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Artículo
Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
(MDPI, 2020-08)
This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves ...
Artículo
Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
(MDPI, 2021-09)
This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high ...
Artículo
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 time considering industrial environments. The proposed method is based on the 3D-Optimal Reciprocal ...
Artículo
Aerial Robotic Solution for Detailed Inspection of Viaducts
(MDPI, 2021-09)
The inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the heavy use of many of them. Current inspection techniques are very costly and manual, requiring ...
Artículo
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 wide variety of applications and scenarios that nowadays cannot be accessed easily by human operators. ...
Artículo
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 react to any abnormal situation. Due to size and cost limitations, redundant sensor schemes and ...
Artículo
Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control
(Hindawi, 2017-08)
This paper analyzes the ground effect in multirotors, that is, the change in the thrust generated by the rotors when flying close to the ground due to the interaction of the rotor airflow with the ground surface. This ...
Artículo
An efficient approach for undelayed range-only SLAM based on Gaussian mixtures expectation
(Elsevier, 2018-06)
This paper deals with range-only simultaneous localization and mapping (RO-SLAM), which is of particular interest in aerial robotics where low-weight range-only devices can provide a complementary continuous estimation ...
Artículo
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
(IEEE, 2018-12)
T his article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual arms and multidirectional thrusters—developed in the AEROARMS project for outdoor industrial inspection ...