Por motivos de mantenimiento se ha deshabilitado el inicio de sesión temporalmente. Rogamos disculpen las molestias.
Author profile: Ollero Baturone, Aníbal
Institutional data
Name | Ollero Baturone, Aníbal |
Department | Ingeniería de Sistemas y Automática |
Knowledge area | Ingeniería de Sistemas y Automática |
Professional category | Profesor Emérito |
Request | |
Statistics
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No. publications
206
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No. visits
29990
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No. downloads
48589
Publications |
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PhD Thesis
Strengthening robot perception in information-degraded environments for aerial inspection and maintenance
(2024)
Esta Tesis Doctoral aborda el diseño, desarrollo y validación experimental de diferentes métodos para reforzar la percepción ... |
Article
Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems
(Elsevier, 2024)
This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended ... |
Article
Free-floating space manipulator impacting a floating object: Modeling and output SDRE controller design
(Elsevier, 2024)
This work investigates the dynamics modeling, control, and impact resolution between a floating object and a free-floating ... |
Article
Finite-time state-dependent Riccati equation regulation of anthropomorphic dual-arm space manipulator system in free-flying conditions
(Elsevier, 2024)
This paper introduces a novel approach for regulating the pose of a free-flying dual-arm anthropomorphic space manipulator ... |
Final Degree Project
Implementación en Arquitectura Heterogé Formato de Publicación de la Escuela Técnica Superior de Ingeniería nea de Sistema de Procesamiento para Cáma ras de Eventos
(2024)
Eltrabajo que aquí se presenta está asociado a una beca de colaboración ofrecida por el Minis terio de Educación, Formación ... |
Article
Controlled Shaking of Trees With an Aerial Manipulator
(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
Ultra-lightweight anthropomorphic dual-arm rolling robot for dexterous manipulation tasks on linear infrastructures: A self-stabilizing system
(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
Developing Soft Bio-Inspired Cooperation Methods and Mechanisms for Flapping Wings Aerial Robots (FWAR)
(2023)
Esta tesis doctoral contribuye al estado actual de la robótica aérea desarrollando sistemas bioinspirados que permiten ... |
Article
Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation
(MDPI, 2023)
The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment ... |
Article
Benchmark Evaluation of Hybrid Fixed-Flapping Wing Aerial Robot with Autopilot Architecture for Autonomous Outdoor Flight Operations
(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
Event-based Perception for Aerial Robots: From Multirotors to Ornithopters
(2023)
This Ph.D. Thesis aims at contributing to the robot perception community by exploring the advantages of event cameras for ... |
Article
UAV fully-actuated modelo, control y comparación con configuración coplanaria
(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
Optimal elastic wing for flapping-wing robots through passive morphing
(IEEE, 2023)
Flapping wing robots show promise as platforms for safe and efficient flight in near-human operations, thanks to their ... |
PhD Thesis
Contributions to deconfliction advanced U-space services for multiple unmanned aerial systems including field tests validation
(2023)
Unmanned Aerial Systems (UAS) will become commonplace, the number of UAS flying in European airspace is expected to increase ... |
Presentation
A proportional closed-loop control for equivalent vertical dynamics of flapping-wing flying robot
(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
Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment
(Elsevier, 2023)
The flapping-wing technology has emerged recently in the application of unmanned aerial robotics for autonomous flight, ... |
Article
A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system
(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
Planificación de caminos para sistemas multi- UAV en aplicaciones de inspección y mantenimiento
(2023)
Dentro de la robótica actual, muchas líneas de investigación tienden al trabajo coordinado de sistemas autónomos multi-UAV ... |
Master's Final Project
Herramienta de gestión para sistemas de inspección basados en múltiples drones
(2023)
El uso de múltiples vehículos aéreos no tripulados (UAVs por las siglas en inglés de Unmanned Aerial Vehicles) en tareas ... |
Presentation
Constrained design optimization of a long-reach dual-arm aerial manipulator for maintenance tasks
(IEEE, 2023)
Motivated by the convenience of improving the performance of long-reach aerial manipulators in the realization of maintenance ... |
Article
