Deliverables Documents, reports (34) Final validation scenario definition This deliverable will detail the decided final validation scenario and how this will help assessing the inspection and maintenance operations capabilities of the AEROWORKS robotic team, their overall autonomy as a multi-robot team and how the achieved technical skills enable the execution of useful real-life tasks. Report on Decentralized Task Assignment and collaborative reconfiguration methods This deliverable will overview the AEROWORKS approach on decentralized task assignment and collaborative reconfiguration for autonomous infrastructure inspection and maintenance along with evaluation studies in challenging real-life scenarios. The relevant publications will be referenced. Analysis and design of the Hardware for collaboration Within this deliverable the mechatronic design considerations and details for the AEROWORKS dexterous aerial manipulation will be outlined. AEROWORKS Association on Autonomous UAVs This deliverable will report on the creation of a legal entity for the AEROWORKS Association on Autonomous UAVs. Single Autonomous ARW-Maintainer Within this deliverable, the details on the integration of the single aerial robotic worker-maintainer as an autonomous system combined with aerial manipulation results will be provided. Analysis on its potential for real-life infrastructure maintenance work-tasks will be provided based on conducted experiments and feedback by end-users. Project identity and dissemination material schedule This deliverable will outline the designed project identity and detail the AERWORKS dissemination material schedule. Report, Publications list and Videos on the control synthesis of the aerial robotic workers This deliverable will summarize the contributions of the AEROWORKS consortium in the field of the flight and aerial manipulation control for the aerial robotic workers. Detailed description of the developed approaches will be provided along with summary and references on the relevant publications of the consortium and videos that will demonstrate the achieved results. Project website and overall online presence This deliverable will provide information on the project website, its role and character and the foreseen overall online presence in order to maximally exploit this versatile dissemination channel. Data Management Plan A data management plan will be created on M6 with respect to the guidelines and requirements from the EU Open Data Pilot that AEROWORKS is participating. Report on the Aerial Robotic Worker model and release of the open-source simulator The model of the physically interacting aerial robotic worker that will set the basis for control synthesis will be detailed within this deliverable along with documentation of the open-source simulator that will become available to the community. Version 1.0 of dexterous manipulator and sensor fusion The detailed design, prototype configuration and lessons learned from the first version of the dexterous manipulation will be reported within this deliverable. Final Dissemination workshop in major Conference This deliverable will report on the final dissemination AEROWORKS workshop in a major conference and will include the title and the proceedings of the workshop, the list of attendees, and the overall evaluation of the event. Aerial Robotic Worker integrated with AEROWORKS sensing and processing unit This deliverable will detail all components and integrated system properties and performance of the AEROWORKS Aerial Robotic Worker as a complete system with its actuation and sensing and processing properties. Assembled and thoroughly tested ARWs This deliverable is a report on the configuration of the aerial robotic workers, their integrated components and functionality along with documentation of their use and evaluation of their flight control performance. Report on Multi-ARW Inspection Planning and Manipulation Algorithms Within this deliverable, the algorithms and methods for collaborative planning for inspection and co-manipulation by the AEROWORKS robotic team will be described along with thorough evaluations. The relevant publications will be referenced. Maintenance Operators Training Event This deliverable will report on the maintenance operators training event organised by AIR. The report will include the