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-=== - José Ernesto GOMEZ BALDERAS (HDS) ===
-PhD title: ** Localisation et commande embarquée d’un drone en utilisant la vision stéréoscopique ** \\
-Co-advisor: Rogelio LOZANO  \\
+====== José Ernesto GOMEZ BALDERAS (HDS)  ======
-Grant from Mexicain Government \\
-Date PhD finished: November, 2011 \\
+\\
-Current position: **MdC at GIPSA Lab*
+\\
+**PhD title:**
+== Localisation et commande embarquée d’un drone en utilisant la vision stéréoscopique ==
+\\
+Co-advisor: Rogelio LOZANO \\
+Grant from __Mexicain Government__ \\
+Location: Heudiasyc \\
+Date PhD finished: **November 28th, 2011** \\
+\\
+__Current position__: **MdC at GIPSA Lab since 2013**\\
+\\
+== Abstract ==
+Visual servoing is a control approach based on visual information. In this thesis,
+visual servoing schemes are proposed to control a quadrotor and an octarotor applied
+to positioning and navigation task. Concerning the quadrotor we use a hierarchical
+control scheme whose inner-loop (fast dynamic) focuses on attitude dynamics, while
+outer-loop (slow dynamics) deals with translational dynamics.\\
+Also, a nonlinear controller based on separated saturations for a quadrotor is
+proposed to stabilize it attitude. The linear position and velocity of the rotorcraft are
+obtained by using a vision-based algorithm via a monocular caméra. The dynamic
+model of the quadrotor is presented using the Newton-Euler formalism.
+In other vision system, two cameras are used to estimate the translational position
+and velocity of the vehicle. Position was obtained using a frontal camera looking
+at a target placed on a wall. Quadrotor velocity was estimated using a camera pointing
+vertically downwards running an optical flow algorithm. Experimental tests
+showed that the quadrotor performed well at hover flight using the proposed vision
+based control system.\\
+– **Quadrotor vision-based**\\
+The same system was used to estimate the 3D position of the quadrotor over
+a trajectory using vanishing points. The performance of the vision and control
+algorithms has been tested in a real application by a quadrotor tracking a line
+painted in a wall. Similarly the velocity estimation is obtained using an optic
+flow algorithm. The estimated position and velocity information obtained
+from the vision system is combined with the angular rates and displacements
+of the inertial measurement unit to compute the control inputs. It has been
+shown that the proposed control scheme achieves the tracking objective of
+the visual reference.\\
+– **Octarotor vision-based** \\
+In this thesis, it is presented a visual feedback a control of an octarotor
+using image-based visual servoing (IBVS) with stereo vision. Autonomous
+control of an UAV requires a precise measurements and/or estimation of the
+vehicle’s pose and also the knowledge of its surrounding environment. In
+order to control the orientation and the position of flying robot with respect
+to a target, we propose to use a navigation system based on binocular vision
+system combined with inertial sensors. This combination of sensors, allows
+us to get a complete characterization of the state of aerial vehicle. In other
+words, using the stereo vision system we are able to estimate the UAV’s
+D position, while from the inertial sensors we obtain the orientation of
+rotorcraft. A semi-embedded navigation system combining stereo vision with
+inertial information is proposed.\\
+The hierarchical control approach is appropriate to stabilize the 6DOF dynamics
+of the quadrotor, it takes advantage of the time scale separation between rotational
+(fast) and translational (slow) dynamics. For this reason, despite the lower frequency
+rate of vision-based measurements is able to stabilize in real-time the quadrotor
+translational dynamics. This combination of measurement strategies has many advantages
+because one works very well at low speeds (vision system) and the other at
+high speeds (inertial sensors). Both work at different sample rate. Taking advantage
+of this property we have obtained a simplified dynamical model of the rotorcraft.
+This model is given by six independent double integrators which have been stabilized
+using proportional-derivative (PD) control. The real-time experiments have
+shown an acceptable performance of the flying machine applying the control law
+and sensing system proposed.\\
+An embedded control system for the mini rotorcraft is implemented. The control
+is validated by experimental tests. Experimental results show that the implementation
+of the control law on an embedded control system is satisfactory for autonomous
+hovering in indoors and outdoors with light or no wind. Real time experiences are
+developed to validate the performance of navigation systems proposed. This work
+highlights the potential of the computer vision based position control strategies for
+UAV.
+\\
+\\
+\\

UMR CNRS 7253

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