixed wing teams of robots, which operate ...
PhD Thesis
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UAS planning and trajectory generation for safe and long-duration oceanic and coastal missions.

Rodríguez Salazar, Leopoldo; Cobano Suárez, José Antonio; Ollero Baturone, Aníbal (2018)
La presente tesis doctoral, muestra el diseño de un sistema para la extensión de la duración de vuelo de sistemas autónomos ...
Article
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An efficient approach for undelayed range-only SLAM based on Gaussian mixtures expectation

Fabresse, Felipe Ramón; Caballero Benítez, Fernando; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (Elsevier, 2018)
This paper deals with range-only simultaneous localization and mapping (RO-SLAM), which is of particular interest in aerial ...
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)
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial ...
Article
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Design of a lightweight dual arm system for aerial manipulation

Suárez Fernández-Miranda, Alejandro; Jiménez Cano, Antonio Enrique; Vega, Víctor Manuel; Heredia Benot, Guillermo; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal (Elsevier, 2018)
This paper presents the development and experimental validation of a low weight and inertia, human-size and highly dexterous ...
Article
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Range-only SLAM for robot-sensor network cooperation

Torres González, Arturo Eugenio; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (Springer, 2018)
This work is motivated by schemes of robot-sensor network cooperation where sensor nodes—beacons—are used as landmarks for ...
Patent. Invention
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Aeronave con dispositivo de contacto

Trujillo Soto, Miguel Ángel; Viguria Jiménez, Antidio; Márquez Font, José Carlos; Petrus Moreno, Ángel Luis; Jiménez Bellido, Antonio; García Freire, Juan Jesús; Ollero Baturone, Aníbal (Oficina Española de Patentes y Marcas (OEPM), 2018)
Aeronave con dispositivo de contacto. Aeronave con capacidad de vuelto estacionario y con dispositivo de contacto. Comprende ...
Final Degree Project
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Implementación y análisis de algoritmos de planificación de caminos. Aplicación a sistemas aéreos no tripulados.

Tretiyakov, Nikita; Ollero Baturone, Aníbal (2018)
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

Pérez García, Manuel; Ollero Baturone, Aníbal; Suárez Fernández-Miranda, Alejandro (2018)
Este documento recoge el análisis, desarrollo y evaluación experimental de posibles soluciones para la medida de deflexión ...
Final Degree Project
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Diseño e implementación de un sistema para la interoperabilidad de dispositivos LonWorks, BACnet y ModBus

Ladrón de Guevara Pérez, Juan Diego; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2018)
En cualquier instalación de edificios o viviendas de nuestra época, una parte avanzada y novedosa para el usuario final, ...
Article
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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)
This work addresses the combination of a symbolic hierarchical task network planner and a constraint satisfaction solver ...
Final Degree Project
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Modelado y control de un hexarotor de hélices no coplanarias

González Morgado, Antonio; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2018)
El objetivo principal de este trabajo fin de grado es el estudio de la configuración de rotores inclinados en un hexarotor, ...
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)
This paper considers the problem of fault detection and identification (FDI) in applications carried out by a group of ...
Final Degree Project
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Application of neural networks to the collision avoidance problem in 2D based on the TensorFlow library

Fernández Niederacher, Rebeca; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2018)
The objective of this paper is the learning and initiation into the world of neural networks using the Google tool, ...
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)
Human activities in maintenance of industrial plants pose elevated risks as well as significant costs due to the required ...
Final Degree Project
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Diseño e implementación de un sistema para la interoperabilidad de dispositivos LonWorks, BACnet y ModBus

Ladrón de Guevara Pérez, Juan Diego; Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2018)
En cualquier instalación de edificios o viviendas de nuestra época, una parte avanzada y novedosa para el usuario final, ...
Article
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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)
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)
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)
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

Fabresse, Felipe Ramón; Ollero Baturone, Aníbal; Caballero Benítez, Fernando (2017)
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

Pérez Grau, Francisco Javier; Ollero Baturone, Aníbal; Caballero Benítez, Fernando (2017)
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)
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)
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)
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

Torres González, Arturo Eugenio; Ollero Baturone, Aníbal; Martínez de Dios, José Ramiro (2017)
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)
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

Suárez Fernández-Miranda, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; López García, Hilario (Servicio de Publicaciones de la Universidad de Oviedo, 2017)
Este artículo presenta el primer robot manipulador aéreo con dos brazos antropomórficos diseñado para aplicarse en tareas ...
Article
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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)
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

Sandino Velásquez, Luis Alberto; Béjar Domínguez, Manuel; Ollero Baturone, Aníbal (2016)
En los últimos años se ha incrementado notablemente la investigación con sistemas de aeronaves no tripuladas (UAS por sus ...
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)
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. ...
Master's Final Project
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Simulación de vuelo de múltiples UAVs de ala fija

Lobit Cerrato, Alberto; Ollero Baturone, Aníbal (2016)
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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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)
This paper presents a reactive method for collision avoidance with multiple aerial vehicles that has been applied in real ...
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)
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)
This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method ...
Article
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High-speed autonomous navigation system for heavy vehicles

Rodríguez Castaño, Ángel; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (Elsevier, 2016)
This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has ...
Final Degree Project
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Generación de trayectorias en tiempo real a partir de diagramas de Voronoi

Moya Carrasco, Ángel; Cobano Suárez, José Antonio; Ollero Baturone, Aníbal (2016)
Este trabajo aborda el problema de planificación local de trayectorias en entornos desconocidos. Para ello se utilizan ...
PhD Thesis
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Coordination on Systems of Multiple UAVs

Alejo Teissière, David; Ollero Baturone, Aníbal; Heredia Benot, Guillermo (2015)
Esta tesis trata acerca de métodos para coordinar las trayectorias de un sistema de Vehículos Aéreos no Tripulados y ...
Patent. Invention
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Sistema de compensación de desplazamiento del centro de gravedad por manipulación de cargas para sistema aéreo no tripulado equipado con brazo robótico

Martín Sánchez, Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Cano Bazaga, Raúl; Espín García, Álvaro; Pérez Martínez, Carlos (Oficina Española de Patentes y Marcas (OEPM), 2015)
Sistema de compensación de desplazamiento del centro de gravedad por manipulación de cargas para sistema aéreo no tripulado, ...
Patent. Invention
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Sistema de control de aeronaves no tripuladas de ala rotatoria para aterrizaje vertical en superficies móviles mediante pre-alimentación de fuerzas en el sistema de control

Kondak, Konstantin; Béjar Domínguez, Manuel; Ollero Baturone, Aníbal; Sandino Velásquez, Luis Alberto; Santamaría Rubio, Daniel; Jiménez Bellido, Antonio; Alarcón Romero, Francisco; Viguria Jiménez, Luis Antidio; Albo Sánchez-Bedoya, Carlos; Anderson Bell Seiler, Allan; Gil Montaño, Pablo; Santos Trigo, Silvia de los (Oficina Española de Patentes y Marcas (OEPM), 2015)
Mejora del sistema de control para el aterrizaje de una aeronave VTOL no tripulada sobre una plataforma móvil, consistente ...
PhD Thesis
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Trajectory planning based on collocation methods for multiple aerial and ground autonomous vehicles

Vera Rendón, Santiago; Heredia Benot, Guillermo; Ollero Baturone, Aníbal (2015)
Esta tesis doctorar presenta una serie de contribuciones en los métodos de coordinación y generación de trayectorias de ...
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)
This paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe ...
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)
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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Generación de caminos para un multi-rotor con brazo manipulador mediante el uso de planificadores RRT

Márquez Bonilla, Francisco José; Ollero Baturone, Aníbal; Maza Alcañiz, Iván (2015)
Final Degree Project
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Métodos reactivos basados en campos potenciales para UAVs

Mera Prieto, Carmen; Ollero Baturone, Aníbal; Cobano Suárez, José Antonio (2015)
Este trabajo presenta un método reactivo para evitar colisiones de vehículos aéreos no tripulados (Unmanned Aerial Vehicles, ...
PhD Thesis
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Cooperation of multiple heterogeneous aerial robots in surveillance missions

Acevedo Báñez, José Joaquín; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal (2014)
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

