9 papers · 1 filter
Distributed Coordination for Resilient Multi-UAV Remote Sensing: A Photovoltaic Inspection Case Study
Guillermo GP-Lenza, Miguel Fernandez-Cortizas, Martin Molina +1
Deploying multiple UAVs for remote sensing enables proportional reductions in mission time, but realizing these benefits requires the fleet to coordinate at runtime: distributing s…
Flight-Ready LiDAR-Inertial Odometry for Embedded Drone Platforms
Alvaro J. Gaona, David Perez-Saura, Francisco J. Anguita +1
Open-source LiDAR-inertial odometry (LIO) systems have achieved remarkable benchmark accuracy, yet current state-of-the-art implementations are primarily optimized for evaluation p…
Robust Graph Matching through Semantic Relationship Generation for SLAM
David Perez-Saura, Jose Andres Millan-Romera, Miguel Fernandez-Cortizas +3
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prio…
Dual Pose-Graph Semantic Localization for Vision-Based Autonomous Drone Racing
David Perez-Saura, Miguel Fernandez-Cortizas, Alvaro J. Gaona +1
Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely o…
Flocking behavior for dynamic and complex swarm structures
Carmen D. R. Pita-Romero, Pedro Arias-Perez, Miguel Fernandez-Cortizas +2
Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing th…
A Methodology for Designing Knowledge-Driven Missions for Robots
Guillermo GP-Lenza, Carmen DR. Pita-Romero, Miguel Fernandez-Cortizas +1
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions…