Publications

If you are using Aerostack within the research for your publication, please cite the following paper:

• J.L. Sanchez-Lopez, M. Molina, H. Bavle, C. Sampedro, R. A. Suarez-Fernandez, P. Campoy. (2017). A Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework. Journal of Intelligent & Robotic Systems, 88, 683–709.

Video presentation of Aerostack:

• M. Molina (2020): Aerostack: A Software Framework for Aerial Robotic Systems. 1st International Workshop Drones Software Programming (ROSEN 2020). Wageningen University & Research.

Details about the functionality of Aerostack can be found in the following papers.

Core Papers

• J.L. Sanchez-Lopez, M. Molina, H. Bavle, C. Sampedro, R. A. Suarez-Fernandez, P. Campoy. (2017). A Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework. Journal of Intelligent & Robotic Systems, 88, 683–709.

• J. L. Sanchez-Lopez, R. A. Suarez-Fernandez, H. Bavle, C. Sampedro, M. Molina, J. Pestana, P. Campoy (2016). AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics. ICUAS 2016, Arlington, USA.

Mission execution control

• Martin Molina, Pablo Santamaria (2021). Behavior coordination for self-adaptive robots using constraint-based configuration. Arxiv preprint arXiv:2103.13128.

• M. Molina, P. Santamaria, and A. Carrera (2021). Programming robot behaviors with execution management functions. Arxiv preprint arXiv:2103.06545.

• M. Molina, A. Carrera, A. Camporredondo, H. Bavle, A. Rodriguez-Ramos, P. Campoy (2020): Building the executive system of autonomous aerial robots using the Aerostack open-source framework. International Journal of Advanced Robotic Systems. 17(3) : 1-20.

• M. Molina, A. Camporredondo, H. Bavle, A. Rodriguez-Ramos, P. Campoy (2019): An execution control method for the Aerostack aerial robotics framework. Frontiers of Information Technology & Electronic Engineering. 20(1) : 60-75.

• M. Molina, R. A. Suarez-Fernandez, C. Sampedro, J. L. Sanchez-Lopez, P. Campoy, (2017): TML: a language to specify aerial robotic missions for the framework Aerostack. International Journal of Intelligent Computing and Cybernetics, Vol. 10 Issue: 4, pp.491-512.

• M. Molina, A. Diaz-Moreno, D. Palacios, R. A. Suarez-Fernandez, J.L. Sanchez-Lopez, C. Sampedro, H. Bavle, P. Campoy (2016): Specifying Complex Missions for Aerial Robotics in Dynamic Environments. International Micro Air Vehicle Conference and Competition, IMAV 2016. Beijing, China.

Motion planning

• C. Sampedro, H. Bavle, J. L. Sanchez-Lopez, R. A. Suarez-Fernandez, A. Rodriguez-Ramos, M. Molina, and P. Campoy (2016): A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination. ICUAS 2016, Arlington, USA.

• Sanchez-Lopez, J. L., Pestana, J., & Campoy, P. (2017, June). A robust real-time path planner for the collision-free navigation of multirotor aerial robots in dynamic environments. In 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 316-325). IEEE.

Human Robot Interaction

• M. Molina, P. Frau, D. Maravall (2018). A Collaborative Approach for Surface Inspection Using Aerial Robots and Computer Vision. Sensors, 18(3), 893; doi:10.3390/s18030893

• M. Molina, P. Frau, D. Maravall, J.L. Sanchez-Lopez, H. Bavle, P. Campoy (2017): Human-Robot Cooperation in Surface Inspection Aerial Missions. The International Micro Air Vehicle Conference and Competition, IMAV 2017, Toulouse, France.

• R.A. Suarez Fernandez, J. L. Sanchez-Lopez, C. Sampedro, H. Bavle, M. Molina, and P. Campoy (2016): Natural User Interfaces for Human-Drone Multi-Modal Interaction. ICUAS 2016, Arlington, USA.

Motion control

• Sampedro, C., Bavle, H., Rodriguez-Ramos, A., de la Puente, P., & Campoy, P. (2018, October). Laser-Based Reactive Navigation for Multirotor Aerial Robots using Deep Reinforcement Learning. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1024-1031). IEEE.

