Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)

La pirotecnia es ampliamente usada en la industria del entretenimiento alrededor del mundo, sin embargo; esta es nociva para la salud pública, el medio ambiente, especies silvestres, y mascotas, entre otros, no obstante, desde 2012, los espectáculos de luces con drones fueron introducidos en el merc...

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Autores:: Restrepo García, Santiago

Tipo de recurso:: Trabajo de grado de pregrado

Fecha de publicación:: 2022

Institución:: Universidad Autónoma de Occidente

Repositorio:: RED: Repositorio Educativo Digital UAO

Idioma:: spa

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dc.title.spa.fl_str_mv	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
title	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
spellingShingle	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO) Ingeniería Mecatrónica Robótica Procesamiento de imágenes - Técnicas digitales Robotics Image processing - Digital techniques Image processing Digital image Path planning Robotic perception UAV Procesamiento de imágenes Imagen digital Planeo de rutas Percepción robótica Drones
title_short	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
title_full	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
title_fullStr	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
title_full_unstemmed	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
title_sort	Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)
dc.creator.fl_str_mv	Restrepo García, Santiago
dc.contributor.advisor.none.fl_str_mv	Romero Cano, Victor
dc.contributor.author.none.fl_str_mv	Restrepo García, Santiago
dc.subject.spa.fl_str_mv	Ingeniería Mecatrónica
topic	Ingeniería Mecatrónica Robótica Procesamiento de imágenes - Técnicas digitales Robotics Image processing - Digital techniques Image processing Digital image Path planning Robotic perception UAV Procesamiento de imágenes Imagen digital Planeo de rutas Percepción robótica Drones
dc.subject.armarc.spa.fl_str_mv	Robótica Procesamiento de imágenes - Técnicas digitales
dc.subject.armarc.eng.fl_str_mv	Robotics Image processing - Digital techniques
dc.subject.proposal.eng.fl_str_mv	Image processing Digital image Path planning Robotic perception UAV
dc.subject.proposal.spa.fl_str_mv	Procesamiento de imágenes Imagen digital Planeo de rutas Percepción robótica Drones
description	La pirotecnia es ampliamente usada en la industria del entretenimiento alrededor del mundo, sin embargo; esta es nociva para la salud pública, el medio ambiente, especies silvestres, y mascotas, entre otros, no obstante, desde 2012, los espectáculos de luces con drones fueron introducidos en el mercado. En este documento se propone CrazyKhoreia, un sistema de percepción robótica para el diseño de coreografías orientado a vehículos aéreos no tripulados, el cual, por medio de algoritmos de visión computacional, procesa una imagen digital con el fin de obtener un plan de vuelo. Este plan de vuelo es después ejecutado y recreado usando fotografía de alta exposición con un único dron, o una formación de múltiples drones, libre de colisiones que imita la imagen original.
publishDate	2022
dc.date.accessioned.none.fl_str_mv	2022-08-18T20:41:32Z
dc.date.available.none.fl_str_mv	2022-08-18T20:41:32Z
dc.date.issued.none.fl_str_mv	2022-08-09
dc.type.spa.fl_str_mv	Trabajo de grado - Pregrado
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dc.type.content.eng.fl_str_mv	Text
dc.type.driver.eng.fl_str_mv	info:eu-repo/semantics/bachelorThesis