program, the proceedings and the evaluation of the overall training event. Methodology & Results on collaborative ARW Sensing and Mapping This deliverable will provide thorough information on the new developments regarding the aerial robotic workers collaborative sensing, self-localization and detailed mapping/3D reconstruction of the environment and the infrastructure under inspection and maintenance. Version 2.0 of the collaborative robot and cognitive control implementation The second version of the employed collaborative robot and cognitive control implementation for aerial manipulation will be detailed within this deliverable. Summer School This deliverable will summarise the activities, the outcome and the impact of the AEROWORKS summer school. Moreover, it will include the proceedings of the teaching materials and the overall, student based, evaluation of the provided summer school. Report and publications list on vision-based perception for the team of collaborative aerial robotic workers as well as release of open-source software This deliverable will summarize the contributions of the AEROWORKS consortium on the aspects of collaborative perception, mapping and vision for manipulation, the relevant list of publications of the team and documentation for the open-source code to be released. Integrated software for collaborative ARWs for Inspection and Maintenance Operations This deliverable will outline the integrated software architecture and components of the collaborative aerial robotic workers team that will enable the seamless operation of the robotic team, the sharing of information, the autonomous execution of inspection and maintenance tasks and its intuitive supervision and control from an end-user oriented ground control station. Where applicable, references to open-source code releases will be provided. Benchmark specifications and related performance measures This deliverable will detail the benchmark specifications for the aerial robotic workers team and their technical properties relevant to infrastructure inspection and maintenance along with well-defined performance measures that will be used by the consortium for evaluation purposes. Platform and overall operation specifications This deliverable will detail the specifications for the aerial robotic workers regarding their sensing, autonomous mapping, flight and navigation, aerial manipulation capabilities and collaborative strategies with an extra focus on the needed intuitive ground control interface. Report on Heterogeneous multi-robot path-planning and control Within this deliverable, the specific aspects of multi-robot path planning and control accounting for the heterogeneous properties of the aerial robotic workers team will be outlined along with qualitative analysis on how each different property of the robot is utilized by the proposed methods. The relevant publications will be referenced. Final Project Report This report will summarise all the developments and achievements of the project. Report on application scenarios, end-user requirements, and regulations This deliverable will report the envisaged application scenarios along with specific end-user requirements and the relevant regulatory aspects that have to be assessed so that the AEROWORKS robotic team becomes an integral part of the infrastructure inspection and maintenance operations. Methodology & Results on real-time vision-based SLAM for each ARW This deliverable will describe the proposed algorithms and derived experimental results on vision-based SLAM implemented at the level of the single aerial robotic worker. Single Autonomous ARW-Inspector Within this deliverable, the details on the integration of the single aerial robotic worker-inspector as an autonomous system combined with complex structural inspection results will be provided. Analysis on its potential for real-life infrastructure inspection will be provided based on conducted experiments and feedback by end-users. Manipulator and Interfacing electronics module This deliverable will detail the electronic components that will enable the solid integration of the dexterous AEROWORKS manipulator on the aerial robotic worker platform along with results on its function. Report on Single-ARW Inspection Planning methods and performance analysis This deliverable will detail the