@article {IOPORT.05832145,
    author       = {Rondon, E. and Salazar, S. and Escareno, J. and Lozano, R.},
    title        = {Vision-based position control of a two-rotor VTOL miniuav.},
    year         = {2010},
    journal      = {Journal of Intelligent \& Robotic Systems},
    volume       = {57},
    number       = {1-4},
    issn         = {0921-0296},
    pages        = {49-64},
    publisher    = {Springer, Dordrecht},
    doi          = {10.1007/s10846-009-9370-6},
    abstract     = {Summary: In this paper we address the stabilization of the attitude and position of a birotor miniUAV to perform autonomous flight. For this purpose, we have implemented a Kalman-based sensor fusion between inertial sensors (gyros-accelerometers) and the optical flow (OF) provided by the vehicle. This fusion algorithm extracts the translational-OF (TOF) component and discriminates the rotational OF (ROF). The aircraft's position is obtained through an object detection algorithm (centroid tracking). Newton-Euler motion equations were used to deduce the mathematical model of the vehicle. In terms of control we have employed a saturated-based control to stabilize the state of the aircraft around the origin. Experimental autonomous flight was successfully achieved, which validates the sensing strategy as well as the embedded control law.},
    identifier   = {05832145},
}