Autonomous aerial inspection of GNSS-denied and confined critical infrastructures

Informacje na temat projektu

AUTOASSESS

Identyfikator umowy o grant: 101120732

DOI

10.3030/101120732

Data podpisania przez KE 29 Czerwca 2023

Data rozpoczęcia 1 Października 2023

Data zakończenia 30 Września 2027

Finansowanie w ramach

• Digital, Industry and Space

Koszt całkowity

€ 10 061 182,49

Wkład UE

€ 8 990 161,50

Koordynowany przez

DANMARKS TEKNISKE UNIVERSITET
Denmark

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

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.

Publikacje

Conference proceedings (18)

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

Autorzy: Jiaxin Wei, Stefan Leutenegger, Simon Schaefer
Wydawca: International Conference on 3D Vision 2026
DOI: 10.48550/ARXIV.2508.14717

Deep Visual Odometry with Events and Frames

Autorzy: Roberto Pellerito, Marco Cannici, Daniel Gehrig, Joris Belhadj, Olivier Dubois-Matra, Massimo Casasco, Davide Scaramuzza
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Wydawca: IEEE

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

Autorzy: Filip Zoric, Antonio Franchi, Matko Orsag, Zdenko Kovacic, Chiara Gabellieri
Opublikowane w: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Wydawca: IEEE
DOI: 10.1109/ICUAS60882.2024.10557120

Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping

Autorzy: Jaehyung Jung, Simon Boche, Sebasti´ an Barbas Laina, Stefan Leutenegger
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE Robotics and Automation Society

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

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

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Autorzy: Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza
Opublikowane w: 2024
Wydawca: Proceedings of Machine Learning Research (PMLR)

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

Autorzy: Ali Srour, Salvatore Marcellini, Tommaso Belvedere, Marco Cognetti, Antonio Franchi, Paolo Robuffo Giordano
Opublikowane w: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Wydawca: IEEE
DOI: 10.1109/ICUAS60882.2024.10556958

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

Autorzy: Chiara Gabellieri, Antonio Franchi
Opublikowane w: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Wydawca: IEEE
DOI: 10.1109/ICUAS60882.2024.10556930

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

Autorzy: Youssef Aboudorra, Aaron Saini, Antonio Franchi
Opublikowane w: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Wydawca: IEEE
DOI: 10.1109/ICUAS60882.2024.10557108

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

Autorzy: Gayatri Indukumar, Alessandro Saccon, Antonio Franchi, Chiara Gabellieri
Opublikowane w: 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025
Wydawca: IEEE
DOI: 10.1109/ICUAS65942.2025.11007808

Demonstrating Agile Flight from Pixels without State Estimation

Autorzy: Ismail Geles*, Leonard Bauersfeld*, Angel Romero, Jiaxu Xing, Davide Scaramuzza
Opublikowane w: 2024
Wydawca: Robotics: Science and Systems Foundation

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

Autorzy: Morten Nissov, Mohit Singh, Kostas Alexis
Wydawca: 24th European Control Conference (ECC) 2026

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

Autorzy: Barbara Bazzana, Ralph Brantjes, Chiara Gabellieri, Antonio Franchi
Opublikowane w: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024
Wydawca: IEEE
DOI: 10.1109/ICUAS60882.2024.10556890

Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs

Autorzy: Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi
Wydawca: IEEE International Conference on Intelligent Robots and Systems
DOI: 10.1109/IROS60139.2025.11246978

UniPilot: Enabling GPS-Denied Autonomy Across Embodiments

Autorzy: Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar, Morten Nissov, Mohit Singh, Philipp Weiss, and Kostas Alexis
Wydawca: 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

Autorzy: Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza
Opublikowane w: Robotics: Science and Systems XX, 2024
Wydawca: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2024.XX.109

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

Autorzy: Jiaxin Wei, Stefan Leutenegger
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE Robotics and Automation

Learning Quadruped Locomotion Using Differentiable Simulation

Autorzy: Yunlong Song, Sangbae Kim, Davide Scaramuzza
Wydawca: Proceedings of Machine Learning Research (PMLR)

Thesis and dissertations (3)

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

Autorzy: Adithya Mylavarapu Naga
Wydawca: University of Twente Student Theses

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

Autorzy: Ahmed Tamer Salah Abdo Ali
Wydawca: University of Twente Student Theses

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

Autorzy: Dimitrios Nikitas
Wydawca: 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

Autorzy: Simon Boche, Jaehyung Jung, Sebastián Barbas Laina, Stefan Leutenegger
Opublikowane w: IEEE Transactions on Robotics, Numer 41, 2026, ISSN 1552-3098
Wydawca: 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

Autorzy: Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi
Opublikowane w: Journal of Intelligent & Robotic Systems, Numer 110, 2024, ISSN 0921-0296
Wydawca: Springer Science and Business Media LLC
DOI: 10.1007/s10846-024-02054-x

Semantics-Aware Predictive Inspection Path Planning

Autorzy: Mihir Dharmadhikari, Kostas Alexis
Opublikowane w: IEEE Transactions on Field Robotics, Numer 2, 2025, ISSN 2997-1101
Wydawca: 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

Autorzy: Mirko Mizzoni, Amr Afifi, Antonio Franchi
Wydawca: arXiv