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Merino L.,Pablo De Olavide University | Caballero F.,University of Seville | Ollero A.,University of Seville | Ollero A.,Center for Advanced Aerospace Technology
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings | Year: 2010

Radio signal-based localization and mapping is becoming more interesting in robotics as applications involving the collaboration between robots and static wireless devices are more common. This paper describes a method for mapping with a mobile robot the position of a set of nodes using radio signal measurements. The method employs Gaussian Mixtures Models (GMM) for undelayed initialization of the position of the wireless nodes within a Kalman filter. Moreover, the paper extends the method to consider active sensing strategies in order to map the nodes. Entropy variation is used as a measurement of information gain, and allows to prioritize control actions of the robot. However, as there is no analytical expression for the entropy of a GMM, upper bounds of the entropy, for which close form computation is possible, are used instead. The paper describes simulations that show the feasibility of the approach. ©2010 IEEE.


Jimenez-Cano A.E.,University of Seville | Martin J.,University of Seville | Heredia G.,University of Seville | Ollero A.,University of Seville | And 2 more authors.
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2013

This paper deals with aerial manipulators consisting of an unmanned aerial vehicle equipped with a robotic multi-link arm. The paper presents methods for the control of the aerial platform taking into account the motion of the arm. It shows how a Variable Parameter Integral Backstepping controller outperforms the results obtained by using PID controllers. The paper presents a quadrotor with a new arm designed for assembly tasks and the implementation of the proposed control methods. Simulations and outdoor experiments confirm the validity of the proposed approach. © 2013 IEEE.


Capitn J.,University of Seville | Merino L.,Pablo De Olavide University | Caballero F.,University of Seville | Ollero A.,University of Seville | Ollero A.,Center for Advanced Aerospace Technology
Robotics and Autonomous Systems | Year: 2011

This paper presents a decentralized data fusion approach to perform cooperative perception with data gathered from heterogeneous sensors, which can be static or carried by robots. In particular, a decentralized delayed-state information filter (DDSIF) is described, in which full-state trajectories (that is, delayed states) are considered to fuse the information. This approach allows obtaining an estimation equal to that provided by a centralized system and reduces the impact of communication delays and latency in the estimation. The sparseness of the information matrix maintains the communication overhead at a reasonable level. The method is applied to cooperative tracking, and some results in disaster management scenarios are shown. In this kind of scenario, the target might move in both open-field and indoor areas, so the fusion of data provided by heterogeneous sensors is beneficial. The paper also shows experimental results with real data and integrating several sources of information. © 2011 Elsevier B.V. All rights reserved.


Maza I.,University of Seville | Kondak K.,TU Berlin | Bernard M.,TU Berlin | Ollero A.,University of Seville | Ollero A.,Center for Advanced Aerospace Technology
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2010

This paper deals with the cooperation and control of multiple UAVs with sensing and actuation capabilities. An architecture to perform cooperative missions with a multi-UAV platform is presented. The interactions between UAVs are not only information exchanges but also physical couplings required to cooperate in the joint transportation of a single load. Then, the paper also presents the control system for the transportation of a slung load by means of one or several helicopters. Experimental results of the load transportation system with one and three helicopters are shown. On the other hand, the UAVs considered in the platform can also deploy small objects, such as sensor nodes, on different locations if it is required. This feature along with the whole platform architecture are illustrated in the paper with a real multi-UAV mission for the deployment of sensor nodes to repair the connectivity of a wireless sensor network. © 2009 Springer Science+Business Media B.V.


Acevedo J.J.,University of Seville | Arrue B.C.,University of Seville | Maza I.,University of Seville | Ollero A.,University of Seville | Ollero A.,Center for Advanced Aerospace Technology
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2013

This paper proposes a distributed approach to solve long duration area surveillance missions with a team of aerial robots, taking into account communication constraints. The system, based on "one-to-one" coordination, minimizes the probability that any event happens in the area without being detected and ensures periodic communication between UAVs. A set of simulations are presented to validate the applicability of the approach and its most relevant features: convergence, robustness with dynamic teams, fault-tolerance and finite information sharing time. It is also shown that "one-to-one" coordination for all the pairs of neighbors allows to obtain an efficient coordination scheme for the whole team to accomplish the area surveillance mission without any central unit. © 2012 Springer Science+Business Media B.V.