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dc.identifier.uri.none.fl_str_mv	https://hdl.handle.net/10614/14173
dc.identifier.instname.spa.fl_str_mv	Universidad Autónoma de Occidente
dc.identifier.reponame.spa.fl_str_mv	Repositorio Educativo Digital
dc.identifier.repourl.spa.fl_str_mv	https://red.uao.edu.co/
url	https://hdl.handle.net/10614/14173 https://red.uao.edu.co/
identifier_str_mv	Universidad Autónoma de Occidente Repositorio Educativo Digital
dc.language.iso.spa.fl_str_mv	spa
language	spa
dc.relation.cites.spa.fl_str_mv	Restrepo García, S. (2022). Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO). (Proyecto de grado). Universidad Autónoma de Occidente. Cali. Colombia. https://red.uao.edu.co/handle/10614/14173
dc.relation.references.none.fl_str_mv	[1] GrrlScientist, “Festive Fireworks Create Harmful Pall Of Pollution,” Forbes, 2019. https://rb.gy/nzwzgs [2] Redacción UdeA Noticias, “Conozca los efectos negativos de la alborada,” Sociedad, 2019. shorturl.at/lmoJM [3] L. J. Fennelly and M. A. Perry, “Unmanned aerial vehicle (drone) usage in the 21st century,” in The Professional Protection Officer: Practical Security Strategies and Emerging Trends, Elsevier, 2019, pp. 183–189. doi: 10.1016/B978-0-12-817748-8.00050-X. [4] GrrlScientist, “Drone Light Shows ‘Way Cooler’ Than Fireworks,” 2020. https://rb.gy/kvtyaz [5] S. McDill, “Here’s How Drones are Replacing Fireworks - Without The Pollution,” 2021. https://rb.gy/klkfvp [6] H. Sun, J. Qi, C. Wu, and M. Wang, “Path Planning for Dense Drone Formation Based on Modified Artificial Potential Fields,” in Chinese Control Conference, CCC, 2020, vol. 2020-July, pp. 4658–4664. doi: 10.23919/CCC50068.2020.9189345. [7] M. G. Lorenzi and M. Francaviglia, “Painting with light: generative artworks or setting in motion the fourth dimension,” in Proceedings of the 10th Generative Art Conference, GA2007, Milano, 2007, pp. 12–14. [8] R. Vecchi et al., “The impact of fireworks on airborne particles,” Atmos. Environ., vol. 42, no. 6, pp. 1121–1132, 2008, doi: 10.1016/j.atmosenv.2007.10.047. [9] Instituto Nacional de Salud, “Vigilancia intensificada de lesiones por pólvora pirotécnica 2020 - 2021,” 2021. [Online]. Available: https://www.ins.gov.co/Noticias/Paginas/Vigilancia-intensificada-de-lesionespor-polvora-pirotecnica-2020-2021.aspx [10] C. Arango, “Los daños de la pólvora (hasta en el aire que respiramos),” Tendencias, 2020. https://www.elcolombiano.com/tendencias/los-peligros-detirar-polvora-NE14328151 [11] El Tiempo, “‘Pólvora afecta no solo al que la usa,’” 2017. https://www.eltiempo.com/colombia/cali/consecuencias-del-uso-de-lapolvora-en-cali-162294 [12] Semana, “Pólvora, el terror de los animales,” Actualidad, 2019. https://www.semana.com/medio-ambiente/articulo/efectos-nocivos-de-lapolvora-en-los-animales/47957/ [13] Noticias Caracol, “Los graves daños que la pólvora quemada en diciembre deja en los animales,” 2020. https://noticias.caracoltv.com/colombia/losgraves-danos-que-la-polvora-quemada-en-diciembre-deja-en-los-animales [14] Equinox’s Drones, “10 Major Pros & Cons of Unmanned Aerial Vehicle(UAV) Drones”, [Online]. Available: https://www.equinoxsdrones.com/blog/10-majorpros-cons-of-unmanned-aerial-vehicle-uav-drones [15] Ohio University, “7 Pros and Cons of Drones and Unmanned Aerial Vehicles,” 2021, [Online]. Available: https://onlinemasters.ohio.edu/blog/the-pros-andcons-of-unmanned-aerial-vehicles-uavs [16] International Olympic Committee, “Spectacular Intel Drone Light Show helps bring Tokyo 2020 to life,” 2021. https://olympics.com/ioc/news/spectacularintel-drone-light-show-helps-bring-tokyo-2020-to-life-1 [17] Z. Echo, “3,051 