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Artículo
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. This applies to rotary wing UAVs in particular, where their capability of hovering enables ...
Artículo
Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
(Institute of Electrical and Electronics Engineers Inc., 2018-05)
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a ...
Artículo
A WSN-Based Tool for Urban and Industrial Fire-Fighting
(MDPI, 2012-11-06)
This paper describes a WSN tool to increase safety in urban and industrial fire-fighting activities. Unlike most approaches, we assume that there is no preexisting WSN in the building, which involves interesting advantages ...
Artículo
Winged Aerial Manipulation Robot with Dual Arm and Tail
(MDPI, 2020-07)
This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety ...
Artículo
Range-only SLAM for robot-sensor network cooperation
(Springer, 2018-03)
This work is motivated by schemes of robot-sensor network cooperation where sensor nodes—beacons—are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). In most existing RO-SLAM techniques ...
Artículo
Small UAS-based wind feature identification system. Part 1: Integration and validation
(MDPI, 2016-12-23)
This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular interest in the context of energy-efficient navigation of Small UnmannedAerialSystems(UAS).Theproposed ...
Artículo
Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs
(MDPI, 2021-06)
This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow the aerial robot to perch and ...
Ponencia
ALADIN-Based Distributed Model Predictive Control with Dynamic Partitioning: An Application to Solar Parabolic Trough Plants
(IEEE (Institute of Electrical and Electronics Engineers), 2024-01)
This article presents a distributed model predictive controller with time-varying partitioning based on the augmented Lagrangian alternating direction inexact Newton method (ALADIN). In particular, we address the problem ...
Artículo
A Game Theoretical Randomized Method for Large-Scale Systems Partitioning
(IEEE, 2018)
In this paper, a game theory-based partitioning algorithm for large-scale systems (LSS) is proposed. More speci cally, a game over nodes is introduced in a model predictive control framework. The Shapley value of this ...
Artículo
Distributed Allocation and Scheduling of Tasks With Cross-Schedule Dependencies for Heterogeneous Multi-Robot Teams
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling ...