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Artículo
Novel Aerial Manipulator for Accurate and Robust Industrial NDT Contact Inspection: A New Tool for the Oil and Gas Inspection Industry
(MDPI, 2019-03)
There is a strong demand in the oil and gas industry to develop alternatives to manual inspection. This paper presents AeroX, a novel aerial robotic manipulator that provides physical contact inspection with unprecedented ...
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
Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV
(MDPI, 2019-01)
Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. The Lazy Theta* path-planning ...
Ponencia
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 perception processing is required to ensure robustness, precision, and safety. Event cameras are ...
Artículo
Detection, location and grasping objects using a stereo sensor on UAV in outdoor environments
(MDPI, 2017-01-07)
The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are ...
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
Multi-robot task allocation problem with multiple nonlinear criteria using branch and bound and genetic algorithms
(Springer Science and Business Media Deutschland GmbH, 2021-11)
The paper proposes the formulation of a single-task robot (ST), single-robot task (SR), time-extended assignment (TA), multi-robot task allocation (MRTA) problem with multiple, nonlinear criteria using discrete variables ...
Artículo
Mobile sensor for clouds shadow detection and direct normal irradiance estimation
(Elsevier, 2022)
This paper presents a mobile sensor system to detect and estimate low direct normal irradiance (DNI) areas caused by clouds shadows. This work proposes using a team of unmanned aerial vehicles (UAVs) to localise and ...
Ponencia
Robust PID Control of the Quadrotor Helicopter
(Elsevier, 2012)
In this paper a robust PID control strategy via affine parametrization is designed for an multivariable nonlinear unmanned aerial vehicle. The robustness of the controlled system is assured by using the H∞ norm of the ...
Artículo
Numerical-experimental evaluation and modelling of aerodynamic ground effect for small-scale tilted propellers at low Reynolds numbers
(Elsevier, 2022-07)
In recent years, aerial manipulators with fully-actuated capabilities are gaining popularity for being used in aerial manipulation operations such as critical infrastructure inspection or aerial manipulation tasks. Those ...