Hector Garcia de Marina
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Hector Garcia de Marina's Blog

Multi-UAV with Paparazzi

Posted on August 11, 2017 at 2:17pm 5 Comments

August is not a very busy month and allows one to have some spare time. I decided to create a video showing the status of Paparazzi for some formation flight capabilities. Just in case somebody is interested and wants to stop by, part of this work will be presented in the upcoming IROS conference in Vancouver.

Hybrid vehicle. Mayden flight of Cyfoam.

Posted on March 13, 2017 at 2:56am 9 Comments

The Cyfoam is a hybrid vehicle developed at ENAC Drone Lab. The aircraft is a foamy, with a 3D printed fuselage, version of the composite-made Cyclone, i.e., before risking the expensive one, we committed the first flights with this foamy version. 

The vehicle is powered by the new…


Circle formations of fixed-wings in Paparazzi

Posted on February 19, 2017 at 4:00pm 6 Comments

We have recently developed and tested a formation control algorithm for fixed-wings in Paparazzi. The position of an arbitrary number of vehicles can be controlled in a circular path. In fact, we are not restricting ourselves to circles but to any closed orbit, such as ellipses, thanks to the …


Guidance algorithm for tracking smooth trajectories

Posted on November 5, 2016 at 8:32am 12 Comments


I have written with my friend Yuri Kapitanyuk (the main idea was from him) an algorithm for solving the problem of tracking smooth curves by an unmanned aerial vehicle travelling with a constant airspeed and under a wind disturbance. Basically, if the trajectories are twice differentiable, i.e., they are continuous,…


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