Unsteady Propulsion of a Two-Dimensional Flapping Thin Airfoil in a Pulsating Stream
(AIAA International, 2023)
The cruising velocity of animals, or robotic vehicles, that use flapping wings or fins to propel themselves is not constant ... |
Presentation
Equivalent Vertical Dynamics of Flapping-Wing Flying Robot in Regulation Control: Displacement Transmissibility Ratio
(IEEE, 2023)
This paper presents an equivalent dynamic model for vertical regulation control of a flapping-wing flying robot. The model ... |
Final Degree Project
Sensorización y Control de Maniobras en Ornitópteros
(2023)
Este trabajo se dedica a los robots aéreos bioinspirados, u ornitópteros, desarrollando sus ventajas tecnológicas frente ... |
Presentation
Benchmark on real-time long-range aircraft detection for safe RPAS operations
(Springer, 2023)
The growing market in Remotely Piloted Aircraft Systems (RPAS) and the need for cost-effective “Detect and Avoid (DAA)” ... |
Presentation
Modeling and under-actuated control of stabilization before take-off phase for flapping-wing robots
(Springer, 2023)
This work studies a stabilization problem of flapping-wing flying robots (FWFRs) before a take-off phase while a robot is ... |
Article
ASAP: adaptive transmission scheme for online processing of event-based algorithms
(Springer, 2022)
Online event-based perception techniques on board robots navigating in complex, unstructured, and dynamic environments can ... |
Article
A search algorithm for constrained engineering optimization and tuning the gains of controllers
(Elsevier, 2022)
In this work, the application of an optimization algorithm is investigated to optimize static and dynamic engineering ... |
PhD Thesis
Motion planning with dynamics and environment awareness for aerial robotic manipulation in inspection and maintenance
(2022)
Unmanned Aerial Vehicles (UAVs) endowed with robotic manipulation capabilities, also known as Aerial Robotic Manipulators ... |
Article
Aeroelastics-aware compensation system for soft aerial vehicle stabilization
(Frontiers, 2022)
This paper describes a compensation system for soft aerial vehicle stabilization. Balancing the arms is one of the main ... |
Article
Simplified Model for Forward-Flight Transitions of a Bio-Inspired Unmanned Aerial Vehicle
(MDPI, 2022)
A new forward-flight model for bird-like ornithopters is presented. The flight dynamics model uses results from potential, ... |
Article
SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment
(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
Design of a Wireless Drone Recharging Station and a Special Robot End Effector for Installation on a Power Line
(IEEE, 2022)
Drone autonomous operations near power lines are growing steadily and require innovative techniques to keep them on air. ... |
Article
Development of a Fixed-Wing Drone System for Aerial Insect Sampling
(MDPI, 2022)
Most current insect research techniques are ground-based and provide scarce information about flying insects in the planetary ... |
Article
Threat Management Methodology for Unmanned Aerial Systems operating in the U-space
(IEEE, 2022)
This paper presents a threat management methodology for Unmanned Aircraft Systems (UAS) operating in the civil airspace. ... |
Article
Numerical-experimental evaluation and modelling of aerodynamic ground effect for small-scale tilted propellers at low Reynolds numbers
(Elsevier, 2022)
In recent years, aerial manipulators with fully-actuated capabilities are gaining popularity for being used in aerial ... |
Article
A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
(IEEE, 2022)
The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence ... |
Article
Free as a Bird: Event-Based Dynamic Sense-and-Avoid for Ornithopter Robot Flight
(IEEE, 2022)
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid ... |
Article
Perception-Aware Perching on Powerlines with Multirotors
(IEEE, 2022)
Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection ... |
Article
A Lightweight Beak-Like Sensing System for Grasping Tasks of Flapping Aerial Robots
(IEEE, 2022)
Many sensor systems in robotics are bio-inspired by similar mechanisms in living creatures. Birds frequently use their ... |
Patent. Invention
Tren de aterrizaje acoplable a una estructura de un dron
(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
Aerodynamic reduced-order Volterra model of an ornithopter under high-amplitude flapping
(Elsevier, 2022)
The unsteady aerodynamics of flapping low-aspect-ratio ellipsoidal-wings in ornithopters is analyzed and modeled by the ... |
Final Degree Project
Ampliación de la máquina de estados usada en un sistema de navegación autónoma para RPAS
(2022)
La fundación FADA-CATEC desarrolló en 2020 un framework para la creación y ejecución de misiones de seguimiento de waypoints ... |
Article
Gravity compensation and optimal control of actuated multibody system dynamics
