FOREWORD
The First Workshop on Research, Development and Education on Unmanned Aerial Systems
(RED-UAS 2011) has attracted significant attention from those interested in the UAS
technologies and their applications. More than 50 papers were submitted and the Program
Committee selected 28 for oral presentation and 14 for posters. The topics are New Designs
and Prototypes, Navigation and Control, Methods for Trajectories/Paths Generation and
Planning, Multi-rotor Systems and Applications, Regulations, Applications, and Education.
Furthermore the RED-UAS Program includes two plenary sessions on “Perception and Decision
Making for Autonomous Soaring - Towards Persistent Flight”, from Salah Sukkarieh, and
“Challenges in Unmanned Aircraft Systems: From Controller Design to Integration into the
National Airspace”, from Kimon Valavanis, a round table on “Capabilities needed for UAS
development and applications (Facilities, Technologies, Regulations, R&D Funding Programs)”
with 6 presentations, a special session on ”UAS and Aerial Robotics” with 4 presentations, and
6 flight demonstrations.
Thus, RED-UAS has an attractive Program with 53 presentations from 12 countries combining
UAS methods, technologies, applications and education, as well as the 6 flight demonstrations.
Furthermore, RED-UAS is part of the European Robotics Week (28th Nov – 4th Dec, 2011). One
week with 340 events of robotics in 18 countries throughout Europe.
We would like to thank all the contributors to the RED-UAS for making this event possible.
Thanks are due to our colleagues at FADA-CATEC and the GRVC Group of the Universities of
Seville and Pablo de Olavide, that have worked very hard in the preparation of the event, and
to the Sponsors and Organizations that have supported RED-UAS.
We wish also to extend our gratitude to all the members of the Program Committee, Industrial
and Exhibition Committee and Organizing Committee.
Anibal Ollero
Program Committee Chair
Juan Pedro Vela
Industrial and Exhibition Committee Chair
COMMITEES
PROGRAMME
INDUSTRIAL AND EXHIBITION
Chair:
Aníbal Ollero, FADA-CATEC and Univ. Sevilla
Chair:
Juan Pedro Vela, FADA-CATEC
Members:
Antonio Barrientos, Univ. Politécnica Madrid
(Spain)
Samir Bouabdallah, ETHZ (Switzerland)
Pascual Campoy, Univ. Politécnica Madrid (Spain)
Cristina Cuerno, Univ. Politécnica Madrid (Spain)
Patrick Doherty, Linköpings Universitet (Sweden)
Patrick Fabiani, ONERA (France)
Jose Patricio Gómez, Univ Politécnica Madrid
(Spain)
Jesús Gonzalo, Univ. León (Spain)
Guillermo Heredia, Univ. Sevilla (Spain)
Mo Jamshidi, University Texas at San Antonio
(USA)
Konstantin Kondak, DLR (Germany)
Iván Maza, Univ. Sevilla (Spain)
Rogelio Lozano, Univ. Technologie Compiègne
(France)
Francisco Muñoz, INTA (Spain)
Manuel Mulero, INTA (Spain)
Paul Oh, Drexel University (USA)
Enric Pastor, Univ. Politécnica Catalunya (Spain)
Inna Sharf, McGill University (Canada)
João Sousa, Universidade do Porto (Portugal)
Rune Storvold, NORUT (Norway)
Salah Sukkarieh, University of Sydney (Australia)
Antonios Tsourdos, Cranfield University (UK)
Kimon Valavanis, University of Denver (USA)
Ilkay Yavrucuk, Middle East Technical Univ.
(Turkey)
Antidio Viguria, FADA-CATEC (Spain)
Members:
Pedro Becerra, Aertec
Francisco Cano, Cassidian an EADS Company
Ladislas Freire, Aries Ingeniería de Sistemas
Pablo González Sánchez-Cantalejo, INDRA
Juan Alberto Herrería, ISDEFE
Juan Luque, UAV Navigation
Juan Osuna, Elimco
Isabella Panella, SELEX Galileo
Alfonso Picardo, FADA-CATEC
Emmanuel Previnaire, Flying Cam
José Prieto, GMV
José E. Román, Boeing Research & Technology
Europe
Juan Sendagorta, SENER Ingeniería y Sistemas
Francisco Serrano, Deimos Space
Peter Van Blyenburgh, UVS International
ORGANIZING
Dissemination: Silvia de los Santos, FADA-CATEC
Exhibition: Anastasio Sánchez, FADA-ATLAS
Publications: Manuel Béjar, Univ. Pablo de
Olavide
Local Arrangement: Ramiro Martínez, Univ.
Sevilla
Registration: Ángel Rodríguez, Univ. Sevilla
Web: Pablo Rubiano, FADA-CATEC
Finance: Irene de Miguel, FADA-CATEC
PROGRAM
30-11-2011 RED-UAS ( Day 1 )
08:30-09:00
09:00-09:15
REGISTRATION AND POSTERS HUNG UP
OPENING SESSION
Escuela Superior de Ingeniería
Avenida de los Descubrimientos
Sevilla (Spain)
Room A: Salón de Grados
- Rector of the University of Seville
- Antonio Ávila, (“Consejero de Economía, Innovación y
Ciencia de la Junta de Andalucía”, Andalucía Government)
- Jean-Pierre Lentz (D G Entrerprise and Industry of the
European Commission)
- Angel Moratilla (General Vicedirector of INTA)
- Emiliano Mata (Business Defence Development Director of
INDRA)
- Francisco Cano (Cassidian UAV Programs Director)
- Juan Pedro Vela (General Director of FADA-CATEC)
09:15-10:00
10:00-11:10
PLENARY SESSION: Perception and Decision Making for
Autonomous Soaring - Towards Persistent Flight
Salah Sukkarieh (University of Sidney, Australia)
Chair: A.Ollero (FADA-CATEC and Univ. Seville, Spain)
ROUND TABLE: Capabilities needed for UAS
development and applications (Facilities, Technologies,
Regulations, R&D Funding Programmes)
- F. Cano (CASSIDIAN): UAS technologies and facilities (1)
- P. Gonzalez (INDRA) : UAS technologies and facilities (2)
- J. del Castillo (Teniente General (R)): Defence and Security
UAS needs
- A. Ollero (FADA-CATEC & Univ. Sevilla): UAS Research and
Education
- A. Moratilla (INTA): UAS regulations
- Eva Martinez (CDTI): Funding Programs
11:10-11:30
Coffee Break
Room A: Salón de Grados
Room A: Salón de Grados
11:30-12:50
Methods for trajectories/paths generation and planning
Chair: K. Kondak (DLR, Germany). Co-chair: A. Barrientos
Room A: Salón de Grados
(UPM, Spain)
11:30-11:50
A new method for UAV path planning under uncertainties
J. A. Cobano, D. Alejo, R. Conde, and A. Ollero
GRVC, University of Seville and Center for Advanced Aerospace Technology FADA-CATEC, Spain
11:50-12:10
Practical issues and improvements in farmland coverage with aerial vehicles
Joao Valente, Antonio Barrientos, Jaime del Cerro, David Sanz, Mario Garzón, and Claudio Rossi
Robotics & Cybernetics Research Group (CAR UPM-CSIC), Spain
12:10-12:30
3D Interpolation-Based Path Planning for a Fixed-Wing Unmanned Aircraft in Civil Airspace
Moritz Niendorf, Marius Bednary and Reinhard Reichel
Institute of Flight Systems, DLR, Germany
12:30-12:50
Optimal Trajectory Generation for UAVs Using Dynamic Trajectory Modeling
Alfonso Valenzuela, Damián Rivas, Francisco Gavilán and Rafael Vázquez
Department of Aerospace Engineering, Escuela Superior de Ingenieros, Univ. Seville, Spain
11:30-12:50
Multi-rotor systems and applications
Chair: Lozano (Univ. Compiègne, France). Co-chair: P. Campoy
Room B: Sala Juan Larrañeta
(UPM, Spain)
11:30-11:50
Design, modeling and stabilization of a multi-rotor helicopter
M. Samano, R.Castro, R.Lozano and S. Salazar
CINVESTAV Mechatronics Section, Mexico, and UMI-LAFMIA, France
11:50-12:10
Towards an Indoor Testbed for Mobile Networked Control Systems
Martin Larsson, Jonas Lindberg, Jens Lycke, Karl Hansson, Aziz Khakulov, Emil Ringh, Fredrik
