Volker Grabe

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In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g., exploration, coverage, and surveillance. First, we introduce and thoroughly(More)
Robot vision became a field of increasing importance in micro aerial vehicle robotics with the availability of small and light hardware. While most approaches rely on external ground stations because of the need of high computational power, we will present a full autonomous setup using only on-board hardware. Our work is based on the continuous homography(More)
The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an endto-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots(More)
For the purpose of autonomous UAV flight control, cameras are ubiquitously exploited as a cheap and effective onboard sensor for obtaining non-metric position or velocity measurements. Since the metric scale cannot be directly recovered from visual input only, several methods have been proposed in the recent literature to overcome this limitation by(More)
Robotic vision has become an important field of research for micro aerial vehicles in the recent years. While many approaches for autonomous visual control of such vehicles rely on powerful ground stations, the increasing availability of small and light hardware allows for the design of more independent systems. In this context, we present a robust(More)
For the control of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, cameras have been widely exploited as main sensory modality for addressing the UAV state estimation problem. However, the use of visual information for ego-motion estimation presents several theoretical and practical difficulties, such as data association, occlusions, and lack of(More)
At Real Earth, we develop state-of-the-art technologies in real-time localization and mapping. Our key motivation is to enable robots to navigate reliably and to separately build accurate three-dimensional representations of the environment. Our methods are suitable for localization applications since we use compact devices that can be easily hand-carried(More)
Different solutions are used on driving simulators to provide visual feedback. In this study, we investigated the influence of projection technology and field of view on drivers‟ performance in a slalom driving task. We tested a head mounted display against a curved projection system on our CyberMotion simulator, based on an anthropomorphic robot arm. The(More)
We present a long-range visual signal detection system that is suitable for an unmanned aerial vehicle to find an optical signal released at a desired landing site for the purposes of cargo delivery or rescue situations where radio signals or other communication systems are not available or the wind conditions at the landing site need to be signaled. The(More)
Head Mounted Displays (HMDs) are a flexible and small-sized alternative to projection screens as a visualization device on motion simulators. However, only few HMDs on the market feature a wide field of view (FoV) combined with a low weight. Among these, the xSight 6123 HMD from Sensics, with a horizontal FoV of 118∘ and a weight of 400 g, is a particularly(More)
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