San Bernabé Clemente, Alberto de; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (2014)
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)
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)
La escasez de herramientas experimentales adecuadas ha sido señalada como un factor crítico en el desarrollo de la robótica ...
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)
Los helicópteros son conocidos por sus capacidades de vuelo estacionario (maniobra conocida como hovering), despegue ...
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)
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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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)
This paper describes a WSN tool to increase safety in urban and industrial fire-fighting activities. Unlike most approaches, ...
Patent. Invention
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Equipo de obtención de información en obras e infraestructuras basado en un vehículo aéreo no tripulado

Ollero Baturone, Aníbal; Ferruz Melero, Joaquín; Cabalero Benítez, Fernando; Merino Cabañas, Luis; Peña Ortiz, Nicolás; Maza Alcañiz, Iván; Martínez de Dios, José Ramiro (Oficina Española de Patentes y Marcas (OEPM), 2012)
Equipo de obtención de información en obras e infraestructuras basado en vehículo aéreo no tripulado, (UAV) que comprende, ...
Career Final Project
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Sistema LIDAR integrado en un UAV para la generación de Modelos Digitales del Terreno

Sánchez García, Jesús; Ollero Baturone, Aníbal (2012)
Article
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Proyecto AWARE. Integración de Vehículos Aéreos no Tripulados con Redes Inalámbricas de Sensores y Actuadores

Ollero Baturone, Aníbal; Maza Alcañiz, Iván; Rodríguez Castaño, Ángel; Martínez de Dios, José Ramiro; Caballero Benítez, Fernando; Capitán Fernández, Jesús; Ollero Baturone, Aníbal (Elsevier, 2012)
En este artículo se resumen los resultados obtenidos en el proyecto AWARE coordinado por el Grupo de Robótica Visión ...
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)
Using aerial robots in area coverage applications is an emerging topic. These applications need a coverage path planning ...
Article
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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)
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

Capitán Fernández, Jesús; Ollero Baturone, Aníbal; Merino Cabañas, Luis (2011)
La Tesis se centra en el estudio de técnicas de percepción cooperativa para equipos de múltiples robots. En nuestros días, ...
PhD Thesis
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Decentralized cooperation for active perception with multiple robots

Capitán Fernández, Jesús; Merino Cabañas, Luis; Ollero Baturone, Aníbal (2011)
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)
Reliability is a critical issue in navigation of unmanned aerial vehicles UAVs since there is no human pilot that can ...
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)
This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and ...
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)
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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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)
The Helicopter Adaptive Aircraft (HADA) is a morphing aircraft which is able to take-off as a helicopter and, when in ...
PhD Thesis
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Distributed architecture for the cooperation of multiple unmanned aerial vehicles in civil applications

Maza Alcañiz, Iván; Ollero Baturone, Aníbal (2010)
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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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)
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

Viguria Jiménez, Luis Antidio; Ollero Baturone, Aníbal (2009)
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)
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

Béjar Domínguez, Manuel; Ollero Baturone, Aníbal (2009)
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)
Este artículo presenta un método de resolución de colisiones entre múltiples UAVs que comparten el espacio aéreo con ...
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)
This paper presents computer vision techniques for forest fire perception involving measurement of forest fire properties ...
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)
Este artículo presenta una revisión del estado de la técnica del modelado y control de helicópteros autónomos que incluye ...
PhD Thesis
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Estimación de posición y control de vehículos autónomos a elevada velocidad

Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal; Vinagre Jara, Blas Manuel (2007)
El objetivo global de esta tesis es el diseño y desarrollo de algoritmos para el guiado autónomo de vehículos convencionales; ...
PhD Thesis
PhD Thesis
Article
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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)
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)
PhD Thesis
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)
This paper describes the design and implementation of a fuzzy controller for autonomous mobile robots. The tool Xfuzzy ...
PhD Thesis
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Detección y monitorización en entornos exteriores no estructurados empleando imágenes de infrarrojos. Aplicación a los incendios forestales

Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal (2001)
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)
This paper presents an autonomous vehicle position estimation system based on GPS, that uses a fuzzy sensor fusion technique. ...
PhD Thesis