developed infrastructure inspection path planning algorithms and will further provide extensive evaluation of the achieved performance using thorough and progressive experimental studies. The relevant publications will be referenced. Methodology & Results on real-time dense reconstruction from an ARW Within this deliverable the AEROWORKS approach on dense reconstruction of the environment using the perception capabilities, sensor fusion and image processing algorithms of the single aerial robotic worker will be detailed. Extensive evaluation in challenging environmental scenarios and flight profiles will be included along with specific section on the schemes employed for aerial manipulation using visual feeds. Report/records on performance evaluation of the collaborative ARWs Within this deliverable extensive report on the performance characteristics of the collaborative aerial robotic workers as single units and in total as a team will be provided. The performance assessment will be based on realistic and/or real-life demonstration experiments and based on the desired abilities identified by the robotics society and the application-oriented requirements of the end-users. Demonstration of UWB localization for ARWs This deliverable will report on the UWB localization nodes, their tracking capability and the network infrastructure creation as well as on the contacted experiments and their future integration and utilization in the project. Report on the development of the experimental platform for collaborative planning and control of ARWs This deliverable will report on the results from the experimental verification of the collaborative planning and control for ARWs as well as on the developed interfacing and supporting software. Open Research Data Pilot (1) Summary Report on Live Demos and Videos with results Within this deliverable, reports on the results of Live Demos showcasing the AEROWORKS robotic team potential towards autonomous infrastructure inspection and maintenance operations will be provided. Special care will be taken in outlining the feedback from the end-users during the most important public demonstrations, while video results will be available to emphasize the achieved capabilities. Publications Conference proceedings (68) Distributed model predictive control for unmanned aerial vehicles Author(s): Sina Sharif Mansouri, George Nikolakopoulos, Thomas Gustafsson Published in: 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Page(s) 152-161, ISBN 978-1-5090-1784-3 Publisher: IEEE DOI: 10.1109/RED-UAS.2015.7441002 Robust visual inertial odometry using a direct EKF-based approach Author(s): Michael Bloesch, Sammy Omari, Marco Hutter, Roland Siegwart Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 298-304, ISBN 978-1-4799-9994-1 Publisher: IEEE DOI: 10.1109/IROS.2015.7353389 Vision-IMU based collaborative control of a blind UAV Author(s): R. Hoogervorst, S. Stramigioli, H. W. Wopereis, M. Fumagalli Published in: 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Page(s) 53-61, ISBN 978-1-5090-1784-3 Publisher: IEEE DOI: 10.1109/RED-UAS.2015.7440990 Optimal design and modeling of a tilt wing aircraft Author(s): Adrian Lindqvist, Emil Fresk, George Nikolakopoulos Published in: 2015 23rd Mediterranean Conference on Control and Automation (MED), 2015, Page(s) 701-708, ISBN 978-1-4799-9936-1 Publisher: IEEE DOI: 10.1109/MED.2015.7158828 Experimental evaluation of a full quaternion based attitude quadrotor controller Author(s): Emil Fresk, George Nikolakopoulos Published in: 2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015, Page(s) 1-4, ISBN 978-1-4673-7929-8 Publisher: IEEE DOI: 10.1109/ETFA.2015.7301555 Design and modeling of dexterous aerial manipulator Author(s): Mina Kamel, Kostas Alexis, Roland Siegwart Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4870-4876, ISBN 978-1-5090-3762-9 Publisher: IEEE DOI: 10.1109/IROS.2016.7759715 Mobile robot navigation in unknown environment based on exploration principles Author(s): Ioannis Arvanitakis, Konstantinos Giannousakis, Anthony Tzes Published in: 2016 IEEE Conference on Control Applications (CCA), 2016, Page(s) 493-498, ISBN 978-1-5090-0755-4 Publisher: IEEE DOI: 10.1109/CCA.2016.7587878 Mechanism for perching on smooth surfaces using aerial impacts Author(s): H. W. Wopereis, T. D. van der