dc.creator | Alejo Teissière, David | es |
dc.creator | Cobano Suárez, José Antonio | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2018-03-27T10:52:05Z | |
dc.date.available | 2018-03-27T10:52:05Z | |
dc.date.issued | 2016 | |
dc.identifier.citation | Alejo Teissière, D., Cobano Suárez, J.A., Heredia Benot, G. y Ollero Baturone, A. (2016). A reactive method for collision avoidance in industrial environments. Journal of Intelligent & Robotic Systems, 84 (1), 745-758. | |
dc.identifier.issn | 0921-0296 | es |
dc.identifier.uri | https://hdl.handle.net/11441/71336 | |
dc.description.abstract | 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 Collision Avoidance algorithm.
The main contribution of the proposed method is that
it takes into consideration 3D modeled static obstacles.
Therefore, it has been successfully applied in realistic
industrial environments with the presence of complex
static obstacles. Considerations of dynamic constraints
of the aerial vehicles have been added. The algorithm
has been integrated in ROS framework and tested in
simulation. Several simulations with up to eight aerial
vehicles have been performed, including long endurance
cooperative missions. Finally, the second main contri-
bution consists in the evaluation of several real ex-
periments with up to four aerial vehicles which have
been carried out in the testbed of the Center for Ad-
vanced Technologies (CATEC) facilities. The aerial ve-
hicles
ew in the presence of static obstacles and avoided
potential collisions by modifying the planned trajecto-
ries in real-time. | es |
dc.description.sponsorship | Comisión Europea P11-TIC-7066 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | Springer Verlag | es |
dc.relation.ispartof | Journal of Intelligent & Robotic Systems, 84 (1), 745-758. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Collision | es |
dc.subject | Avoidance | es |
dc.subject | Real time | es |
dc.title | A reactive method for collision avoidance in industrial environments | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | 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 | P11-TIC-7066 | es |
dc.relation.publisherversion | https://link.springer.com/article/10.1007%2Fs10846-016-0359-7 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robotica, Vision y Control | es |
idus.format.extent | 12 p. | es |
dc.journaltitle | Journal of Intelligent & Robotic Systems | es |
dc.publication.volumen | 84 | es |
dc.publication.issue | 1 | es |
dc.publication.initialPage | 745 | es |
dc.publication.endPage | 758 | es |
dc.contributor.funder | European Commission (EC) | |