{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,25]],"date-time":"2026-01-25T16:03:22Z","timestamp":1769357002891,"version":"3.49.0"},"reference-count":35,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2017,8,12]],"date-time":"2017-08-12T00:00:00Z","timestamp":1502496000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003141","name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","doi-asserted-by":"publisher","award":["CB-256769"],"award-info":[{"award-number":["CB-256769"]}],"id":[{"id":"10.13039\/501100003141","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003141","name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","doi-asserted-by":"publisher","award":["CB-258068"],"award-info":[{"award-number":["CB-258068"]}],"id":[{"id":"10.13039\/501100003141","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.<\/jats:p>","DOI":"10.3390\/s17081865","type":"journal-article","created":{"date-parts":[[2017,8,14]],"date-time":"2017-08-14T10:23:12Z","timestamp":1502706192000},"page":"1865","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller"],"prefix":"10.3390","volume":"17","author":[{"given":"Carlos","family":"Lopez-Franco","sequence":"first","affiliation":[{"name":"Centro Universitario de Ciencias Exactas e Ingenier\u00edas, Universidad de Guadalajara, Blvd. Marcelino Garc\u00eda Barrag\u00e1n 1421, Guadalajara C.P. 44430, Jalisco, Mexico"},{"name":"Avenida Revoluci\u00f3n 1500 Modulo \u201cR\u201d, Colonia Universitaria, Guadalajara C.P. 44430, Jalisco, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9724-1729","authenticated-orcid":false,"given":"Javier","family":"Gomez-Avila","sequence":"additional","affiliation":[{"name":"Centro Universitario de Ciencias Exactas e Ingenier\u00edas, Universidad de Guadalajara, Blvd. Marcelino Garc\u00eda Barrag\u00e1n 1421, Guadalajara C.P. 44430, Jalisco, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alma","family":"Alanis","sequence":"additional","affiliation":[{"name":"Centro Universitario de Ciencias Exactas e Ingenier\u00edas, Universidad de Guadalajara, Blvd. Marcelino Garc\u00eda Barrag\u00e1n 1421, Guadalajara C.P. 44430, Jalisco, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8803-9502","authenticated-orcid":false,"given":"Nancy","family":"Arana-Daniel","sequence":"additional","affiliation":[{"name":"Centro Universitario de Ciencias Exactas e Ingenier\u00edas, Universidad de Guadalajara, Blvd. Marcelino Garc\u00eda Barrag\u00e1n 1421, Guadalajara C.P. 44430, Jalisco, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0802-0121","authenticated-orcid":false,"given":"Carlos","family":"Villase\u00f1or","sequence":"additional","affiliation":[{"name":"Centro Universitario de Ciencias Exactas e Ingenier\u00edas, Universidad de Guadalajara, Blvd. Marcelino Garc\u00eda Barrag\u00e1n 1421, Guadalajara C.P. 44430, Jalisco, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,8,12]]},"reference":[{"key":"ref_1","unstructured":"Bouabdallah, S., and Siegwart, R. 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