drones create spectacular record-breaking light show in China,” 2020. https://www.guinnessworldrecords.com/news/commercial/2020/10/3051- drones-create-spectacular-record-breaking-light-show-in-china [18] Drone Show Software, “DRONE SHOW SOLUTION COMPONENTS.” https://droneshowsoftware.com/software [19] Intel, “INTEL-POWERED TECHNOLOGY.” https://inteldronelightshows.com/technology/ [20] PORTAFOLIO, “Espectacular show de drones en Bogotá,” Tendencias, 2019. https://www.portafolio.co/tendencias/espectacular-show-de-drones-enbogota-531241 [21] Vanguardia, “El show de drones que alegró la noche del martes en Bucaramanga,” 2020. https://www.vanguardia.com/areametropolitana/bucaramanga/el-show-de-drones-que-alegro-la-noche-delmartes-en-bucaramanga-YY3247067 [22] Rsinnas, “Drones and Drone Shows in the Marketing & Advertising industry,” 2021. https://www.dronisos.com/post/drones-and-drone-shows-in-themarketing-advertising-industry [23] Drone Light Show, “Advertising with Drone Light Show Drones,” 2019. https://dronelightshowcompany.com/2019/08/05/advertising-with-drone-lightshow-drones/ [24] J. Rodriguez, “The Sky’s The Limit For Your Brand Event,” 2021. https://scarlettentertainment.com/blog/how-drones-shows-can-elevate-yourmarketing-campaign [25] D. M. Toro Loaiza, L. V. Manrique López, and others, “La vigencia del consumo de la pólvora en la ciudad de Medellín,” 2015, [Online]. Available: https://repository.upb.edu.co/handle/20.500.11912/3317 [26] A. Chica, “‘La alborada’, la ruidosa tradición narcoparamilitar con la que Medellín recibe cada diciembre,” 2018. https://www.infobae.com/america/colombia/2018/12/01/la-alborada-laruidosa-tradicion-narcoparamilitar-con-la-que-medellin-recibe-cadadiciembre/ [27] M. S. Ruiz, A. M. P. Vargas, and V. R. Cano, “Detection and tracking of a landing platform for aerial robotics applications,” in 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018, 2018, pp. 1–6. doi: 10.1109/CCRA.2018.8588112. [28] X. Du, C. E. Luis, M. Vukosavljev, and A. P. Schoellig, “Fast and in sync: Periodic swarm patterns for quadrotors,” in Proceedings - IEEE International Conference on Robotics and Automation, 2019, vol. 2019-May, pp. 9143–9149. doi: 10.1109/ICRA.2019.8794017. [29] S. Stoppel and S. Bruckner, “LinesLab: A Flexible Low-Cost Approach for the Generation of Physical Monochrome Art,” Comput. Graph. Forum, vol. 38, no. 6, pp. 110–124, 2019, doi: 10.1111/cgf.13609. [30] B. Galea, E. Kia, N. Aird, and P. G. Kry, “Stippling with Aerial Robots,” Proc. Jt. Symp. Comput. Aesthet. Sketch Based Interfaces Model. NonPhotorealistic Animat. Render., pp. 125–134, 2016, doi: 10.2312/exp.20161071. [31] V. Serpiva, E. Karmanova, A. Fedoseev, S. Perminov, and D. Tsetserukou, “DronePaint: Swarm Light Painting with DNN-based Gesture Recognition,” 2021. doi: 10.1145/3450550.3465349. [32] R. Ibrahimov, N. Zherdev, and D. Tsetserukou, “DroneLight: Drone Draws in the Air using Long Exposure Light Painting and ML,” in 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020, 2020, pp. 446–450. doi: 10.1109/RO-MAN47096.2020.9223601. [33] C. Gebhardt, B. Hepp, T. Nägeli, S. Stevšić, and O. Hilliges, “Airways: Optimization-Based Planning of Quadrotor Trajectories According to HighLevel User Goals,” in Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, 2016, pp. 2508–2519. doi: 10.1145/2858036.2858353. [34] C. Premebida, R. Ambrus, and Z.