Caballero F.,University of Seville | Merino L.,Pablo De Olavide University | Ollero A.,University of Seville | Ollero A.,Center for Advanced Aerospace Technology
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2010

Radio signal-based localization and mapping is becoming more interesting as applications involving the collaboration between robots and static wireless devices are more common. Under certain assumptions, the problem is basically equivalent to the range-only localization and mapping problem. The paper presents a method for mapping with a mobile robot the position of a set of nodes using radio signal measurements. It uses Gaussian Mixtures for undelayed initialization of the position of the wireless nodes. The paper shows how the approach can be integrated within a Kalman Filter. This way, information can be used in the filter since the first measurement. The paper describes simulations to verify the feasibility of the approach, and presents results obtained with experimental data involving one mobile robot and a wireless sensor network. ©2010 IEEE.


Maza I.,University of Seville | Caballero F.,University of Seville | Molina R.,Boeing Company | Pena N.,Boeing Company | And 2 more authors.
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2010

This paper examines different technologies that can be applied in the design and development of a ground control station for Unmanned Aerial Vehicles (UAVs) equipped with multimodal interfaces. Multimodal technologies employ multiple sensory channels/modalities for information transmission as well as for system control. Examples of these technologies could be haptic feedback, head tracking, auditory information (3D audio), voice control, tactile displays, etc. The applicability and benefits of those technologies is analyzed for a task consisting in the acknowledgement of alerts in an UAV ground control station composed by three screens and managed by a single operator. For this purpose, several experiments were conducted with a group of individuals using different combinations of modal conditions (visual, aural and tactile). © 2009 Springer Science+Business Media B.V.


de Dios J.R.M.,University of Seville | Merino L.,Pablo De Olavide University | Caballero F.,University of Seville | Ollero A.,University of Seville | Ollero A.,Center for Advanced Aerospace Technology
Sensors | Year: 2011

This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and mounted on Unmanned Aerial Systems (UAS). It can obtain geometrical measurements of forest fires in real-time such as the location and shape of the fire front, flame height and rate of spread, among others. Measurement of forest fires is a challenging problem that is affected by numerous potential sources of error. The proposed system addresses them by exploiting the complementarities between infrared and visual cameras located at different ground locations together with others onboard Unmanned Aerial Systems (UAS). The system applies image processing and geo-location techniques to obtain forest-fire measurements individually from each camera and then integrates the results from all the cameras using statistical data fusion techniques. The proposed system has been extensively tested and validated in close-to-operational conditions in field fire experiments with controlled safety conditions carried out in Portugal and Spain from 2001 to 2006. © 2011 by the authors; licensee MDPI, Basel, Switzerland.


Merino L.,Pablo De Olavide University | Caballero F.,Polytechnic University of Valencia | Martinez-De-Dios J.R.,Polytechnic University of Valencia | Maza I.,Polytechnic University of Valencia | And 2 more authors.
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2012

The paper presents an Unmanned Aircraft System (UAS), consisting of several aerial vehicles and a central station, for forest fire monitoring. Fire monitoring is defined as the computation in real-time of the evolution of the fire front shape and potentially other parameters related to the fire propagation, and is very important for forest fire fighting. The paper shows how an UAS can automatically obtain this information by means of on-board infrared or visual cameras. Moreover, it is shown how multiple aerial vehicles can collaborate in this application, allowing to cover bigger areas or to obtain complementary views of a fire. The paper presents results obtained in experiments considering actual controlled forest fires in quasi-operational conditions, involving a fleet of three vehicles, two autonomous helicopters and one blimp. © 2011 Springer Science+Business Media B.V.


Maza I.,Polytechnic University of Valencia | Caballero F.,Polytechnic University of Valencia | Capitan J.,Polytechnic University of Valencia | Martinez-De-Dios J.R.,Polytechnic University of Valencia | And 2 more authors.
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2011

This paper describes a multi-UAV distributed decisional architecture developed in the framework of the AWARE Project together with a set of tests with real Unmanned Aerial Vehicles (UAVs) and Wireless Sensor Networks (WSNs) to validate this approach in disaster management and civil security applications. The paper presents the different components of the AWARE platform and the scenario in which the multi-UAV missions were carried out. The missions described in this paper include surveillance with multiple UAVs, sensor deployment and fire threat confirmation. In order to avoid redundancies, instead of describing the operation of the full architecture for every mission, only non-overlapping aspects are highlighted in each one. Key issues in multi-UAV systems such as distributed task allocation, conflict resolution and plan refining are solved in the execution of the missions. © 2010 Springer Science+Business Media B.V.

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