Svensson, Isak Tjernberg, Assad Alam, Jose Araujo, Farhad Farokhi, Euhanna Gadhimi, Andre
Teixeira, Dimos V. Dimarogonas, Karl H. Johansson
KTH Royal Institute of Technology, Sweden
12:10-12:30
Aerial Object Following Using Visual Fuzzy Servoing
Miguel A. Olivares-Méndez, Iván F. Mondragón, Pascual Campoy, Carol Martinez
Centro de Automática y Robótica (CAR) UPM-CSIC, Spain
12:30-12:50
On the use of UAVs for Vessel Inspection Assistance
Alberto Ortiz, Francisco Bonnin-Pascual and Emilio García-Fidalgo
University of Balearic Islands, Spain
12:50-14:00
Lunch
14:00-14:45
PLENARY SESSION: Challenges in Unmanned Aircraft
Systems: From Controller Design to Integration into the
National Airspace
Kimon Valavanis (University of Denver, USA)
Chair: S. Sukkarieh (Univ. Sidney, Australia)
Room A: Salón de Grados
14:45-16:25
Regulations and Applications
Chair: C.Cuerno (UP M, Spain). Co-Chair: I.Maza (Univ. Seville,
Room A: Salón de Grados
Spain)
14:45-15:05
Review Paper: Present Perspective of the Airworthiness Regulatory Initiatives for Unmanned
Aerial Systems
Cuerno-Rejado, C. and Domingo-Leal, P.J
E.T.S.I. Aeronáuticos, Universidad Politécnica de Madrid, Spain
15:05-15:25
UAS Integration into Non-segregated airspace in the short term: SINUE Project
Javier Caina, Pablo Gonzalez, Sara Luis and Lourdes Garcia
INDRA and INECO, Spain
15:25-15:45
Potential UAS Applications vs. Air Power Security Trends
Alberto P. Martínez Borja
CASSIDIAN, Spain
15:45-16:05
Open architecture for border surveillance UAS
Jorge Bueno Gómez, Juan Alberto Herrería García, Olivier Reichert
Ingeniería de Sistemas para la Defensa de España ( ISDEFE ), Spain
16:05-16:25
Rapid Development of Integrated 3D Terrain Maps using Light Unmanned Aerial Vehicles
G. Heredia, J. A. Cobano, D. Pérez, G. Núñez, L. Durán, F. Caballero, V. Vega, F. Real and A. Ollero
University of Seville and Center for Advanced Aerospace Technology FADA-CATEC, Spain
14:45-16:25
Education
Chair: J.Gonzalo (Univ. León, Spain). Co-Chair: M.Béjar (Univ.
Room B: Sala Juan Larrañeta
Pablo Olavide, Spain)
14:45-15:05
Scalable UAV for Flight Mechanics Education
Jesús Gonzalo
University of Leon, Engineering School, Spain
15:05-15:25
Fuel Cells: Alternative Propulsion for Unmanned Aerial Vehicles
Oscar González Espasandin, Teresa J. Leo and Emilio Navarro
E.T.S.I. Aeronáuticos, Universidad Politécnica de Madrid, Spain
15:25-15:45
Tutorial for the application of Kane's Method to model a small-size helicopter
L.A. Sandino, M. Béjar and A. Ollero
Univ. Seville and Center for Advanced Aerospace Technology FADA-CATEC (Spain)
15:45-16:05
UAV piston engine test bench
Juan Carlos Celada Fernández and Pablo Fernández Rodríguez
Área de Ingeniería Aeroespacial. Escuela de Ingenierías Industrial, Informática y Aeronáutica.
Campus de Vegazana. Universidad de León, Spain
16:05-16:25
Alternatives for programming a low-cost UAV in robotics undergraduate course
Mario Castro de Lera and Vicente Matellán
Vega Space GmbH. GCC , Germany, and Universidad de León, Spain
16:25-16:55
Coffee Break and Poster Session (1/2)
16:55-18:35
New designs and prototypes
Chair: F. Muñoz (INTA, Spain), Co-chair: L. Marconi (Univ.