-C. Marton, “Intelligent Robotic Perception Systems,” in Applications of Mobile Robots, IntechOpen London, UK, 2019. doi: 10.5772/intechopen.79742. [35] G. Salazar, M. Saavedra, and V. Romero, “High-level camera-LiDAR fusion for 3D object detection with machine learning,” Jun. 2021. doi: 10.52591/lxai2021062510. [36] M. A. Diaz-Zapata, J. Correa-Sandoval, J. Perafán-Villota, and V. RomeroCano, “Lane Detection and Trajectory Generation System,” 2019. [37] J. Obando Ceron, V. Romero Cano, N. Llanos Neuta, V. R. Cano, N. L. Neuta, and W. Mayor Toro, “Probabilistic Perception System for Object Classification Based on Camera -LiDAR Sensor Fusion,” 2019. [Online]. Available: https://hal.archives-ouvertes.fr/hal-02266936 [38] J. A. Preiss, W. Honig, G. S. Sukhatme, and N. Ayanian, “Crazyswarm: A large nano-quadcopter swarm,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 3299–3304. [39] M. Saavedra-Ruiz, S. Morin, and L. Paull, “Monocular Robot Navigation with Self-Supervised Pretrained Vision Transformers.” arXiv, 2022. doi: 10.48550/ARXIV.2203.03682. [40] S. Suzuki and K. A. be, “Topological structural analysis of digitized binary images by border following,” Comput. Vision, Graph. Image Process., vol. 30, no. 1, pp. 32–46, 1985, doi: 10.1016/0734-189X(85)90016-7. [41] N. Otsu, “A threshold selection method from gray-level histograms,” IEEE Trans. Syst. Man. Cybern., vol. 9, no. 1, pp. 62–66, 1979. [42] R. E. Kalman, “A New Approach to Linear Filtering and Prediction Problems,” J. Basic Eng., vol. 82, no. 1, pp. 35–45, 1960, doi: 10.1115/1.3662552. [43] Stanford, “The Extended Kalman filter.” 2008. [Online]. Available: https://stanford.edu/class/ee363/lectures/ekf.pdf [44] M. W. Mueller, M. Hehn, and R. D’Andrea, “Covariance Correction Step for Kalman Filtering with an Attitude,” J. Guid. Control. Dyn., vol. 40, no. 9, pp. 2301–2306, 2017, doi: 10.2514/1.G000848. [45] R. Rengaswamy, S. Narasimhan, and V. Kuppuraj, “Receding Nonlinear Kalman (RNK) Filter for Nonlinear Constrained State Estimation,” in 21st European Symposium on Computer Aided Process Engineering, vol. 29, E. N. Pistikopoulos, M. C. Georgiadis, and A. C. Kokossis, Eds. Elsevier, 2011, pp. 844–848. doi: https://doi.org/10.1016/B978-0-444-53711-9.50169-3. [46] Y. Bar-Shalom, X. R. Li, and T. Kirubarajan, Estimation with applications to tracking and navigation: theory algorithms and software. John Wiley \& Sons, 2004. [47] Eliko, “The Story Behind Ultra-Wideband Technology and Indoor Positioning.” https://eliko.tech/history-of-ultra-wideband-technology/ [48] H. Pan, X. Qi, M. Liu, and L. Liu, “Indoor scenario-based UWB anchor placement optimization method for indoor localization,” Expert Syst. Appl., vol. 205, p. 117723, 2022, doi: https://doi.org/10.1016/j.eswa.2022.117723. [49] Bitcraze, “Loco Positioning system.” https://www.bitcraze.io/documentation/system/positioning/loco-positioningsystem/ [50] A. Ledergerber, M. Hamer, and R. D’Andrea, “A robot self-localization system using one-way ultra-wideband communication,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 3131–3137. doi: 10.1109/IROS.2015.7353810. [51] S. J. Russell, Artificial intelligence a modern approach. Pearson Education, Inc., 2010. [52] A. 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Savarese, “Generalized Intersection over Union,” IEEE Conf. Comput. Vis. Pattern Recognit., 2019. [58] C. F. Liew, D. DeLatte, N. Takeishi, and T. Yairi, “Recent Developments in Aerial Robotics: A Survey and Prototypes Overview,” arXiv Prepr. arXiv1711.10085, 2017, [Online]. Available: http://arxiv.org/abs/1711.10085 [59] M. Quigley et al., “ROS: an open-source Robot Operating System,” in ICRA workshop on open source software, 2009, vol. 3, no. 3.2, p. 5. [60] ROS, “ROS/Concepts,” 2014. https://wiki.ros.org/ROS/Concepts [61] Cchana, “hello - light painting.” 