Journal ArticleDOI
Vision-based autonomous hovering for a miniature quad-rotor
TLDR
A vision-based scheme for the autonomous hovering of a miniature quad-rotor with dynamic model using the Newton–Euler approach and an embedded control system based on a separated saturation control strategy are developed.Abstract:
In this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton-Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy.read more
Citations
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Journal ArticleDOI
Computer Vision in Autonomous Unmanned Aerial Vehicles—A Systematic Mapping Study
TL;DR: The results of this systematic mapping study demonstrate the scientific community’s growing interest in the development of vision-based solutions for autonomous UAVs and will make it possible to study the feasibility and characteristics of future Uavs taking the role of personal assistants.
Journal ArticleDOI
Autonomous Vehicular Landings on the Deck of an Unmanned Surface Vehicle using Deep Reinforcement Learning
TL;DR: Simulated studies proved the robustness of the proposed algorithm against different perturbations acting on the marine vessel, and the performances obtained are comparable with a state-of-the-art method based on template matching.
Journal ArticleDOI
A small-scale hyperacute compound eye featuring active eye tremor: application to visual stabilization, target tracking, and short-range odometry
Fabien Colonnier,Augustin Manecy,Augustin Manecy,Raphaël Juston,Hanspeter A. Mallot,Robert Leitel,Dario Floreano,Stéphane Viollet +7 more
TL;DR: A new algorithm merging the output of 35 local processing units consisting of adjacent pairs of artificial ommatidia is developed, found to perform robustly at different light conditions as well as distance variations relative to the ground and featured small closed-loop positioning errors of the robot in the range of 45 mm.
Journal ArticleDOI
Towards a standard design model for quad-rotors: A review of current models, their accuracy and a novel simplified model
Luis Amezquita-Brooks,Eduardo Liceaga-Castro,Mario Gonzalez-Sanchez,Octavio Garcia-Salazar,Daniel Martinez-Vazquez +4 more
TL;DR: A novel simplified model based on a typical state-space model without memory-less transformations is derived, which has the main characteristics of this model are that its inner dynamics are linear, it has low complexity and it has a high level of accuracy in all the studied operating ranges.
Journal ArticleDOI
Robust path tracking control for quadrotors with experimental validation
Wesam Jasim,Dongbing Gu +1 more
TL;DR: Both simulation and practical results verified the stability and robustness of the proposed controller in the presence of external disturbances and model parameter uncertainties.
References
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Multiple View Geometry
Richard Hartley,Andrew Zisserman +1 more
TL;DR: A perspective (central) projection camera is represented by a matrix that can be computed from the correspondence of four (or more) points.