• Rodriguez-Ramos, A., Sampedro, C., Bavle, H., Moreno, I. G., & Campoy, P. (2018, October). A Deep Reinforcement Learning Technique for Vision-Based Autonomous Multirotor Landing on a Moving Platform. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1010-1017). IEEE.

• J. Pestana, J. L. Sanchez-Lopez, S. Saripalli, P. Campoy. Computer Vision Based General Object Following for GPS-denied Multirotor Unmanned Vehicles. 2014 American Control Conference (ACC 14). Portland (OR, USA). Jun. 4-6, 2014. Pp: 1886-1891. ISSN: 0743-1619. DOI: 10.1109/ACC.2014.6858831.

• J. Pestana, J. L. Sanchez-Lopez, S. Saripalli, P. Campoy. Vision based GPS-denied Object tracking and Following for Unmanned Aerial Vehicles. The 2013 (11th) IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013). Linköping (Sweden). Oct 21-26, 2013. Best Paper Award Finalist. Pages: 1-6. Print ISBN: 978-1-4799-0879-0. DOI: 10.1109/SSRR.2013.6719359

• J. Pestana, I. Mellado-Bataller, C. Fu, J. L. Sanchez-Lopez, I. F. Mondragon, P. Campoy. A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles. Journal of Intelligent and Robotic Systems. Jan. 2014. Vol 73, Issue 1-4, pp. 387-400. Springer Netherlands. Print ISSN: 0921-0296. Online ISSN: 1573-0409. DOI: 10.1007/s10846-013-9953-0

• J. Pestana, I. Mellado-Bataller, J. L. Sanchez-Lopez, C. Fu, I. F. Mondragon, P. Campoy. Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles. Robot 2013: First Iberian Robotics Conference (ROBOT 2013). Madrid (Spain). Nov. 28-29, 2013. Book title: Robot 2013: First Iberian Robotics Conference. Book subtitle: Advances in intelligent Systems and Computing. Vol. 253. Published year: 2014. Pp: 91-106. DOI: 10.1007/978-3-319-03653-3_8. Print ISBN: 978-3-319-03652-6. Online ISBN: 978-3-319-03653-3. Publisher: Springer International Publishing.

• J. Pestana, I. Mellado-Bataller, C. Fu, J. L. Sanchez-Lopez, I. Fernando Mondragon, P. Campoy. A General Purpose Congurable Navigation Controller for Micro Aerial Multirotor Vehicles. 2013 International Conference on Unmanned Aircraft Systems (ICUAS’13). Atlanta, Georgia (USA). May 28-31, 2013. DOI: 10.1109/ICUAS.2013.6564733. Print ISBN: 978-1-4799-0815-8. Publisher: IEEE. Pages: 557 - 564.

Sensoring and estimation

• Bavle, H., Manthe, S., de la Puente, P., Rodriguez-Ramos, A., Sampedro, C., & Campoy, P. (2018, October). Stereo Visual Odometry and Semantics based Localization of Aerial Robots in Indoor Environments. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1018-1023). IEEE.

• Bavle, H., Sanchez-Lopez, J., de la Puente, P., Rodriguez-Ramos, A., Sampedro, C., & Campoy, P. (2018). Fast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors. Aerospace, 5(3), 94.

• H. Bavle, J. L. Sanchez-Lopez, A. Rodriguez-Ramos, C. Sampedro, P. Campoy, "A flight altitude estimator for multirotor uavs in dynamic and unstructured indoor environments", International Conference on Unmanned Aircraft Systems (ICUAS) 2017.

• Jose Luis Sanchez-Lopez, Victor Arellano-Quintana, Marco Tognon, Pascual Campoy, Antonio Franchi. Visual Marker based Multi-Sensor Fusion State Estimation. IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 6p., 2017.

• A. Rodríguez-Ramos, C. Sampedro, A. Carrio, H. Bavle, R. A. Suarez-Fernandez, Z. Milosevic, P. Campoy, P. Z. Peng, D. F. Lin, A monocular pose estimation strategy for uav autonomous navigation in gnss-denied environments, International Micro Air Vechicle Competition and Conference 2016, pp. 22-27, 2016.

Applications

• Sampedro, C., Rodriguez-Ramos, A., Bavle, H., Carrio, A., de la Puente, P., Campoy, P. (2018). A fully-autonomous aerial robot for search and rescue applications in indoor environments using learning-based techniques. Journal of Intelligent & Robotic Systems 95: 601–627.

Competitions

MBZIRC 2020:

• R. A. Suarez Fernandez, A. Rodriguez-Ramos, A. Alvarez, J. Rodriguez-Vazquez, H. Bavle, L. Liang, M. Fernandez, A. Rodelgo, J.A. Cobano, D. Alejo, D. Acevedo, R. Rey, S. Martinez-Rozas, M. Molina, L. Merino, F. Caballero, P. Campoy (2020). The Skyeye Team Participation in the 2020 Mohamed Bin Zayed International Robotics Challenge. Mohammad Bin Zayed International Robotics Competition (MBZIRC) Simposium. Abu Dhabi.

IMAV 2016:

• C. Sampedro, H. Bavle, A. Rodriguez-Ramos, A. Carrio, R. A. Suárez Fernández, J. L. Sanchez-Lopez, P. Campoy, "A fully-autonomous aerial robotic solution for the 2016 international micro air vehicle competition", Unmanned Aircraft Systems (ICUAS) 2017 International Conference on, 2017.

IARC 2014:

• J. L. Sanchez-Lopez, J. Pestana, J.-F. Collumeau, R. Suarez-Fernandez, P. Campoy, M. Molina. A Vision Based Aerial Robot solution for the Mission 7 of the International Aerial Robotics Competition. Unmanned Aircraft Systems (ICUAS), 2015 International Conference on. Denver, (CO, USA). 9-12 June 2015. Pp: 1391 – 1400. Print ISBN: 978-1-4799-6009-5. DOI: 10.1109/ICUAS.2015.7152435

IMAV 2013:

• J. Pestana, J. L. Sanchez-Lopez, P. de la Puente, A. Carrio, P. Campoy. A Vision-based Quadrotor Multi-Robot Solution for the Indoors Autonomy Challenge of the 2013 International Micro Air Vehicle Competition. Journal of Intelligent and Robotic Systems.

• J. Pestana, J. L. Sanchez-Lopez, P. de la Puente, A. Carrio, P. Campoy. A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition. 2014 International Conference on Unmanned Aircraft Systems (ICUAS’14). Orlando (FL, USA). May 27-30, 2014. Pp: 617-622. DOI: 10.1109/ICUAS.2014.6842305.

• J. L. Sanchez-Lopez, J. Pestana, P. de la Puente, A. Carrio, P. Campoy. Visual Quadrotor Swarm for the IMAV 2013 Indoor Competition. Robot 2013: First Iberian Robotics Conference (ROBOT 2013). Madrid (Spain). Nov. 28-29, 2013. Book title: Robot 2013: First Iberian Robotics Conference. Book subtitle: Advances in intelligent Systems and Computing. Vol. 253. Published year: 2014. Pp: 55-63. DOI: 10.1007/978-3-319-03653-3_5. Print ISBN: 978-3-319-03652-6. Online ISBN: 978-3-319-03653-3. Publisher: Springer International Publishing.

Other related papers:

• J.L. Sanchez-Lopez, J. Pestana, P. de la Puente, P. Campoy (2015): “A reliable Open-source System Architecture for the Fast Designing and Prototyping of Autonomous Multi-UAV Systems: Simulation and Experimentation”. Journal of Intelligent and Robotic Systems. Online: Oct. 2015. Springer Netherlands. Online ISSN: 0921-0296. DOI: 10.1007/s10846-015-0288-x.

• J. L. Sanchez-Lopez, J. Pestana, P. de la Puente, R. Suarez-Fernandez, P. Campoy. A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms. 2014 International Conference on Unmanned Aircraft Systems (ICUAS’14). Orlando (FL, USA). May 27-30, 2014. Pp: 640-648. DOI: 10.1109/ICUAS.2014.6842308.