5 papers · 1 filter
Joint Vision-Based Navigation, Control and Obstacle Avoidance for UAVs in Dynamic Environments
Ciro Potena, Daniele Nardi, Alberto Pretto
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is s…
AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming
Ciro Potena, Raghav Khanna, Juan Nieto +3
The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve th…
Non-Linear Model Predictive Control with Adaptive Time-Mesh Refinement
Ciro Potena, Bartolomeo Della Corte, Daniele Nardi +2
In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates…
An Effective Multi-Cue Positioning System for Agricultural Robotics
Marco Imperoli, Ciro Potena, Daniele Nardi +2
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are ea…
Effective Target Aware Visual Navigation for UAVs
Ciro Potena, Daniele Nardi, Alberto Pretto
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantl…