Hossein Bolandi

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— In this paper image based visual servo approach for 3D translational motion and yaw rotation of an under-actuated flying robot is considered. Taking into account the complexity of dynamics of flying robots, main objective of this paper is to consider the dynamics of these robots in designing an image based control strategy. Inertial information of the(More)
An image-based visual servoing (IBVS) method is proposed for controlling the 3D translational motion and the yaw rotation of a quadrotor. The dynamic model of this unmanned aerial vehicle (UAV) is considered at the design stage to account for its underac-tuation. In contrast with previous IBVS methods for underactuated UAVs, which used spherical image(More)
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor dynamics. The main subsystems of quadrotor (i.e.(More)
—In this paper, Image-Based Visual Servo (IBVS) control of an underactuated Unmanned Aerial Vehicle (UAV) is considered for the 3D translational motion. Taking into account the low quality of accelerometers data, the main objective of this paper is to only use information of rate gyroscopes and a camera, as the sensor suite, in order to design an IBVS(More)
— In this paper, dynamic image-based visual servo control approach is designed for an underactuated flying robot tracking a moving target. The objective is to consider the full dynamics of the system to design a vision based controller. Passivity properties of dynamics of perspective image moments in virtual image plane, obtained using inertial information(More)
In this article, image-based visual servoing control of an underactuated unmanned aerial vehicle is considered for the three-dimensional translational motion. Taking into account the low quality of accelerometers' data, the main objective of this article is to only use information of rate gyroscopes and a camera, as the sensor suite, in order to design an(More)
— This paper investigates the effect of the number of environment features on a cooperative approach of simultaneous localization and mapping (SLAM). The tested cooperative SLAM approach is the Extended Observation-Cooperative SLAM (EO-CSLAM) algorithm which depends on additional, indirect correlated observations of the features (landmarks). The performance(More)
We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal(More)