Conference paper Open Access

Spherical fully covered UAV with autonomous indoor localization

Ramos, A.; Sanchez-Cuevas, P. J.; Heredia, G.; Ollero, A.


JSON-LD (schema.org) Export

{
  "description": "<p>This paper presents a UAV (Unmanned Aerial Vehicle) with intrinsic safety which can interact with people and obstacles while flying in an indoor environment in an autonomous way. A system description including mechanical features, the design of the external protective case, electrical connections and the communication using the Robot Operating System (ROS) between the different devices is presented. Then, the dynamic model of the aerial system taking into account the protective case, the local positioning algorithm (Hector SLAM) and the control models implemented are also described. Different experimental re-sults, which include simulation in Gazebo and real flights are shown to verify the positioning system developed. Two additional experiments have also been tested to validate two emergency safety systems in case of a failure in the position esti-mation is detected.</p>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "Universidad de Sevilla", 
      "@type": "Person", 
      "name": "Ramos, A."
    }, 
    {
      "affiliation": "Universidad de Sevilla", 
      "@type": "Person", 
      "name": "Sanchez-Cuevas, P. J."
    }, 
    {
      "affiliation": "Universidad de Sevilla", 
      "@type": "Person", 
      "name": "Heredia, G."
    }, 
    {
      "affiliation": "Universidad de Sevilla", 
      "@type": "Person", 
      "name": "Ollero, A."
    }
  ], 
  "headline": "Spherical fully covered UAV with autonomous indoor localization", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2019-11-20", 
  "url": "https://zenodo.org/record/3647952", 
  "@type": "ScholarlyArticle", 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.1007/978-3-030-35990-4_29", 
  "@id": "https://doi.org/10.1007/978-3-030-35990-4_29", 
  "workFeatured": {
    "alternateName": "ROBOT 2019", 
    "location": "Porto, Portugal", 
    "@type": "Event", 
    "name": "Fourth Iberian Robotics conference"
  }, 
  "name": "Spherical fully covered UAV with autonomous indoor localization"
}
51
192
views
downloads
Views 51
Downloads 192
Data volume 237.4 MB
Unique views 50
Unique downloads 185

Share

Cite as