{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:58:05Z","timestamp":1760234285926,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,5,5]],"date-time":"2021-05-05T00:00:00Z","timestamp":1620172800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish Ministry of Science, Innovation and Universities","award":["RTI2018-100847-B-C21"],"award-info":[{"award-number":["RTI2018-100847-B-C21"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Collision-avoidance is a crucial research topic in robotics. Designing a collision-avoidance algorithm is still a challenging and open task, because of the requirements for navigating in unstructured and dynamic environments using limited payload and computing resources on board micro aerial vehicles. This article presents a novel depth-based collision-avoidance method for aerial robots, enabling high-speed flights in dynamic environments. First of all, a depth-based Euclidean distance field mapping algorithm is generated. Then, the proposed Euclidean distance field mapping strategy is integrated with a rapid-exploration random tree to construct a collision-avoidance system. The experimental results show that the proposed collision-avoidance algorithm has a robust performance at high flight speeds in challenging dynamic environments. The experimental results show that the proposed collision-avoidance algorithm can perform faster collision-avoidance maneuvers when compared to the state-of-art algorithms (the average computing time of the collision maneuver is 25.4 ms, while the minimum computing time is 10.4 ms). The average computing time is six times faster than one baseline algorithm. Additionally, fully autonomous flight experiments are also conducted for validating the presented collision-avoidance approach.<\/jats:p>","DOI":"10.3390\/rs13091796","type":"journal-article","created":{"date-parts":[[2021,5,5]],"date-time":"2021-05-05T22:51:42Z","timestamp":1620255102000},"page":"1796","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Robust and Fast Collision-Avoidance Approach for Micro Aerial Vehicles Using a Depth Sensor"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8078-8760","authenticated-orcid":false,"given":"Liang","family":"Lu","sequence":"first","affiliation":[{"name":"Computer Vision and Aerial Robotics Group (CVAR), Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jose Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]},{"given":"Adrian","family":"Carrio","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics Group (CVAR), Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jose Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"},{"name":"Dronomy, Paseo de la Castellana 40, 28046 Madrid, Spain"}]},{"given":"Carlos","family":"Sampedro","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics Group (CVAR), Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jose Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9894-2009","authenticated-orcid":false,"given":"Pascual","family":"Campoy","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics Group (CVAR), Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jose Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Sampedro, C., Bavle, H., Rodriguez-Ramos, A., Puente, P.d., and Campoy, P. 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