Robotics

Local Gaussian Modifiers (LGMs): UAV Dynamic Trajectory Generation for Onboard Computation
A lightweight trajectory-modification method for agile UAVs that adapts computationally expensive trajectories onboard when full …
Miguel Fernández-Cortizas, David Pérez-Saura, Rafael Pérez-Segui, Javier Rodríguez Vázquez, Juan S. Cely, Pascual Campoy
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Framework and Evaluation Methodology for Autonomous Drone Racing
Autonomous drone racing presents demanding challenges in perception, localization, navigation, and high-speed control. This work …
Miguel Fernández-Cortizas, David Pérez-Saura, Pablo Santamaría, Javier Rodríguez Vázquez, Martin Molina, Pascual Campoy
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Indoor Visual Semantic SLAM Improves VIO and RGBD for Narrow Space Navigation
A lightweight semantic SLAM approach for aerial robots operating in narrow, GNSS-denied environments. The system combines visual …
Andrés Solares Jurado, Germán Andrés Di Fonzo, Rafael Pérez, Hriday Bavle, Miguel Fernández-Cortizas, Javier Rodríguez Vázquez, Guillermo Robledo, Pascual Campoy
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The SkyEye Team Participation in the 2020 Mohamed Bin Zayed International Robotics Challenge
A system report describing the hardware and software developed by the SkyEye team for autonomous aerial and ground-robot tasks in …
Ramón A. Suárez Fernández, Alejandro Rodríguez-Ramos, Adrián Alvarez-Fernandez, Javier Rodríguez Vázquez, Hriday Bavle, Liang Lu, Miguel Fernández-Cortizas, Alberto Rodelgo, José Antonio Cobano, David Alejo, Domingo Acevedo, Rafael Rey, Simón Martínez-Rozas, Martin Molina, Luis Merino, Fernando Caballero, Pascual Campoy
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Autonomous Navigation in Dynamic Environments Using Monocular Vision
An autonomous navigation strategy for multirotor UAVs in dynamic environments using monocular vision. It combines YOLOv3 obstacle …
Liang Lu, Javier Rodríguez Vázquez, Adrián Carrió, Pascual Campoy
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Laser-Based Collision Avoidance and Reactive Navigation Using RRT* and Signed Distance Field for Multirotor UAVs
A laser-based method for collision avoidance and reactive navigation in multirotor UAVs, combining RRT* planning with a signed distance …
Liang Lu, Carlos Sampedro, Javier Rodríguez Vázquez, Pascual Campoy
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MBZIRC 2020
Our team won the 3rd prize in the Mohamed Bin Zayed International Robotics Challenge 2020!
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MBZIRC 2020