Autonomous aerial inspection of GNSS-denied and confined critical infrastructures

Project Information

AUTOASSESS

Grant agreement ID: 101120732

DOI

10.3030/101120732

EC signature date 29 June 2023

Start date 1 October 2023

End date 30 September 2027

Funded under

• Digital, Industry and Space

Total cost

€ 10 061 182,49

EU contribution

€ 8 990 161,50

Coordinated by

DANMARKS TEKNISKE UNIVERSITET
Denmark

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (3)

Data storage and interface definitions.

Data formats and message types to collect the various sensor measurements from different platforms need to be defined. This includes results from on-board processing (see WP 4), e.g., visual associations, real-time estimation results useful for initialization, and whole factor graphs that may be re-used for later joint optimization.

Plan and Report for DCE of Results.

The exploitation plan is described in WP10 (D10.1) to be delivered by M6, and involves: 1) the IPR management strategy where the Plan for Exploitation and Dissemination of the Project Results (PEDR) will be articulated; 2) the identification of background, sideground, and foreground IPR where all consortium partners identify their exploitation intentions regarding patents, licensing trade agreements, consultancy services and others; and 3) informing the partners of potential IP strategies and assist in identifying the most suitable IP protection mechanism.

Definition of UI-DSS Digital Twin Map Server interfaces.

Mission data is pushed by the EUAS, IUAS and TIUAS, and pulled to support inspection planning and navigation. For robot missions, we will transfer detailed geometric LiDAR maps, visual images, and NDT measurement to the UI-DSS and pull mapping data for prior localizability and inspection planning. This deliverable constitutes the formal definition of the aforementioned interfaces

Data Management Plan (1)

AUTOASSESS Data Management Plan

One of the first deliverables of the AUTOASSESS project will be a detailed Data Management Plan (DMP) in line with Findable, Accessible, Interoperable, and Reusable FAIR principles by Month 6 that includes the following elements: 1) types of data and research outputs; 2) findability of data and research outputs; 3) accessibility of data and research outputs; 4) interoperability; 5) reusability; and curation/storage costs.

Publications

Conference proceedings (18)

GSFix3D: Diffusion-Guided Repair of Novel Views in Gaussian Splatting

Author(s): Jiaxin Wei, Stefan Leutenegger, Simon Schaefer
Publisher: International Conference on 3D Vision 2026
DOI: 10.48550/ARXIV.2508.14717

Deep Visual Odometry with Events and Frames

Author(s): Roberto Pellerito, Marco Cannici, Daniel Gehrig, Joris Belhadj, Olivier Dubois-Matra, Massimo Casasco, Davide Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Publisher: IEEE

Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Author(s): Filip Zoric, Antonio Franchi, Matko Orsag, Zdenko Kovacic, Chiara Gabellieri
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10557120

Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping

Author(s): Jaehyung Jung, Simon Boche, Sebasti´ an Barbas Laina, Stefan Leutenegger
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE Robotics and Automation Society

Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations

Author(s): Fatma Youssef Mohammed, Kostas Alexis
Publisher: IEEE International Conference on Development and Learning (2025)
DOI: 10.1109/ICDL63968.2025.11204383

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Author(s): Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza
Published in: 2024
Publisher: Proceedings of Machine Learning Research (PMLR)

Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty

Author(s): Ali Srour, Salvatore Marcellini, Tommaso Belvedere, Marco Cognetti, Antonio Franchi, Paolo Robuffo Giordano
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10556958

On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers

Author(s): Chiara Gabellieri, Antonio Franchi
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10556930

Gain Scheduling Position Control for Fully-Actuated Morphing Multi-Rotor UAVs

Author(s): Youssef Aboudorra, Aaron Saini, Antonio Franchi
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10557108

A Study on Impact-Aware Aerial Robots Colliding with the Environment at Non-Vanishing Speed

Author(s): Gayatri Indukumar, Alessandro Saccon, Antonio Franchi, Chiara Gabellieri
Published in: 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025
Publisher: IEEE
DOI: 10.1109/ICUAS65942.2025.11007808

Demonstrating Agile Flight from Pixels without State Estimation

Author(s): Ismail Geles*, Leonard Bauersfeld*, Angel Romero, Jiaxu Xing, Davide Scaramuzza
Published in: 2024
Publisher: Robotics: Science and Systems Foundation

Tightly-Coupled Radar-Visual-Inertial Odometry Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations

Author(s): Morten Nissov, Mohit Singh, Kostas Alexis
Publisher: 24th European Control Conference (ECC) 2026

An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems

Author(s): Barbara Bazzana, Ralph Brantjes, Chiara Gabellieri, Antonio Franchi
Published in: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Publisher: IEEE
DOI: 10.1109/ICUAS60882.2024.10556890

Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs

Author(s): Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi
Publisher: IEEE International Conference on Intelligent Robots and Systems
DOI: 10.1109/IROS60139.2025.11246978

UniPilot: Enabling GPS-Denied Autonomy Across Embodiments

Author(s): Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar, Morten Nissov, Mohit Singh, Philipp Weiss, and Kostas Alexis
Publisher: 2025 IEEE International Conference on Advanced Robotics (ICAR)
DOI: 10.1109/ICAR65334.2025.11338632

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Author(s): Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza
Published in: Robotics: Science and Systems XX, 2024
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2024.XX.109

GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion

Author(s): Jiaxin Wei, Stefan Leutenegger
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE Robotics and Automation

Learning Quadruped Locomotion Using Differentiable Simulation

Author(s): Yunlong Song, Sangbae Kim, Davide Scaramuzza
Publisher: Proceedings of Machine Learning Research (PMLR)

Thesis and dissertations (3)

Safety Metric for Human-Aerial robot collaboration, in presence of aerodynamic disturbances

Author(s): Adithya Mylavarapu Naga
Publisher: University of Twente Student Theses

Assessment of the trajectory control performance on the Omnimorph, an omnidirectional morphing multirotor UAV

Author(s): Ahmed Tamer Salah Abdo Ali
Publisher: University of Twente Student Theses

Optimized Design of a Tilted Propeller Aerial Robot for Ballast Tank Contact Inspections

Author(s): Dimitrios Nikitas
Publisher: University of Twente Student Theses

Peer reviewed articles (3)

OKVIS2-X: Open Keyframe-Based Visual-Inertial SLAM Configurable With Dense Depth or LiDAR, and GNSS

Author(s): Simon Boche, Jaehyung Jung, Sebastián Barbas Laina, Stefan Leutenegger
Published in: IEEE Transactions on Robotics, Issue 41, 2026, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TRO.2025.3619051

Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV

Author(s): Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi
Published in: Journal of Intelligent & Robotic Systems, Issue 110, 2024, ISSN 0921-0296
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/s10846-024-02054-x

Semantics-Aware Predictive Inspection Path Planning

Author(s): Mihir Dharmadhikari, Kostas Alexis
Published in: IEEE Transactions on Field Robotics, Issue 2, 2025, ISSN 2997-1101
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TFR.2025.3578402

Other (1)

Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems

Author(s): Mirko Mizzoni, Amr Afifi, Antonio Franchi
Publisher: arXiv