@inproceedings{11b43b65492446aa8ae0aa5fc94afdb4,
title = "Vision based control for micro aerial vehicles: Application to sense and avoid",
abstract = "This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. Our approach achieves minimum separation between the two vehicles by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing-only visual servoing approach. We provide theoretical problem formulation, as well as results from real flight using small quadrotors.",
author = "Luis Mejias and \{Mondrag{\'o}n Bernal\}, \{Iv{\'a}n F.\} and Pascual Campoy",
note = "Funding Information: The work presented in this chapter is the result of an ongoing collaboration between the Computer Vision Group - Universidad Polit{\'e}cnica de Madrid and the Australian Research Centre for Aerospace Automation (ARCAA). This work has been supported by the European Commission and the Australian Academy of Science through a FP7-PEOPLE-IRSES-2008 grant (PIRSES-GA-2009-230797 - ICPUAS). The authors also would like to thank Universidad Polit{\'e}cnica de Madrid, Consejer{\'i}a de Educaci{\'o}n de la Comunidad de Madrid and Fondo Social Europeo (FSE). The authors acknowledge the contribution and support from Troy Bruggemann, Miguel Olivares Mendez and Carol Martinez. ",
year = "2013",
doi = "10.1007/978-3-642-37387-9\_10",
language = "English",
isbn = "9783642373862",
series = "Studies in Computational Intelligence",
pages = "127--141",
editor = "\{Sen Gupta\}, Gourab and Donald Bailey and Serge Demidenko and Dale Carnegie",
booktitle = "Recent Advances in Robotics and Automation",
}