(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
Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight
(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
Estudio, optimización y comparativa de algoritmos de procesamiento de nubes de puntos para detección de obstáculos desde UAVs
(2022)
Este trabajo va a tratar sobre el estudio de varias librerías de procesamiento de nubes de puntos y el desarrollo de ... |
Article
How ornithopters can perch autonomously on a branch
(Nature Publishing Group, 2022)
Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, ... |
Article
Kinodynamic planning for an energy-efficient autonomous ornithopter
(Elsevier Ltd, 2022)
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, ... |
Final Degree Project
Desarrollo de una aplicación de posicionamiento GNSS para su integración en UAVs
(2022)
Los drones se encuentran cada vez más integrados en la vida diaria de las personas. Desde usos industriales como la ... |
Final Degree Project
Task management for aerial robots in missions with physical interaction with the environment
(2022)
Este trabajo de fin de grado se enmarca en el proyecto del programa europeo Horizons 2020, PILOTING, el cual está enfocado ... |
Presentation
UAV fully-actuated: modelo, control y comparación con configuración coplanaria
(Comité Español de Automática, 2022)
Con el desarrollo de la robótica aérea han aparecido nuevas plataformas de multirotores de actuación completa (fully-actuated ... |
Article
A PD-type state-dependent Riccati equation with iterative learning augmentation for mechanical systems
(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
Release of Sterile Mosquitoes with Drones in Urban and Rural Environments under the European Drone Regulation
(MDPI, 2021)
In recent years, several countries have developed the use of sterile insect techniques (SIT) to fight against mosquitoes ... |
Article
Autonomous UAV System for Cleaning Insulators in Power Line Inspection and Maintenance
(MDPI, 2021)
The inspection and maintenance tasks of electrical installations are very demanding. Nowadays, insulator cleaning is carried ... |
Article
Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
(MDPI, 2021)
This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure ... |
Article
Aerial Robotic Solution for Detailed Inspection of Viaducts
(MDPI, 2021)
The inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the ... |
Article
Integration of a 4D-trajectory Follower to Improve Multi-UAV Conflict Management Within the U-Space Context
(Springer Nature, 2021)
A safe integration of UAVs into the airspace is fundamental to unblock all the potential of drone applications. U-space ... |
Article
Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs
(MDPI, 2021)
This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe ... |
PhD Thesis
Nonlinear Control Strategies for Outdoor Aerial Manipulators
(2021)
In this thesis, the design, validation and implementation of nonlinear control strategies for aerial manipulators {i.e. ... |
Article
Bio-Inspired Morphing Tail for Flapping-Wings Aerial Robots Using Macro Fiber Composites
(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
Cartesian Aerial Manipulator with Compliant Arm
(MDPI, 2021)
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) ... |
Presentation
Winged Aerial Robot: Modular Design Approach
(IEEE, 2021)
This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built ... |
Article
Design of the High-Payload Flapping Wing Robot E-Flap
(2021)
Autonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying ... |
Presentation
Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach
(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
Multi-rotor con cable de unión a un robot terrestre
(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
Safe local aerial manipulation for the installation of devices on power lines: Aerial-core first year results and designs
(MDPI AG, 2021)
The power grid is an essential infrastructure in any country, comprising thousands of kilometers of power lines that require ... |
Presentation
Analysis of Forces Involved in the Perching Maneuver of Flapping-Wing Aerial Systems and Development of an Ultra-Lightweight Perching System
(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
Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction
(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
Design, Integration and Testing of Compliant Gripper for the Installation of Helical Bird Diverters on Power Lines
(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
The GRIFFIN perception dataset: Bridging the gap between flapping-wing flight and robotic perception
(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
UAV human teleoperation using event-based and frame-based cameras
(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
