Hector Garcia de Marina's Blog (8)

Multi-UAV with Paparazzi

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.

Added by Hector Garcia de Marina on August 11, 2017 at 2:17pm — 5 Comments

Hybrid vehicle. Mayden flight of Cyfoam.

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…

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Added by Hector Garcia de Marina on March 13, 2017 at 2:56am — 9 Comments

Circle formations of fixed-wings in Paparazzi

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 …

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Added by Hector Garcia de Marina on February 19, 2017 at 4:00pm — 6 Comments

Guidance algorithm for tracking smooth trajectories

 

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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Added by Hector Garcia de Marina on November 5, 2016 at 8:32am — 12 Comments

An autonomous fixed-wing following another autonomous one

We have presented this video to the kids during our open days a couple of weeks ago at ENAC, Toulouse. It is just one application of a guidance algorithm that we have developed and later implemented in Paparazzi. I was actually surprised about the performance since the planes only exchange information once per second (even we allow some…

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Added by Hector Garcia de Marina on October 25, 2016 at 2:55pm — No Comments

Drones intercepting an independent target

Wrapping up more results from my thesis. In this video I show how with a single (guidance) control law a team of drones can intercept an independent target. The team is able to estimate the unknown velocity of the target and to orbit around it with a…

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Added by Hector Garcia de Marina on October 12, 2016 at 12:33pm — 6 Comments

Formation control of a team of drones

I have recently defended my PhD thesis titled "Distributed formation control for autonomous robots". Now I am wrapping up the results in the form of videos. Here it is just one of these results.

In the following video I show how a…

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Added by Hector Garcia de Marina on October 8, 2016 at 2:30pm — 10 Comments

(Yet another) Kalman filtering guide

I have recently been to a conference where there was a common tool for everyone, the Kalman filter. The point is that I was a bit shocked when I saw that many people there see some of its steps as black magic.

I decided to write a (yet another) detailed guide about the Kalman filter. In particular, I have tried to be rigorous enough with the math but trying at the same time to explain with plain words what is going on at every single step. Therefore, after reading…

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Added by Hector Garcia de Marina on October 8, 2016 at 8:30am — 15 Comments

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Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

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