dc.creator | Pérez Grau, Francisco Javier | es |
dc.creator | Caballero Benítez, Fernando | es |
dc.creator | Viguria, Antidio | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2021-06-01T17:53:24Z | |
dc.date.available | 2021-06-01T17:53:24Z | |
dc.date.issued | 2017-09 | |
dc.identifier.citation | Pérez Grau, F.J., Caballero Benítez, F., Viguria, A. y Ollero Baturone, A. (2017). Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation. International Journal of Advanced Robotic Systems, 14 (5), 1-15. | |
dc.identifier.issn | EISSN: 1729-8814 | es |
dc.identifier.uri | https://hdl.handle.net/11441/111275 | |
dc.description.abstract | This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation
in indoor environments, which is suitable for aerial robots moving in a three-dimentional environment and makes use of a
combination of measurements from an Red,Green,Blue-Depth (RGB-D) sensor, distances to several radio-tags placed in
the environment, and an inertial measurement unit. The approach is demonstrated with an unmanned aerial vehicle flying
for 10 min indoors and validated with a very precise motion tracking system. The approach has been implemented using
the robot operating system framework and works smoothly on a regular i7 computer, leaving plenty of computational
capacity for other navigation tasks such as motion planning or control. | es |
dc.description.sponsorship | Unión Europea (EuRoC project - EU FP7 ) CPIP 608849 | es |
dc.description.sponsorship | Gobierno de España (OCELLIMAV project) TEC2014-61708-EXP | es |
dc.format | application/pdf | es |
dc.format.extent | 15 p. | es |
dc.language.iso | eng | es |
dc.publisher | SAGE Publications | es |
dc.relation.ispartof | International Journal of Advanced Robotic Systems, 14 (5), 1-15. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Aerial robotics | es |
dc.subject | Localization | es |
dc.subject | Autonomous vehicle navigation | es |
dc.title | Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | CPIP 608849 | es |
dc.relation.projectID | TEC2014-61708-EXP | es |
dc.relation.publisherversion | https://doi.org/10.1177/1729881417732757 | es |
dc.identifier.doi | 10.1177/1729881417732757 | es |
dc.journaltitle | International Journal of Advanced Robotic Systems | es |
dc.publication.volumen | 14 | es |
dc.publication.issue | 5 | es |
dc.publication.initialPage | 1 | es |
dc.publication.endPage | 15 | es |
dc.identifier.sisius | 21516565 | es |
dc.contributor.funder | European Union (UE). FP7 | es |
dc.contributor.funder | Gobierno de España | es |