2016. [Online]. Available: https://www.flickr.com/photos/cchana/24681299382 [62] B. Earnshaw, “A brief survey of tensors.” https://www.slideshare.net/BertonEarnshaw/a-brief-survey-of-tensors [63] J. Canny, “A computational approach to edge detection,” IEEE Trans. Pattern Anal. Mach. Intell., no. 6, pp. 679–698, 1986. [64] Inkscape, “Inkscape tutorial: Tracing bitmaps,” 2019, [Online]. Available: https://inkscape.org/doc/tutorials/tracing/tutorial-tracing.html [65] G. Bradski, “The OpenCV Library,” Dr. Dobb’s J. Softw. Tools, 2000. [66] Bitcraze, “Measurements of accuracy and precision of the Loco Positioning system,” 2021, [Online]. Available: https://www.bitcraze.io/documentation/system/positioning/accuracy-loco/ [67] D. Zhou, Z. Wang, S. Bandyopadhyay, and M. Schwager, “Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells,” IEEE Robot. Autom. Lett., vol. 2, no. 2, pp. 1047–1054, Apr. 2017, doi: 10.1109/LRA.2017.2656241.
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spelling	Romero Cano, Victor03522958c937aa89475211eb4f1a4dc8600Restrepo García, Santiagoc7f212be3aba24c77a0dd742604a9824Universidad Autónoma de Occidente, Cll 25 # 115-85 Km 2 Vía Cali - Jamundi2022-08-18T20:41:32Z2022-08-18T20:41:32Z2022-08-09https://hdl.handle.net/10614/14173Universidad Autónoma de OccidenteRepositorio Educativo Digitalhttps://red.uao.edu.co/La pirotecnia es ampliamente usada en la industria del entretenimiento alrededor del mundo, sin embargo; esta es nociva para la salud pública, el medio ambiente, especies silvestres, y mascotas, entre otros, no obstante, desde 2012, los espectáculos de luces con drones fueron introducidos en el mercado. En este documento se propone CrazyKhoreia, un sistema de percepción robótica para el diseño de coreografías orientado a vehículos aéreos no tripulados, el cual, por medio de algoritmos de visión computacional, procesa una imagen digital con el fin de obtener un plan de vuelo. Este plan de vuelo es después ejecutado y recreado usando fotografía de alta exposición con un único dron, o una formación de múltiples drones, libre de colisiones que imita la imagen original.Fireworks are widely used in the entertainment industry all over the world, however, they are harmful to human health, the environment, natural species, pets, and so on, nonetheless, since 2012 drone light shows were introduced into the market. In this paper we propose CrazyKhoreia, a robotic perception system for Unmanned Aerial Vehicles (in short, UAVs) choreography design algorithm, which takes a digital image, and applies image processing algorithms to it to obtain a flight which can be used in high exposure photography with a single UAV, or multiple UAVs may be arranged to mimic the original imageProyecto de grado (Ingeniero Mecatrónico)-- Universidad Autónoma de Occidente, 2022PregradoIngeniero(a) Mecatrónico(a)105 páginasapplication/pdfspaUniversidad Autonoma de OccidenteIngeniería MecatrónicaDepartamento de Automática y ElectrónicaFacultad de IngenieríaCaliDerechos reservados - Universidad Autónoma de Occidente, 2022https://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAtribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)http://purl.org/coar/access_right/c_abf2Ingeniería MecatrónicaRobóticaProcesamiento de imágenes - Técnicas digitalesRoboticsImage processing - Digital techniquesImage processingDigital imagePath planningRobotic perceptionUAVProcesamiento de imágenesImagen digitalPlaneo de rutasPercepción robóticaDronesSistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)Trabajo de grado - Pregradohttp://purl.org/coar/resource_type/c_7a1fTextinfo:eu-repo/semantics/bachelorThesishttps://purl.org/redcol/resource_type/TPhttp://purl.org/coar/version/c_71e4c1898caa6e32Restrepo García, S. (2022). Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO). (Proyecto de grado). Universidad Autónoma de Occidente. Cali. Colombia. https://red.uao.edu.co/handle/10614/14173[1] GrrlScientist, “Festive Fireworks Create Harmful Pall Of Pollution,” Forbes, 2019. https://rb.gy/nzwzgs[2] Redacción UdeA Noticias, “Conozca los efectos negativos de la alborada,” Sociedad, 2019. shorturl.at/lmoJM[3] L. J. Fennelly and M. A. Perry, “Unmanned aerial vehicle (drone) usage in the 21st century,” in The Professional Protection Officer: Practical Security Strategies and Emerging Trends, Elsevier, 2019, pp. 183–189. doi: 10.1016/B978-0-12-817748-8.00050-X.[4] GrrlScientist, “Drone Light Shows ‘Way Cooler’ Than Fireworks,” 2020. https://rb.gy/kvtyaz[5] S. McDill, “Here’s How Drones are Replacing Fireworks - Without The Pollution,” 2021. https://rb.gy/klkfvp[6] H. Sun, J. Qi, C. Wu, and M. 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Lett., vol. 2, no. 2, pp. 1047–1054, Apr. 2017, doi: 10.1109/LRA.2017.2656241.Comunidad generalPublicationORIGINALT10365_Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)T10365_Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)Texto archivo completo del trabajo de grado, PDFapplication/pdf4562393https://dspace7-uao.metacatalogo.com/bitstreams/87fa834b-4bad-45c3-ab74-36f7a2114cc9/download2a9daa633b1249100302f1e5b945dec9MD51TA10365_Autorización trabajo de gradoTA10365_Autorización trabajo de gradoAutorización publicación del trabajo de gradoapplication/pdf80956https://dspace7-uao.metacatalogo.com/bitstreams/dbae25b9-ea4f-4473-b9c0-46e6a5dd3f73/download2b85fd3d4819468a3715c4e65d5d6d85MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81665https://dspace7-uao.metacatalogo.com/bitstreams/bfee1629-ee27-48bb-a17a-3558338d3b58/download20b5ba22b1117f71589c7318baa2c560MD53TEXTT10365_Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO).txtT10365_Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO).txtExtracted texttext/plain109761https://dspace7-uao.metacatalogo.com/bitstreams/fe7db5ce-c163-40eb-807f-1d0c9f6e02b6/downloadbaf063304b870fa276a2097a5e5f7099MD54TA10365_Autorización trabajo de grado.txtTA10365_Autorización trabajo de grado.txtExtracted texttext/plain4458https://dspace7-uao.metacatalogo.com/bitstreams/ed910496-4bf6-4844-bda0-88f097771f01/download54329ea7f40d6b5958512ea466fb119fMD56THUMBNAILT10365_Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO).jpgT10365_Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO).jpgGenerated Thumbnailimage/jpeg7599https://dspace7-uao.metacatalogo.com/bitstreams/e6a35d51-c120-4d85-93ba-542749bad251/downloade2be5924b14d1da15b3a5e9e0ae0b5f0MD55TA10365_Autorización trabajo de grado.jpgTA10365_Autorización trabajo de grado.jpgGenerated Thumbnailimage/jpeg13976https://dspace7-uao.metacatalogo.com/bitstreams/8d79567c-081b-4dc7-8ba2-804c3635f1f8/download6cf522ae7431f1cc4bb0bb6068357f3cMD5710614/14173oai:dspace7-uao.metacatalogo.com:10614/141732024-01-19 17:31:18.655https://creativecommons.org/licenses/by-nc-nd/4.0/Derechos reservados - Universidad Autónoma de Occidente, 2022open.accesshttps://dspace7-uao.metacatalogo.comRepositorio UAOrepositorio@uao.edu.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

Sistema para la generación automática de trayectorias para enjambres de drones Crazyswarm en la Universidad Autónoma de Occidente (UAO)

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