Design and comparison of tails for bird-scale flapping-wing robots
(IEEE, 2021)
Flapping-wing robots (so-called ornithopters) are a promising type of platform to perform efficient winged flight and ... |
Article
A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites
(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
Modelado de consumo energético en vehículos aéreos no tripulados de ala rotatoria
(2021)
El objetivo de este trabajo consiste en modelar el consumo energético de un vehículo aéreo no tripulado (UAV) de tipo ... |
Article
Past, Present, and Future of Aerial Robotic Manipulators
(IEEE, 2021)
This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional ... |
Presentation
Why fly blind? Event-based visual guidance for ornithopter robot flight
(IEEE, 2021)
The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to ... |
Article
Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation
(MDPI AG, 2021)
This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird ... |
Article
Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles
(Elsevier B.V., 2021)
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing ... |
Presentation
Event-based human intrusion detection in UAS using Deep Learning
(Institute of Electrical and Electronics Engineers Inc., 2021)
Automatic intrusion detection in unstructured and complex environments using autonomous Unmanned Aerial Systems (UAS) poses ... |
Article
Introducing autonomous aerial robots in industrial manufacturing
(Elsevier B.V., 2021)
Although ground robots have been successfully used for many years in manufacturing, the capability of aerial robots to ... |
Presentation
Experimental Evaluation of Aerial Manipulation Robot for the Installation of Clip Type Bird Diverters: Outdoor Flight Tests
(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
Sistema de navegación de robot aéreo y visualización en la estación en tierra
(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
Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations
(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
Auto-tuned event-based perception scheme for intrusion monitoring with UAS
(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
Asistencia sanitaria con RPAS controlado a través de la red 5G
(2021)
Las personas que sufren una parada cardíaca tienen un 70% más de posibilidad de vivir si son atendidas en los tres primeros ... |
Article
Unmanned Aerial Traffic Management System Architecture for U-Space In-Flight Services
(MDPI, 2021)
This paper presents a software architecture for Unmanned aerial system Traffic Management (UTM). The work is framed within ... |
PhD Thesis
Modelling And Control Of Aerial Manipulators Considering Aerodynamic Effects
(2020)
The interest of the research community in Unmanned Aerial Vehicles (UAVs) has signi cantly grown in the last decade. ... |
Article
Audio-Based Aircraft Detection System for Safe RPAS BVLOS Operations
(MDPI, 2020)
For the Remotely Piloted Aircraft Systems (RPAS) market to continue its current growth rate, cost-effective ‘Detect and ... |
Article
Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
(MDPI, 2020)
This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the ... |
Article
Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
(MDPI, 2020)
This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection ... |
Article
Winged Aerial Manipulation Robot with Dual Arm and Tail
(MDPI, 2020)
This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated ... |
Article
Unmanned aerial vehicle abstraction layer: An abstraction layer to operate unmanned aerial vehicles
(SAGE, 2020)
This article presents a software layer to abstract users of unmanned aerial vehicles from the specific hardware of the ... |
PhD Thesis
Autonomous landing of fixed-wing aircraft on mobile platforms
(2020)
E n esta tesis se propone un nuevo sistema que permite la operación de aeronaves autónomas sin tren de aterrizaje. El ... |
Article
Director Tools for Autonomous Media Production with a Team of Drones
(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
Grasp Planning and Visual Servoing for an Outdoors Aerial Dual Manipulator
(Elsevier, 2020)
This paper describes a system for grasping known objects with unmanned aerial vehicles (UAVs) provided with dual manipulators ... |
PhD Thesis
Accurate navigation applied to landing maneuvers on mobile platforms for unmanned aerial vehicles
(2020)
Drones are quickly developing worldwide and in Europe in particular. They represent the future of a high percentage of ... |
Article
An efficient distributed area division method for cooperative monitoring applications with multiple uavs
(MDPI, 2020)
This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring ... |
Article
An aerodynamic extension for motion planning with dynamics awareness in aerial long-reach manipulators
(Hindawi Publishing Corporation, 2020)