Room A: Salón de Grados
Bologna, Italy)
16:55-17:15
Design and Experimental Validation of a Prototype of Ducted-Fan Aerial Service Robot
Roberto Naldi, Fabio Brué, Francesco Forte and Lorenzo Marconi
CASY-DEIS, Università di Bologna, Italy
17:15-17:35
On the Use of Calculus of Variations to Determine Optimum Rotor Shapes for Micro Air Vehicles
Gregor Thurlow
Department of Aerospace Engineering, University of Glasgow, United Kingdom
17:35-17:55
Mini coaxial rocket-helicopter aeroydnamic modeling, hover control, and implementation
E. S. Espinoza, O. Garcia, R. Lozano, and A. Malo
Laboratoire Franco-Mexicain d’Informatique et Automatique, LAFMIA UMI, France and Mexico
17:55-18:15
Tools for UAV Operations
P. Dias, E. Marques, R. Martins, R. Bencatel and J.B. Sousa
Department of Electrical and Computer Engineering, University of Porto, Portugal
18:15-18:35
Experience in Designing Autonomous Airplane
Róbert Schochmann, Jakub Pilka, Michal Kusenda, Ivan Pestún, Ing. Peter Volšík, Ján Malina
Slovak University of Technology in Bratislava, Faculty of Electrical Engineering and Information
Technology, Slovakia
16:55-18:35
Navigation and Control
Chair: G. Heredia (Univ. Seville, Spain), Co-chair: A. Viguria
Room B: Sala Juan Larrañeta
(FADA-CATEC, Spain)
16:55-17:15
Position-based velocity control system for rotary-wing UAVs
D. Santamaría, M. García, A. Viguria and A. Ollero
Center for Advanced Aerospace Technologies (FADA-CATEC), Spain.
17:15-17:35
Coordinated Standoff Target Tracking of Unmanned Aerial Vehicles Using Adaptive Sliding Mode
Control
Hyondong Oh, Seungkeun Kim, Antonios Tsourdos, and Brian A. White
Autonomous Systems Group, Department of Informatics and Systems Engineering, Cranfield
University, United Kingdom
17:35-17:55
Nonlinear Optimal Control of Holomonic Indoor Airship
Yin Yang, Inna Sharf
Department of Mechanical Engineering , McGill University, Canada
17:55-18:15
Attitude Control of a Quad-rotor based on Speed Sensing in Brushless DC Motors
I. Gonzalez, S. Salazar H. Romero R. Lozano and J. Torres
UMI-LAFMIA 3175 CNRS, France, and CINVESTAV, Mexico
18:15-18:35
An INS / GPS Integrated Navigation Filter for a UAV Based on a Mobile Phone
B. Fons-Albert, J. Vila-Carbó, Enrique Hernández-Orallo, J. Tur-Massanet
Universidad Politécnica de Valencia, Spain
21:00-23:00
Dinner
01-12-2011
RED-UAS ( Day 2 )
1) Escuela Superior de Ingeniería
Avenida Descubrimientos
Sevilla (Spain)
2) Villamartín Airfield
Cádiz (Spain)
3) FADA-CATEC Technology
Center. Sevilla (Spain)
08:30-09:55
Special Session: “From UAS to aerial robots”
Chair: K. Valavanis (Univ. Denver, USA)
Room A: Salón de Grados
Organized by the ARCAS FP7 project
8:30-8:55
Aerial Robotics in the USA: Sample Projects.
Kimon Valavanis
University of Denver, USA
8:55-9:15
The FP7 European Integrated Project ARCAS: Aerial Robotics Cooperative Assembly System.
Anibal Ollero, ARCAS coordinator
FADA-CATEC and University of Seville, Spain
9:15-9:35
The FP7 European project AIRobots: Innovative Aerial Service Robots for Remote Inspection by
Contact.
Lorenzo Marconi, AIRobots coordinator.
Università di Bologna, Italy
9:35-9:55
Hisparob aerial robotics workgroup: Industry needs and applications.
David Lamas.
