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See detailA Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework
Sanchez Lopez, Jose Luis UL; Molina, Martin; Bavle, Hriday UL et al

in Journal of Intelligent and Robotic Systems (2017), 88(2), 638-709

To achieve fully autonomous operation for Unmanned Aerial Systems (UAS) it is necessary to integrate multiple and heterogeneous technical solutions (e.g., control-based methods, computer vision methods ... [more ▼]

To achieve fully autonomous operation for Unmanned Aerial Systems (UAS) it is necessary to integrate multiple and heterogeneous technical solutions (e.g., control-based methods, computer vision methods, automated planning, coordination algorithms, etc.). The combination of such methods in an operational system is a technical challenge that requires efficient architectural solutions. In a robotic engineering context, where productivity is important, it is also important to minimize the effort for the development of new systems. As a response to these needs, this paper presents Aerostack, an open-source software framework for the development of aerial robotic systems. This framework facilitates the creation of UAS by providing a set of reusable components specialized in functional tasks of aerial robotics (trajectory planning, self localization, etc.) together with an integration method in a multi-layered cognitive architecture based on five layers: reactive, executive, deliberative, reflective and social. Compared to other software frameworks for UAS, Aerostack can provide higher degrees of autonomy and it is more versatile to be applied to different types of hardware (aerial platforms and sensors) and different types of missions (e.g. multi robot swarm systems). Aerostack has been validated during four years (since February 2013) by its successful use on many research projects, international competitions and public exhibitions. As a representative example of system development, this paper also presents how Aerostack was used to develop a system for a (fictional) fully autonomous indoors search and rescue mission. [less ▲]

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See detailA fully-autonomous aerial robotic solution for the 2016 International Micro Air Vehicle competition
Sampedro, Carlos; Bavle, Hriday UL; Rodríguez-Ramos, Alejandro et al

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)

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See detailA flight altitude estimator for multirotor UAVs in dynamic and unstructured indoor environments
Bavle, Hriday UL; Sanchez Lopez, Jose Luis UL; Rodriguez-Ramos, Alejandro et al

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, June)

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See detailTowards fully autonomous landing on moving platforms for rotary Unmanned Aerial Vehicles
Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Bavle, Hriday UL et al

Scientific Conference (2017)

Fully autonomous landing on moving platforms poses a problem of importance for Unmanned Aerial Vehicles (UAVs). Current approaches are usually based on tracking and following the moving platform by means ... [more ▼]

Fully autonomous landing on moving platforms poses a problem of importance for Unmanned Aerial Vehicles (UAVs). Current approaches are usually based on tracking and following the moving platform by means of several techniques, which frequently lack performance in real applications. The aim of this paper is to prove a simple landing strategy is able to provide practical results. The presented approach is based on three stages: estimation, prediction and fast landing. As a preliminary phase, the problem is solved for a particular case of the IMAV 2016 competition. Subsequently, it is extended to a more generic and versatile approach. A thorough evaluation has been conducted with simulated and real flight experiments. Simulations have been performed utilizing Gazebo 6 and PX4 Software-In-The-Loop (SITL) and real flight experiments have been conducted with a custom quadrotor and a moving platform in an indoor environment. [less ▲]

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