This paper presents a novel method for motion planning of aerial long-reach manipulators that considers the aerodynamic ... |
Article
High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems
(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
Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
(IEEE, 2020)
The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a ... |
Presentation
An aerial robot path follower based on the ’Carrot chasing’ algorithm
(Springer Verlag, 2020)
This paper presents a three-dimensional path follower implementation for an aerial robot based on the carrot-chasing ... |
Final Degree Project
Sistema de coordinación y control de múltiples vehículos aéreos no tripulados en testbed de interiores
(2020)
En este trabajo se ha llevado a cabo la puesta en marcha de un sistema que permite volar simultáneamente un elevado número ... |
Article
Procedures for the Integration of Drones into the Airspace Based on U-Space Services
(MDPI AG, 2020)
A safe integration of drones into the airspace is fundamental to unblock the potential of drone applications. U-space is ... |
Article
A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control
(MDPI AG, 2020)
Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. ... |
Article
Autonomous execution of cinematographic shots with multiple drones
(IEEE, 2020)
This paper presents a system for the execution of autonomous cinematography missions with a team of drones. The system ... |
Article
Hecatonquiros: Open-source hardware for aerial manipulation applications
(SAGE, 2020)
This article presents Hecatonquiros, a complete open-source ecosystem for low cost and lightweight robotic manip ulators. ... |
Article
Aerial manipulator with rolling base for inspection of pipe arrays
(IEEE, 2020)
This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of ... |
PhD Thesis
Aerial robots for robust contact inspection an manipulation
(2019)
Performing any type of manual work at height usually involves important risks for the personnel. Besides, these operations ... |
PhD Thesis
Modelling and control of aerial manipulators
(2019)
Hace unos años, dentro de la robótica aérea, surgió la manipulación aérea como campo de investigación. Desde su nacimiento, ... |
Presentation
Diseño y desarrollo de un robot aéreo para la inspección de colectores de saneamiento
(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
Architecture for planning and execution of missions with fleets of unmanned vehicles
(2019)
Esta tesis presenta contribuciones en el campo de la planificación automática y la programación de tareas, la rama de la ... |
PhD Thesis
Visual Perception System for Aerial Manipulation: Methods and Implementations
(2019)
La tecnología se evoluciona a gran velocidad y los sistemas autónomos están empezado a ser una realidad. Las compañías ... |
Article
Novel Aerial Manipulator for Accurate and Robust Industrial NDT Contact Inspection: A New Tool for the Oil and Gas Inspection Industry
(MDPI, 2019)
There is a strong demand in the oil and gas industry to develop alternatives to manual inspection. This paper presents ... |
Article
A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs
(MDPI, 2019)
This article presents a precise landing system that allows rotary-wing UAVs to approach and land safely on moving platforms, ... |
PhD Thesis
Compliant aerial manipulation.
(2019)
The aerial manipulation is a research field which proposes the integration of robotic manipulators in aerial platforms, ... |
Presentation
Generación eficiente de mosaicos para inspección de infraestructuras lineales mediante robots aéreos
(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
Efficient robot cooperation using MTSP
(2019)
El objetivo principal de este trabajo consiste en implementar una solución del denominado Problema del Viajero (TSP) en ... |
Article
Al-Robotics team: A cooperative multi-unmanned aerial vehicle approach for the Mohamed Bin Zayed International Robotic Challenge
(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
Diseño de mecanismo de batimiento y semiplegado de las alas de un ornitóptero
(2019)
En este proyecto se realiza el diseño de un ornitóptero que incluye un mecanismo que integra la capacidad del batimiento ... |
Final Degree Project
Modelado, control y simulación de manipuladores aéreos incluyendo modelos de sensores
(2019)
Los manipuladores aéreos son vehículos aéreos no tripulados dotados de capacidad de manipulación gracias al acoplamiento ... |
Master's Final Project
Diseño e implementación de un sistema para la gestión de una flota de drones para la inspección de plantas fotovoltaicas
(2019)
Este documento presenta una solución diseñada para inspección de plantas solares fotovoltáicas con una flota de multiples ... |
Final Degree Project
Diseño de mecanismo de batimiento y variación del ángulo de ataque de las alas de un ornitóptero.
