DSpace Repository :: Browsing by Author "Moreno, Patricio"

Browsing by Author "Moreno, Patricio"

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Aerial multi-camera robotic jib crane
(2021-03) Moreno, Patricio; Presenza, Juan F.; Mas, Ignacio; Giribet, Juan I.
"A formulation based on a team of unmanned aerial vehicles operating as a fully articulated multi-camera jib crane is proposed for the application of aerial cinematography. An optimization-based controller commands the formation to follow an artistic trajectory defined by the director of photography, while actively avoiding collisions and cameras’ mutual visibility. The proposed scheme, based on the cluster-space formulation, presents an intuitive way of maneuvering the virtual camera fixture while automatically adjusting the motions by imposing artistic and safety constraints, facilitating the operator task."
Autonomous vehicles for outdoor multidomain mapping
(2018-06) Garberoglio, Leonardo; Moreno, Patricio; Mas, Ignacio; Giribet, Juan I.
"In the last years, progress has been made attempting to replace a unique, complex and expensive vehicle equipped with several sensors such as LIDAR, RGB cameras, thermal sensor, etc. with a group of small vehicles, each of them carrying one sensor. There are several advantages of these segmented architectures, for instance this allows a reduction in the cost of the vehicles (several small vehicles can be less expensive than one big vehicle), the flexibility to choose for a mission only those vehicles with the appropriate sensors, the robustness of the system since it can acquire information even if one vehicle fails, among others. The advantage of segmented architectures is even more noticeable if the vehicles carrying those different sensors, have different characteristics or environments for operations, e.g. aerial, terrestrial or aquatic vehicles. In this work, we present the experimental results obtained with an ASV (Autonomous Surface Vehicle) and a UAV (Unmanned Aerial Vehicle) that cooperate to obtain a topographic survey of the terrain. The ASV is equipped with a LIDAR, meanwhile the UAV is equipped with a monocular RGB camera. The data acquired is post-processed in order to obtain a detailed map of the coastline of a creek and the surrounding area."
Distributed data-driven UAV formation control via evolutionary games: experimental results
(2021-07) Barreiro-Gomez, Julian; Mas, Ignacio; Giribet, Juan I.; Moreno, Patricio; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Quijano, Nicanor
"This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance."
Formation control for multi-domain autonomous vehicles based on dual quaternions
(2017-06) Mas, Ignacio; Moreno, Patricio; Giribet, Juan I.; Valentino Barzi, Diego
"Unmanned networked multirobot systems have the potential to accomplish complex field tasks with minimum human intervention. Motion coordination of vehicles that operate in different domains (land, sea, air) is one of the problems that need to be addressed to achieve such a goal. This article presents a representation method based on dual quaternions for leaderfollower formation control architectures. This representation offers the most compact and computationally efficient screw transformation formalism and can be used to describe rigid body motions because they simultaneously describe positions and orientations with only eight parameters. A controller in dual quaternion formation space is proposed and analyzed. Computer simulation results and experimental tests applied to the task of escorting an UGV with UAVs are shown to verify the functionality of the proposed system."
Multi-UAV specification and control with a single pilot-in-the-loop
(2019-09) Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I.
"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
Multi-UAV specification and control with a single pilot-in-the-loop
(2020-10) Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I.
"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
Navegación fluvial autónoma asistida por visión aérea
(2019-11) Garberoglio, Leonardo; Moreno, Patricio; Mas, Ignacio; Giribet, Juan I.
"Este trabajo presenta una formación compuesta por un vehículo de superficie autónomo (ASV, por sus siglas en inglés) y un vehículo aéreo no tripulado (UAV, por sus siglas en inglés) con el objetivo de navegar, de forma autónoma, un cauce de agua. La coordinación entre ambos vehículos se logra mediante la técnica de control Cluster Space. El UAV brinda una visión aumentada del entorno por medio de una cámara RGB. Para el guiado del ASV se utiliza una técnica basada en campos potenciales artificiales que se generan de tiempo de ejecución utilizando la información provista por el UAV. La técnica propuesta se valida mediante simulaciones usando el entorno ROS-Gazebo."
Vision-based integrated navigation system and optimal allocation in formation flying
(2018-06) Giribet, Juan I.; Mas, Ignacio; Moreno, Patricio
"This article proposes an integrated navigation system for multiple micro aerial vehicles flying in formation. A data fusion algorithm uses measurements from an inertial measurement unit, a GPS receiver, and a camera allowing to use the positioning information of the surrounding vehicles to improve its estimation. A measure of the navigation performance of the formation is defined. Based on such measure, the position where each vehicle should be located in the formation is studied to guarantee the best overall navigation quality."

Browsing by Author "Moreno, Patricio"

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