Now showing items 1-16 of 16

    • Autonomous vehicles for outdoor multidomain mapping 

      Garberoglio, Leonardo; Moreno, Patricio; Mas, Ignacio; Giribet, Juan I. (2018-06)
      "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 ...
    • Coordinated ASV-UAV control for marine collision-free navigation 

      Garberoglio, Leonardo; Mas, Ignacio; Giribet, Juan I. (2019-09)
      "There is an increasing interest in replacing a unique, complex, and expensive vehicle equipped with several sensors with a group of small vehicles, each of them carrying fewer sensors. There are several advantages in these ...
    • Diseño de un autopiloto para pequeños vehículos no tripulados 

      Garberoglio, Leonardo; Pose, Claudio D.; Mas, Ignacio; Giribet, Juan I. (2019-06)
      "En este trabajo se presenta el diseño de un autopiloto para pequeños vehículos autónomos. El trabajo está enfocado principalmente en la arquitectura del sistema, pero se presentan también algunos detalles del firmware ...
    • Diseño, construcción, simulación 3D y control LPV de un cuadricóptero de forma variante 

      Ghersin, Alejandro S.; Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio (2019-11)
      "En este trabajo se propone el diseño lineal de parámetros variantes (LPV) para el control de un cuadricóptero cuyos brazos pueden moverse respecto del eje vertical del vehículo, cambiando su forma de acuerdo a requerimientos ...
    • Experimental validation of a fault-tolerant hexacopter with tilted rotors 

      Giribet, Juan I.; Pose, Claudio D.; Ghersin, Alejandro S.; Mas, Ignacio (2018)
      "Recently, research reporting the advantages of flying with tilted-motor multicopters has surfaced. Particularly, it has been theoretically proven that in the case of a complete failure of one of the motors in a hexagon-shaped ...
    • Fault tolerance analysis of a multirotor with 6DOF 

      Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio (2019-09)
      "Several works have addressed the issue of obtaining a six degree of freedom (6DOF) capable multirotor. However, the capability of keeping full control in the case of a total failure in one of the rotors has not yet been ...
    • Fault tolerant control of an hexacopter with a tilted-rotor configuration 

      Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio (2017)
      "Recently, it was shown that an hexagon-shaped hexa-rotor micro aerial vehicle with unidirectionally spinning tilted rotors is capable of fault tolerant attitude and altitude control. This result has been theoretically ...
    • Formation control for multi-domain autonomous vehicles based on dual quaternions 

      Mas, Ignacio; Moreno, Patricio; Giribet, Juan I.; Valentino Barzi, Diego (2017-06)
      "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 ...
    • Hexacopter fault tolerant actuator allocation analysis for optimal thrust 

      Pose, Claudio D.; Giribet, Juan I.; Ghersin, Alejandro S. (2017)
      "Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each ...
    • Multi-UAV specification and control with a single pilot-in-the-loop 

      Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I. (2019-09)
      "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 ...
    • Navegación fluvial autónoma asistida por visión aérea 

      Garberoglio, Leonardo; Moreno, Patricio; Mas, Ignacio; Giribet, Juan I. (2019-11)
      "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 ...
    • Quaternions and dual quaternions: singularity-free multirobot formation control 

      Mas, Ignacio; Kitts, Christopher (2017-09)
      "Cluster space control is a method of multirobot formation keeping that considers a group of robots to be a single entity, defining state variables to represent characteristics of the group, such as position, orientation, ...
    • Sistema de control para un robot aerodeslizante 

      Pecker Marcosig, Ezequiel; Presenza, Francisco; Giribet, Juan I.; Mas, Ignacio (2019-11)
      "En este trabajo se presenta la construcción de un robot aerodeslizante, y la implementación del sistema de medición y control utilizando ROS (Robot Operating System). Este vehículo fue diseñado para el estudio de estrategias ...
    • Trajectory following with a MAV under rotor fault conditions 

      Pose, Claudio D.; Presenza, Francisco; Mas, Ignacio; Giribet, Juan I. (2019-09)
      "Lately, a novel multirotor aerial vehicle capable of handling single rotor failures was presented. When a rotor fails, physically reconfiguring one of the remaining rotors of an hexarotor allows to compensate for ...
    • Validación de un sistema de posicionamiento ultrasónico para Interiores 

      Presenza, Francisco; Pose, Claudio D.; Mas, Ignacio; Giribet, Juan I. (2019-11)
      "En el presente trabajo se contrastan dos sistemas comerciales de posicionamiento en interiores para robots móviles. En primer lugar, el sistema OptiTrack, con tecnología de captura de movimiento por imágenes, que posee ...
    • Vision-based integrated navigation system and optimal allocation in formation flying 

      Giribet, Juan I.; Mas, Ignacio; Moreno, Patricio (2018-06)
      "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 ...