{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T13:03:51Z","timestamp":1778591031719,"version":"3.51.4"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T00:00:00Z","timestamp":1529452800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2018,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Safe and accurate navigation for autonomous trajectory tracking of quadrotors using monocular vision is addressed in this paper. A second order Sliding Mode (2-SM) control algorithm is used to track desired trajectories, providing robustness against model uncertainties and external perturbations. The time-scale separation of the translational and rotational dynamics allows to design position controllers by giving a desired reference in roll and pitch angles, which is suitable for practical validation in quad-rotors equipped with an internal attitude controller. A Lyapunov based analysis proved the closed-loop stability of the system despite the presence of unknown external perturbations. Monocular vision fused with inertial measurements are used to estimate the vehicle's pose with respect to unstructured scenes. In addition, the distance to potential collisions is detected and computed using the sparse depth map coming also from the vision algorithm. The proposed strategy is successfully tested in real-time experiments, using a low-cost commercial quadrotor.<\/jats:p>","DOI":"10.1017\/s0263574718000516","type":"journal-article","created":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T07:56:10Z","timestamp":1529481370000},"page":"1493-1509","source":"Crossref","is-referenced-by-count":7,"title":["Sliding mode collision-free navigation for quadrotors using monocular vision"],"prefix":"10.1017","volume":"36","author":[{"given":"Diego","family":"Mercado","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pedro","family":"Castillo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rogelio","family":"Lozano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,6,20]]},"reference":[{"key":"S0263574718000516_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2612618"},{"key":"S0263574718000516_ref11","doi-asserted-by":"crossref","unstructured":"J. Engel , J. Sturm and D. Cremers , \u201cCamera-Based Navigation of a Low-Cost Quadrocopter,\u201d Proceedings of the IEEE International Conference on Intelligent Robot Systems (IROS), Vilamoura, Portugal (2012).","DOI":"10.1109\/IROS.2012.6385458"},{"key":"S0263574718000516_ref10","doi-asserted-by":"crossref","first-page":"803","DOI":"10.1002\/rob.21466","article-title":"Monocular vision for long-term micro aerial vehicle state estimation: A compendium","volume":"30","author":"Siegwart","year":"2013","journal-title":"J. Field Robot."},{"key":"S0263574718000516_ref17","doi-asserted-by":"crossref","unstructured":"H. Alvarez , L. M. Paz , J. Sturm and D. Cremers , \u201cCollision Avoidance for Quadrotors With a Monocular Camera,\u201d Proceedings of The 12th International Symposium on Experimental Robotics (ISER), Marrakech and Essaouira, Morocco (2014).","DOI":"10.1007\/978-3-319-23778-7_14"},{"key":"S0263574718000516_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2010.03.004"},{"key":"S0263574718000516_ref7","doi-asserted-by":"crossref","unstructured":"M. Achtelik , M. Achtelik , S. Weiss and R. Siegwart , \u201cOnboard IMU and Monocular Vision Based Control for MAVs in Unknown In- and Outdoor Environments,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China (2011).","DOI":"10.1109\/ICRA.2011.5980343"},{"key":"S0263574718000516_ref23","doi-asserted-by":"crossref","unstructured":"L. Derafa , L. Fridman , A. Benallegue and Ouldali , \u201cSuper Twisting Control Algorithm for the Four Rotors Helicopter Attitude Tracking Problem,\u201d Proceedings of the 11th International Workshop on Variable Structure Systems, Mexico City, Mexico (2010).","DOI":"10.1109\/VSS.2010.5544726"},{"key":"S0263574718000516_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijleo.2015.07.058"},{"key":"S0263574718000516_ref13","doi-asserted-by":"crossref","unstructured":"M. Nieuwenhuisen , D. Droeschel , M. Beul and S. Behnke , \u201cObstacle Detection and Navigation Planning for Autonomous Micro Aerial Vehicles,\u201d Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, FL, USA (2014).","DOI":"10.1109\/ICUAS.2014.6842355"},{"key":"S0263574718000516_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2557967"},{"key":"S0263574718000516_ref24","doi-asserted-by":"crossref","unstructured":"R. Xu and \u00dc. \u00d6zg\u00fcner , \u201cSliding Mode Control of a Quadrotor Helicopter,\u201d Proceedings of the 45th IEEE Conference on Decision & Control, San Diego, CA, USA (2006).","DOI":"10.1109\/CDC.2006.377588"},{"key":"S0263574718000516_ref21","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0240"},{"key":"S0263574718000516_ref16","doi-asserted-by":"crossref","unstructured":"T. Mori and S. Scherer , \u201cFirst Results in Detecting and Avoiding Frontal Obstacles From a Monocular Camera for Micro Aerial Vehicles,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany (2013).","DOI":"10.1109\/ICRA.2013.6630807"},{"key":"S0263574718000516_ref9","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20412"},{"key":"S0263574718000516_ref6","doi-asserted-by":"crossref","unstructured":"G. Klein and D. Murray , \u201cParallel Tracking and Mapping for Small AR Workspaces,\u201d Proceedings of the IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Nara, Japan (2007).","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"S0263574718000516_ref15","doi-asserted-by":"crossref","unstructured":"C. Bills , J. Chen and A. Saxena , \u201cAutonomous MAV Flight in Indoor Environments Using Single Image Perspective Cues,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China (2011).","DOI":"10.1109\/ICRA.2011.5980136"},{"key":"S0263574718000516_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2011.05.008"},{"key":"S0263574718000516_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.11.011"},{"key":"S0263574718000516_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/9.317122"},{"key":"S0263574718000516_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2014.09.077"},{"key":"S0263574718000516_ref26","volume-title":"Modelling and Control of Mini-Flying Machines","author":"Castillo","year":"2005"},{"key":"S0263574718000516_ref28","volume-title":"Sliding Mode Control and Observation","author":"Shtessel","year":"2010"},{"key":"S0263574718000516_ref20","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3601"},{"key":"S0263574718000516_ref14","doi-asserted-by":"crossref","unstructured":"A. Beyeler , J. Zufferey and D. Floreano , \u201c3D Vision-Based Navigation for Indoor Microflyers,\u201d Proceedings IEEE International Conference on Robotics and Automation (ICRA), Roma, Italy (2007).","DOI":"10.1109\/ROBOT.2007.363170"},{"key":"S0263574718000516_ref8","doi-asserted-by":"crossref","unstructured":"S. Weiss , M. Achtelik , S. Lynen , M. Chli and R. Siegwart , \u201cReal-time Onboard Visual-Inertial State Estimation and Self-Calibration of MAVs in Unknown Environments,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA (2012).","DOI":"10.1109\/ICRA.2012.6225147"},{"key":"S0263574718000516_ref22","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2014.0215"},{"key":"S0263574718000516_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijleo.2012.10.060"},{"key":"S0263574718000516_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.03.012"},{"key":"S0263574718000516_ref25","doi-asserted-by":"crossref","unstructured":"D. Mercado , P. Castillo , R. Castro and R. Lozano , \u201c2-Sliding Mode Trajectory Tracking Control and EKF Estimation for Quadrotors,\u201d Proceedings of the 19th IFAC World Conference, Cape Town, South Africa (2014).","DOI":"10.3182\/20140824-6-ZA-1003.02673"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718000516","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,19]],"date-time":"2019-10-19T18:31:17Z","timestamp":1571509877000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718000516\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,6,20]]},"references-count":29,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2018,10]]}},"alternative-id":["S0263574718000516"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718000516","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,6,20]]}}}