(2019)
En este proyecto se realiza el diseño de un ornitóptero prestando especial atención al mecanismo que realiza el movimiento. ... |
Master's Final Project
Development of a ROS environment for researching machine learning techniques applied to drones
(2019)
The first part of this dissertation presents ROS-MAGNA, a general framework for the definition and management of cooperative ... |
Article
Robotic System for Inspection by Contact of Bridge Beams Using UAVs
(MDPI, 2019)
This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical ... |
Article
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
(IEEE, 2018)
T his article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual ... |
Article
Decentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environments
(2018)
The use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, ... |
PhD Thesis
Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.
(2018)
This Thesis focuses on a high-level framework proposal for heterogeneous aerial, fixed wing teams of robots, which operate ... |
PhD Thesis
UAS planning and trajectory generation for safe and long-duration oceanic and coastal missions.
(2018)
La presente tesis doctoral, muestra el diseño de un sistema para la extensión de la duración de vuelo de sistemas autónomos ... |
Article
An efficient approach for undelayed range-only SLAM based on Gaussian mixtures expectation
(Elsevier, 2018)
This paper deals with range-only simultaneous localization and mapping (RO-SLAM), which is of particular interest in aerial ... |
Article
Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
(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
Design of a lightweight dual arm system for aerial manipulation
(Elsevier, 2018)
This paper presents the development and experimental validation of a low weight and inertia, human-size and highly dexterous ... |
Article
Range-only SLAM for robot-sensor network cooperation
(Springer, 2018)
This work is motivated by schemes of robot-sensor network cooperation where sensor nodes—beacons—are used as landmarks for ... |
Patent. Invention
Aeronave con dispositivo de contacto
(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
Implementación y análisis de algoritmos de planificación de caminos. Aplicación a sistemas aéreos no tripulados.
(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
Evaluación experimental de sensores para la medida de deflexión articular
(2018)
Este documento recoge el análisis, desarrollo y evaluación experimental de posibles soluciones para la medida de deflexión ... |
Final Degree Project
Diseño e implementación de un sistema para la interoperabilidad de dispositivos LonWorks, BACnet y ModBus
(2018)
En cualquier instalación de edificios o viviendas de nuestra época, una parte avanzada y novedosa para el usuario final, ... |
Article
Combining a hierarchical task network planner with a constraint satisfaction solver for assembly operations involving routing problems in a multi-robot context
(SAGE Publications Inc., 2018)
This work addresses the combination of a symbolic hierarchical task network planner and a constraint satisfaction solver ... |
Final Degree Project
Modelado y control de un hexarotor de hélices no coplanarias
(2018)
El objetivo principal de este trabajo fin de grado es el estudio de la configuración de rotores inclinados en un hexarotor, ... |
Article
Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications
(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
Application of neural networks to the collision avoidance problem in 2D based on the TensorFlow library
(2018)
The objective of this paper is the learning and initiation into the world of neural networks using the Google tool, ... |
Article
Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms
(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
Diseño e implementación de un sistema para la interoperabilidad de dispositivos LonWorks, BACnet y ModBus
(2018)
En cualquier instalación de edificios o viviendas de nuestra época, una parte avanzada y novedosa para el usuario final, ... |
Article
Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation
(SAGE Publications, 2017)
This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in ... |
Article
On-Line RSSI-Range Model Learning for Target Localization and Tracking
(MDPI AG, 2017)
The interactions of Received Signal Strength Indicator (RSSI) with the environment are very difficult to be modeled, ... |
Article
Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control
(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
A multi-hypothesis approach for range-only simultaneous localization and mapping with aerial robots
(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
Localización a largo plazo de vehículos aéreos no tripulados basada en la percepción tridimensional del entorno
(2017)
Los vehículos aéreos no tripulados (UAVs por sus siglas en inglés, Unmanned Aerial Vehicles) se utilizan actualmente en ... |
Article
Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation
(MDPI, 2017)