INDRA, Spain
08:30-09:55
Poster Session (2/2)
List of Posters
A test bed for rapid flight testing of UAV control algorithms
Tiago Oliveira, Gonçalo Cruz and Eduardo R.B. Marques
Academia da Força Aérea Portuguesa, Portugal
Adaptive Control of Airplane Longitudinal Flight Dynamics
Francisco Gavilán, Rafael Vázquez, and Jose Angel Acosta
Departamento de Ingeniería Aeroespacial y de Ingeniería de Sistemas y Automática (Universidad
de Sevilla), Spain
Aircraft Structural Health Monitoring Use Case
Joaquín Pérez, Asier Rabanal and Ander Gorostiza
SISTEPLANT S.L., Spain
Autonomic communications for joint maritime surveillance missions enabled by UAVs
José Manuel Sánchez and Vicente Baena
IntegraSys and University of Seville, Spain
Building a UAS based on PBL concept
Rodríguez-Sevillano, A.A., Gandía-Agüera, F., Barcala-Montejano, M.A.
Universidad Politécnica de Madrid, Spain
Comparison of different state estimation algorithms for quadrotor control
L.R. García Carrillo, A. Dzul, R. Lozano
U. de T. de Compiègne, France, and Instituto Tecnológico de la Laguna, México
Coordination of Multiple UAS for Tracking under Uncertainty
Jesús Capitán, Luis Merino and Aníbal Ollero
GRVC University of Seville, University Pablo de Olavide and Center for Advanced Aerospace
Technology (FADA-CATEC), Spain
Electromechanical Actuation Systems for Unmanned Systems with Zero Environmental Impact
Verónica González, Aitor Isturiz and Javier Viñals
Sener Ingeniería y Sistemas SA, Spain
OpenFOAM as Free CFD Tool for Education, Research and Design in UAS
Diego Domínguez Fernández, Deibi López Rodríguez and Jesús González de Grado
Área de Ingeniería Aeroespacial. Escuela de Ingenierías Industrial, Informática y Aeronáutica
(University of León), Spain
Real-time localization using a Wireless Sensor Network: Application to an Unmanned Aerial
Vehicle
J.-L. Rullán-Lara, G. Sanahuja, S. Salazar, and R. Lozano
Laboratoire HEUDIASYC UMR CNRS 6599, Université de Technologie de Compiègne, France
Real Time Stabilization of a four-rotor UAV using rotor speed feedback
I. González, S. Salazar, H.Romero, R. Lozano and J. Torres
UMI-LAFMIA, France
Small UAS for Montagu’s Harrier’s (Circus pygargus) nets monitoring
Mara Mulero and Juan José Negro
Doñana Biological Station. CSIC, Spain
Tail Motion Model Identification for Control Design of an Unmanned Helicopter
Bernardo Morcego, Eleazar Saldívar and Fatiha Nejjari
Automatic Control Department, Universitat Politécnica de Catalunya, Spain
Towards ATM Automation: A Flight Management System for Unmanned Aircraft Systems
(ATLANTIDA Project)
Juan José Calvente Plaza and Julio Antequera Galiano
AERTEC Ingeniería y Desarrollos, Spain.
10:00-11:30
Transportation to the Villamartín Airfield, Cádiz (Spain)
11:30-13:00
Demonstrations (1/2)
11:30-12:00
Pelicano demonstration
Gonzalo Pacios, INDRA, Spain
12:00-12:15
Mantis Demonstration
César Mendez, INDRA, Spain
12:15-13:00
K2B6 Demonstration
Jesús García Muñoz, Unmanned Solutions, Spain
13:00-13:45
Lunch
Villamartín Airfield, Cádiz (Spain)
13:45-16:15
Demonstrations (2/2)
Villamartín Airfield, Cádiz (Spain)
13:45-14:30
Demonstration of multi-UAS cooperation system
C. Albo, A. Anderson Bell, A. Viguria and A. Ollero, Center
for Advanced Aerospace Technology, FADA-CATEC, Spain
14:30-15:15
ALO Demonstration
Francisco Muñoz, INTA, Spain
15:15-16:15
E100 and E300 Demonstration
José María Calero, ELIMCO, Spain
16:15-17:45
Transportation to the FADA-CATEC Technology Centre, Sevilla (Spain)
17:45-19:00
Visit to the FADA-CATEC Technology Centre, Sevilla (Spain)