Velocity estimation of an UAV using visual and IMU data in a GPS-denied environment

Mebarki, Rafik; Cacace, Jonathan; Lippiello, Vincenzo

doi:10.1109/ssrr.2013.6719334

Cited by 12 publications

(9 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The grasping object is a bar with two visual markers attached at the two ends. A low-level velocity control of the whole system has also been employed [13], [14], [20], [21].…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Once that t r,d is sufficiently greater than τ r , the rth task stack can be fully removed and the transition phase is concluded. Notice that (13) can be straightforwardly extended to the case of a transition between several task stacks, i.e. when a new task stack has to be activated before the end of the previous transition phase.…”

Section: Dynamic Task Priority Controlmentioning

confidence: 99%

“…New image-based visual-servoing control laws, that endow a UAV equipped with a robot arm with the capability of automatically positioning elements on target objects, have been proposed in [13], [14]. In [15] a task oriented control strategy for aerial surveillance has been proposed.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hybrid visual servoing for aerial grasping with hierarchical task-priority control

Buonocore

Cacace

Lippiello

2015

2015 23rd Mediterranean Conference on Control and Automation (MED)

Self Cite

View full text Add to dashboard Cite

In this paper a hybrid visual servoing with a dynamic and hierarchical task-priority control framework is proposed for the control of an aerial vehicle endowed with a robot arm. The proposed task composition algorithm retains the main benefits of classical image-based and position-based control scheme, that can be suitably combined in a common hybridcontrol framework. Moreover, the under-actuation of the vehicle base has been systematically taken into account within a general formulation, while a dynamic smooth activation/deactivation mechanism is proposed to avoid discontinuity in the control action. Simulations have been proposed to demonstrate the effectiveness of the proposed approach.

show abstract

“…The grasping object is a bar with two visual markers attached at the two ends. A low-level velocity control of the whole system has also been employed [13], [14], [20], [21].…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Dynamic Task Priority Controlmentioning

confidence: 99%

See 1 more Smart Citation

Hybrid visual servoing for aerial grasping with hierarchical task-priority control

Buonocore

Cacace

Lippiello

2015

2015 23rd Mediterranean Conference on Control and Automation (MED)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Since such a rate is higher than that of a camera streaming video (typically 25 Hz), the angular velocities can be further filtered, reducing the measurement noise. The translational velocity of the UAV can be estimated adopting suitable observers that make use of the IMU, visual measurements, and/or measurement provided by a high-rate optical flow sensor [26][27][28][29][30][31][32]. GPS measurements also can be incorporated in case of outdoor scenarios.…”

Section: Resultsmentioning

confidence: 99%

Image‐Based Control for Aerial Manipulation

Mebarki¹,

Lippiello²

2014

Asian Journal of Control

Self Cite

View full text Add to dashboard Cite

This paper presents a new image-based servo control scheme that endows an unmanned aerial vehicle (UAV) equipped with a robotic arm with the capability of automatically positioning elements on target objects. Through a new formalism, the proposed visual servo scheme controls both the UAV and the manipulator simultaneously. It takes into account the whole system redundancy as well as the peculiarity of under-actuation related to rotary-wing crafts. While it controls the system at the velocity level, it makes use of the mobility afforded by the UAV and the dexterity inherent to robot manipulators. The case of large initial errors is explicitly addressed. Results of simulations are reported to verify the effectiveness of the proposed approach.

show abstract

“…, 6, and k 1,i and k 2,i are the ith elements of K 1 and K 2 , respectively. Notice that, in ideal case, whileṗ b can be estimated by using GPS and/or visual data [49,50].…”

Section: Momentum-based Estimator Of External Wrench and Unmodeled Dymentioning

confidence: 99%

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Ruggiero¹,

Cacace²,

Sadeghian

et al. 2015

Robotics and Autonomous Systems

Self Cite

View full text Add to dashboard Cite

Velocity estimation of an UAV using visual and IMU data in a GPS-denied environment

Cited by 12 publications

References 26 publications

Hybrid visual servoing for aerial grasping with hierarchical task-priority control

Hybrid visual servoing for aerial grasping with hierarchical task-priority control

Image‐Based Control for Aerial Manipulation

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Contact Info

Product

Resources

About