This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only ... |
Article
Coastal Areas Division and Coverage with Multiple UAVs for Remote Sensing
(MDPI, 2017)
This paper tackles the problems of exact cell decomposition and partitioning of a coastal region for a team of heterogeneous ... |
Article
Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation
(MDPI, 2017)
The combination of remote sensing and sensor network technologies can provide unprecedented earth observation capabilities, ... |
PhD Thesis
Range-only SLAM schemes exploiting robot-sensor network cooperation
(2017)
Simultaneous localization and mapping (SLAM) is a key problem in robotics. A robot with no previous knowledge of the ... |
Article
Detection, location and grasping objects using a stereo sensor on UAV in outdoor environments
(MDPI, 2017)
The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real ... |
Presentation
Manipulador aéreo con brazos antropomórficos de articulaciones flexibles
(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
Small UAS-based wind feature identification system. Part 1: Integration and validation
(MDPI, 2016)
This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular ... |
PhD Thesis
Modeling and control techniques of autonomous helicopters for landing on moving platforms
(2016)
En los últimos años se ha incrementado notablemente la investigación con sistemas de aeronaves no tripuladas (UAS por sus ... |
Article
Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors
(MDPI, 2016)
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. ... |
Master's Final Project
Simulación de vuelo de múltiples UAVs de ala fija
(2016)
El objetivo de este Trabajo Fin de Máster es la simulación en el entorno de programación MATLAB® de distintos casos de ... |
Article
A reactive method for collision avoidance in industrial environments
(Springer Verlag, 2016)
This paper presents a reactive method for collision avoidance with multiple aerial vehicles that has been applied in real ... |
Presentation
Cooperative Sensor Fault Recovery in Multi-UAV Systems
(Elsevier, 2016)
This paper presents the design and experimental validation of a Fault Detection, Identification and Recovery (FDIR) system ... |
Article
Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
(Springer, 2016)
This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method ... |
Article
High-speed autonomous navigation system for heavy vehicles
(Elsevier, 2016)
This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has ... |
Final Degree Project
Generación de trayectorias en tiempo real a partir de diagramas de Voronoi
(2016)
Este trabajo aborda el problema de planificación local de trayectorias en entornos desconocidos. Para ello se utilizan ... |
PhD Thesis
Coordination on Systems of Multiple UAVs
(2015)
Esta tesis trata acerca de métodos para coordinar las trayectorias de un sistema de Vehículos Aéreos no Tripulados y ... |
Patent. Invention
Sistema de compensación de desplazamiento del centro de gravedad por manipulación de cargas para sistema aéreo no tripulado equipado con brazo robótico
(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
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
(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
Trajectory planning based on collocation methods for multiple aerial and ground autonomous vehicles
(2015)
Esta tesis doctorar presenta una serie de contribuciones en los métodos de coordinación y generación de trayectorias de ... |
Presentation
Safe Trajectory Planning for Multiple Aerial Vehicles with Segmentation-Adaptive Pseudospectral Collocation
(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
Ten years of cooperation between mobile robots and sensor networks
(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 |
Final Degree Project
Métodos reactivos basados en campos potenciales para UAVs
(2015)
Este trabajo presenta un método reactivo para evitar colisiones de vehículos aéreos no tripulados (Unmanned Aerial Vehicles, ... |
PhD Thesis
Cooperation of multiple heterogeneous aerial robots in surveillance missions
(2014)
Esta Tesis está dedicada al desarrollo de técnicas que permitan aplicar de forma eficiente un equipo de robots aéreos en ... |
PhD Thesis
Efficient information-driven localization and tracking in ubiquitous systems combining range and bearing sensors
(2014)
La localización es un problema crítico en la tecnología de sistemas de computación ubicua. Mientras que la localización ... |
Article
An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements
(MDPI, 2014)
This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks ... |
Article
Un Banco de Pruebas Remoto para Experimentación en Robótica Ubicua
(Elsevier, 2014)
La escasez de herramientas experimentales adecuadas ha sido señalada como un factor crítico en el desarrollo de la robótica ... |
Article
Modelado y control en vuelo estacionario de helicópteros autónomos con cable de fijación a tierra
(Elsevier, 2013)
Los helicópteros son conocidos por sus capacidades de vuelo estacionario (maniobra conocida como hovering), despegue ... |
Article
Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks
(2013)
This paper is devoted to the control of aerial robots interacting physically with objects in the environment and with other ... |
Article
A WSN-Based Tool for Urban and Industrial Fire-Fighting
(MDPI, 2012)
This paper describes a WSN tool to increase safety in urban and industrial fire-fighting activities. Unlike most approaches, ... |
Patent. Invention
Equipo de obtención de información en obras e infraestructuras basado en un vehículo aéreo no tripulado
(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 |
Article
Proyecto AWARE. Integración de Vehículos Aéreos no Tripulados con Redes Inalámbricas de Sensores y Actuadores
(Elsevier, 2012)
En este artículo se resumen los resultados obtenidos en el proyecto AWARE coordinado por el Grupo de Robótica Visión ... |
Article
Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints
(Vienna University of Technology, 2012)
Using aerial robots in area coverage applications is an emerging topic. These applications need a coverage path planning ... |
Article
An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors
(MDPI, 2011)
Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities ... |
PhD Thesis
Cooperación descentralizada para percepción activa con múltiples robots
(2011)
La Tesis se centra en el estudio de técnicas de percepción cooperativa para equipos de múltiples robots. En nuestros días, ... |
PhD Thesis
Decentralized cooperation for active perception with multiple robots
(2011)
La Tesis se centra en el estudio de técnicas de percepción cooperativa para equipos de múltiples robots. En nuestros días, ... |
Article
Detection of sensor faults in small helicopter UAVs using observer/Kalman filter identification
(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
Automatic Forest-Fire Measuring Using Ground Stations and Unmanned Aerial Systems
(MDPI, 2011)
This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and ... |
Article
Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas
(MDPI, 2010)
In this article we explain the architecture for the environment and sensors that has been built for the European project ... |
Article
Virtual Sensor for Failure Detection, Identification and Recovery in the Transition Phase of a Morphing Aircraft
(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
Distributed architecture for the cooperation of multiple unmanned aerial vehicles in civil applications
(2010)
La robótica aérea tiene un gran potencial para la realización de tareas como la adquisición de datos e imágenes en áreas ... |
Article
A Robust Head Tracking System Based on Monocular Vision and Planar Templates
(MDPI, 2009)
This paper details the implementation of a head tracking system suitable for its use in teleoperation stations or control ... |
PhD Thesis
Market-based distributed task allocation methodologies applied to multi-robot exploration
(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
Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors
(MDPI, 2009)
This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and ... |
PhD Thesis |
Article
Planificación de Trayectorias Libres de Colisión para Múltiples UAVs usando el Perfil de Velocidad
(Elsevier, 2009)
Este artículo presenta un método de resolución de colisiones entre múltiples UAVs que comparten el espacio aéreo con ... |
Article
Computer vision techniques for forest fire perception
(Elsevier, 2008)
This paper presents computer vision techniques for forest fire perception involving measurement of forest fire properties ... |
Article
Modelado y control de helicópteros autónomos: revisión del estado de la técnica
(Elsevier, 2008)
Este artículo presenta una revisión del estado de la técnica del modelado y control de helicópteros autónomos que incluye ... |
PhD Thesis
Estimación de posición y control de vehículos autónomos a elevada velocidad
(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
Planificación de trayectorias con el Algoritmo RRT. Aplicación a Robots no Holónomos
(Elsevier, 2006)
Dentro de los métodos de planifi cación de trayectorias ,las técnicas basadas en el algoritmo RRT (Rapidly Exploring Random ... |
Article
Automatic design of fuzzy controllers for car-like autonomous robots
(Institute of Electrical and Electronics Engineers, 2004)
|
PhD Thesis |
Presentation
Automatic design of fuzzy control systems for autonomous mobile robots
(2002)
This paper describes the design and implementation of a fuzzy controller for autonomous mobile robots. The tool Xfuzzy ... |
PhD Thesis
Detección y monitorización en entornos exteriores no estructurados empleando imágenes de infrarrojos. Aplicación a los incendios forestales
(2001)
Esta tesis aborda el problema de diseñar e implantar sistemas de detección y monitorización en entornos exteriores no ... |
PhD Thesis |
Article
Fuzzy path tracking and position estimation of autonomous vehicles using differential GPS
(2000)
This paper presents an autonomous vehicle position estimation system based on GPS, that uses a fuzzy sensor fusion technique. ... |
PhD Thesis |