SAMMY , Omari

This paper introduces a state estimation frameworkthat allows estimating the attitude, full metric speed andthe orthogonal metric distance of an IMU-camera system withrespect to a plane. The filter relies only on a single optical flowfeature as well as gyroscope and accelerometer measurements.The underlying assumption is that the observed...

This paper introduces a novel, robust and efficientapproach for metric velocity estimation using multiple cameraswith no overlapping fields of view. By incorporating rotationpriors, the metric velocity estimation problem reduces to solvinga set of linear equations. To determine the metric velocity, atotal of three temporal point correspondences...

This paper provides a review of different possiblestrategies to compute meaningful states of an unmanned aerialvehicle (UAV) in the presence of sensor faults. The paperreviews some strategies that enable to compute useful outputsand to reconstruct sensor data when some sensor(s) become(s)deficient. In addition to a classical sensor suite for...

This paper presents the design and evaluation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is presented. Based on this model, a hierarchical nonlinear controller is designed to actively compensates for...

International audience

International audience

This paper presents an intuitive teleoperation scheme to safely operate a wide range of VTOL UAVs by an untrained user in a cluttered environment. This scheme includes a novel force-feedback algorithm that enables the user to feel the texture of the environment. In addition, a novel mapping function is introduced to teleoperate the UAV in an...