Molen, T. H. Post, S. Stramigioli, M. Fumagalli Published in: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, Page(s) 154-159, ISBN 978-1-5090-4349-1 Publisher: IEEE DOI: 10.1109/SSRR.2016.7784292 Lyapunov-based generic controller design for thrust-propelled underactuated systems Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: 2016 European Control Conference (ECC), 2016, Page(s) 594-599, ISBN 978-1-5090-2591-6 Publisher: IEEE DOI: 10.1109/ECC.2016.7810349 Cooperative task planning of multi-agent systems under timed temporal specifications Author(s): Alexandros Nikou, Jana Tumova, Dimos V. Dimarogonas Published in: 2016 American Control Conference (ACC), 2016, Page(s) 7104-7109, ISBN 978-1-4673-8682-1 Publisher: IEEE DOI: 10.1109/ACC.2016.7526793 A comparison of control approaches for aerial manipulators handling physical impacts Author(s): J. T. Bartelds, H. W. Wopereis, S. Stramigioli, M. Fumagalli Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 646-652, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7535915 Real-time mesh-based scene estimation for aerial inspection Author(s): Lucas Teixeira, Margarita Chli Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4863-4869, ISBN 978-1-5090-3762-9 Publisher: IEEE DOI: 10.1109/IROS.2016.7759714 Tree cavity inspection using aerial robots Author(s): Kelly Steich, Mina Kamel, Paul Beardsley, Martin K. Obrist, Roland Siegwart, Thibault Lachat Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4856-4862, ISBN 978-1-5090-3762-9 Publisher: IEEE DOI: 10.1109/IROS.2016.7759713 Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System Author(s): Mina Kamel, Thomas Stastny, Kostas Alexis, Roland Siegwart Published in: IROS, 2017, Page(s) 3-39 Publisher: Springer International Publishing DOI: 10.1007/978-3-319-54927-9_1 Real-time dense surface reconstruction for aerial manipulation Author(s): Marco Karrer, Mina Kamel, Roland Siegwart, Margarita Chli Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 1601-1608, ISBN 978-1-5090-3762-9 Publisher: IEEE DOI: 10.1109/IROS.2016.7759259 A common framework for attitude synchronization of unit vectors in networks with switching topology Author(s): Pedro O. Pereira, Dimitris Boskos, Dimos V. Dimarogonas Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 3530-3536, ISBN 978-1-5090-1837-6 Publisher: IEEE DOI: 10.1109/CDC.2016.7798799 Design, modelling and control of a Single Rotor UAV Author(s): O. C. Carholt, E. Fresk, G. Andrikopoulos, G. Nikolakopoulos Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 840-845, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7536015 A robust reconfigurable control scheme against pose estimation induced time delays Author(s): Christoforos Kanellakis, George Nikolakopoulos Published in: 2016 IEEE Conference on Control Applications (CCA), 2016, Page(s) 581-586, ISBN 978-1-5090-0755-4 Publisher: IEEE DOI: 10.1109/CCA.2016.7587892 Modelling and control of a Tilt-Wing Unmanned Aerial Vehicle Author(s): E. Small, E. Fresk, G. Andrikopoulos, G. Nikolakopoulos Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 1254-1259, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7536050 Decoupled design of controllers for aerial manipulation with quadrotors Author(s): Pedro O. Pereira, Riccardo Zanella, Dimos V. Dimarogonas Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4849-4855, ISBN 978-1-5090-3762-9 Publisher: IEEE DOI: 10.1109/IROS.2016.7759712 Distributed area coverage control with imprecise robot localization Author(s): Sotitis Papatheodorou, Yiannis Stergiopoulos, Anthony Tzes Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 214-219, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7535920 Modeling and control aspects of a UAV with an attached manipulator Author(s): Yiannis Stergiopoulos, Efstathios Kontouras, Konstantinos Gkountas, Konstantinos Giannousakis, Anthony Tzes Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 653-658, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7535922 Tracking a mobile target by multi-robot circumnavigation using bearing measurements Author(s): Antonio Boccia, Antonio Adaldo, Dimos V. Dimarogonas, Mario di Bernardo, Karl H. Johansson Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 1076-1081, ISBN 978-1-5090-2873-3 Publisher: IEEE DOI: 10.1109/CDC.2017.8263800 On vision enabled aerial manipulation for multirotors Author(s): Christoforos Kanellakis, Matteo Terreran, Dariusz Kominiak, George Nikolakopoulos Published in: 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2017, Page(s) 1-7, ISBN 978-1-5090-6505-9 Publisher: IEEE DOI: 10.1109/ETFA.2017.8247653 Collaborative transportation using MAVs via passive force control Author(s): Andrea Tagliabue, Mina Kamel, Sebastian Verling, Roland Siegwart, Juan Nieto Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 5766-5773, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989678 Aerial picking and delivery of magnetic objects with MAVs Author(s): Abel Gawel, Mina Kamel, Tonci Novkovic, Jakob Widauer, Dominik Schindler, Benjamin Pfyffer von Altishofen, Roland Siegwart, Juan Nieto Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 5746-5752, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989675 Dynamic visual sensing based on MPC controlled UAVs Author(s): Christoforos Kanellakis, Sina Sharif Mansouri, George Nikolakopoulos Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 1201-1206, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984281 Distributed cooperative manipulation under timed temporal specifications Author(s): Christos K. Verginis, Dimos V. Dimarogonas Published in: 2017 American Control Conference (ACC), 2017, Page(s) 1358-1363, ISBN 978-1-5090-5992-8 Publisher: IEEE DOI: 10.23919/ACC.2017.7963141 Multi-agent trajectory tracking with self-triggered cloud access Author(s): Antonio Adaldo, Davide Liuzza, Dimos V. Dimarogonas, Karl H. Johansson Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 2207-2214, ISBN 978-1-5090-1837-6 Publisher: IEEE DOI: 10.1109/CDC.2016.7798591 Cooperative coverage for surveillance of 3D structures Author(s): Antonio Adaldo, Sina Sharif Mansouri, Christoforos Kanellakis, Dimos V. Dimarogonas, Karl H. Johansson, George Nikolakopoulos Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 1838-1845, ISBN 978-1-5386-2682-5 Publisher: IEEE DOI: 10.1109/IROS.2017.8205999 Autonomous and sustained perching of multirotor platforms on smooth surfaces Author(s): H.W. Wopereis, D.H. Ellery, T.H. Post, S. Stramigioli, M. Fumagalli Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 1385-1391, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984312 Autonomous Aerial Inspection using visual-inertial robust localization and mapping Author(s): Lucas Teixeira, Ignacio Alzugaray, Margarita Chli Published in: Conference on Field and Service Robotics, 2017, Page(s) 191-204 Publisher: Springer International Publishing DOI: 10.1007/978-3-319-67361-5_13 Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator Author(s): Konstantinos Gkountas, Georgios Ntekoumes, Anthony Tzes Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 1207-1212, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984282 Nonlinear pose tracking controller for bar tethered to two aerial vehicles with bounded linear and angular accelerations Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 4260-4265, ISBN 978-1-5090-2873-3 Publisher: IEEE DOI: 10.1109/CDC.2017.8264287 Collaborative transportation of a bar by two aerial vehicles with attitude inner loop and experimental validation Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 1815-1820, ISBN 978-1-5090-2873-3 Publisher: IEEE DOI: 10.1109/CDC.2017.8263911 Stability of load lifting by a quadrotor under attitude control delay Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 3287-3292, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989374 Robust decentralized abstractions for multiple mobile manipulators Author(s): Christos K. Verginis, Dimos V. Dimarogonas Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2222-2227, ISBN 978-1-5090-2873-3 Publisher: IEEE DOI: 10.1109/CDC.2017.8263974 Real-time local 3D reconstruction for aerial inspection using superpixel expansion Author(s): Lucas Teixeira, Margarita Chli Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 4560-4567, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989530 Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control Author(s): Mina Kamel, Javier Alonso-Mora, Roland Siegwart, Juan Nieto Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 236-243, ISBN 978-1-5386-2682-5 Publisher: IEEE DOI: 10.1109/IROS.2017.8202163 Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes Author(s): Ourania Tsilomitrou, Anthony Tzes, Stamatis Manesis Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 1005-1010, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984249 Cooperative visual convex area coverage using a tessellation-free strategy Author(s): Sotiris Papatheodorou, Anthony Tzes Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 4662-4667, ISBN 978-1-5090-2873-3 Publisher: IEEE DOI: 10.1109/CDC.2017.8264348 Application of substantial and sustained force to vertical surfaces using a quadrotor Author(s): H. W. Wopereis, J. J. Hoekstra, T. H. Post, G. A. Folkertsma, S. Stramigioli, M. Fumagalli Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 2704-2709, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989314 Collaborative mapping and navigation for a mobile robot swarm Author(s): Ioannis Arvanitakis, Anthony Tzes Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 696-700, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984199 Multi-UAV collaborative monocular SLAM Author(s): Patrik Schmuck, Margarita Chli Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 3863-3870, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989445 Control framework for slung load transportation with two aerial vehicles Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 4254-4259, ISBN 978-1-5090-2873-3 Publisher: IEEE DOI: 10.1109/CDC.2017.8264286 Compositional abstraction refinement for control synthesis under lasso-shaped specifications Author(s): Pierre-Jean Meyer, Dimos V. Dimarogonas Published in: 2017 American Control Conference (ACC), 2017, Page(s) 523-528, ISBN 978-1-5090-5992-8 Publisher: IEEE DOI: 10.23919/ACC.2017.7963006 A decentralized multi-agent unmanned aerial system to search, pick up, and relocate objects Author(s): Rik Bahnemann, Dominik Schindler, Mina Kamel, Roland Siegwart, Juan Nieto Published in: 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2017, Page(s) 123-128, ISBN 978-1-5386-3923-8 Publisher: IEEE DOI: 10.1109/SSRR.2017.8088150 Reduced complexity calibration of MEMS IMUs Author(s): Emil Fresk, Sina Sharif Mansouri, Christoforos Kanellakis, Erik Halen, George Nikolakopoulos Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 1316-1320, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984300 Decentralized motion planning with collision avoidance for a team of UAVs under high level goals Author(s): Christos K. Verginis, Ziwei Xu, Dimos V. Dimarogonas Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 781-787, ISBN 978-1-5090-4633-1 Publisher: IEEE DOI: 10.1109/ICRA.2017.7989096 Generalized center of gravity compensation for multirotors with application to aerial manipulation Author(s): Emil Fresk, David Wuthier, George Nikolakopoulos Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4424-4429, ISBN 978-1-5386-2682-5 Publisher: IEEE DOI: 10.1109/IROS.2017.8206307 Only look once, mining distinctive landmarks from ConvNet for visual place recognition Author(s): Zetao Chen, Fabiola Maffra, Inkyu Sa, Margarita Chli Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 9-16, ISBN 978-1-5386-2682-5 Publisher: IEEE DOI: 10.1109/IROS.2017.8202131 Experimental studies on distributed control for area coverage using mobile robots Author(s): Sotiris Papatheodorou, Anthony Tzes, Konstantinos Giannousakis Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 690-695, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984198 On the covering of a polygonal region with fixed size rectangles with an application towards aerial inspection Author(s): Sina Sharif Mansouri, George Georgoulas, Thomas Gustafsson, George Nikolakopoulos Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 1219-1224, ISBN 978-1-5090-4533-4 Publisher: IEEE DOI: 10.1109/MED.2017.7984284 "Receding Horizon ""Next-Best-View"" Planner for 3D Exploration" Author(s): Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1462-1468, ISBN 978-1-4673-8026-3 Publisher: IEEE DOI: 10.1109/ICRA.2016.7487281 On the design, modeling and control of a novel compact aerial manipulator Author(s): D. Wuthier, D. Kominiak, C. Kanellakis, G. Andrikopoulos, M. Fumagalli, G. Schipper, G. Nikolakopoulos Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), Issue 2016, 2016, Page(s) 665-670, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7536029 Evaluation of visual localization systems in underground mining Author(s): Christoforos Kanellakis, George Nikolakopoulos Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 539-544, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7535853 Fast nonlinear model predictive control for multicopter attitude tracking on SO(3) Author(s): Mina Kamel, Kostas Alexis, Markus Achtelik, Roland Siegwart Published in: 2015 IEEE Conference on Control Applications (CCA), 2015, Page(s) 1160-1166, ISBN 978-1-4799-7787-1 Publisher: IEEE DOI: 10.1109/CCA.2015.7320769 Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics Author(s): Andreas Bircher, Kostas Alexis, Michael Burri, Philipp Oettershagen, Sammy Omari, Thomas Mantel, Roland Siegwart Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Page(s) 6423-6430, ISBN 978-1-4799-6923-4 Publisher: IEEE DOI: 10.1109/ICRA.2015.7140101 Uniform coverage structural inspection path–planning for micro aerial vehicles Author(s): Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes Published in: 2015 IEEE International Symposium on Intelligent Control (ISIC), 2015, Page(s) 59-64, ISBN 978-1-4799-7788-8 Publisher: IEEE DOI: 10.1109/ISIC.2015.7307280 Decomposition of multi-agent planning under distributed motion and task LTL specifications Author(s): Jana Tumova, Dimos V. Dimarogonas Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 7448-7453, ISBN 978-1-4799-7886-1 Publisher: IEEE DOI: 10.1109/CDC.2015.7403396 Slung load transportation with a single aerial vehicle and disturbance removal Author(s): Pedro O. Pereira, Manuel Herzog, Dimos V. Dimarogonas Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 671-676, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7536040 The Power-over-Tether system for powering small UAVs: Tethering-line tension control synthesis Author(s): Lida Zikou, Christos Papachristos, Anthony Tzes Published in: 2015 23rd Mediterranean Conference on Control and Automation (MED), 2015, Page(s) 681-687, ISBN 978-1-4799-9936-1 Publisher: IEEE DOI: 10.1109/MED.2015.7158825 Family of controllers for attitude synchronization in S 2 Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 6761-6766, ISBN 978-1-4799-7886-1 Publisher: IEEE DOI: 10.1109/CDC.2015.7403284 Full-body multi-objective controller for aerial manipulation Author(s): Mina Kamel, Simone Comari, Roland Siegwart Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 659-664, ISBN 978-1-4673-8345-5 Publisher: IEEE DOI: 10.1109/MED.2016.7536005 Location graphs for visual place recognition Author(s): Elena Stumm, Christopher Mei, Simon Lacroix, Margarita Chli Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Page(s) 5475-5480, ISBN 978-1-4799-6923-4 Publisher: IEEE DOI: 10.1109/ICRA.2015.7139964 Bilateral human-robot control for semi-autonomous UAV navigation Author(s): Han W. Wopereis, Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 5234-5240, ISBN 978-1-4799-9994-1 Publisher: IEEE DOI: 10.1109/IROS.2015.7354115 Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception Author(s): Christos Papachristos, Dimos Tzoumanikas, Anthony Tzes Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 4319-4324, ISBN 978-1-4799-9994-1 Publisher: IEEE DOI: 10.1109/IROS.2015.7353989 Sampling-based receding horizon collision-free control for a class of Micro Aerial Vehicles Author(s): Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes Published in: 2015 23rd Mediterranean Conference on Control and Automation (MED), 2015, Page(s) 675-680, ISBN 978-1-4799-9936-1 Publisher: IEEE DOI: 10.1109/MED.2015.7158824 Peer reviewed articles (20) Family of controllers for attitude synchronization on the sphere Author(s): Pedro O. Pereira, Dimos V. Dimarogonas Published in: Automatica, Issue 75, 2017, Page(s) 271-281, ISSN 0005-1098 Publisher: Pergamon Press Ltd. DOI: 10.1016/j.automatica.2016.09.033 Receding horizon path planning for 3D exploration and surface inspection Author(s): Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart Published in: Autonomous Robots, Issue 42/2, 2018, Page(s) 291-306, ISSN 0929-5593 Publisher: Kluwer Academic Publishers DOI: 10.1007/s10514-016-9610-0 Compositional abstraction refinement for control synthesis Author(s): Pierre-Jean Meyer, Dimos V. Dimarogonas Published in: Nonlinear Analysis: Hybrid Systems, Issue 27, 2018, Page(s) 437-451, ISSN 1751-570X Publisher: Elsevier BV DOI: 10.1016/j.nahs.2017.10.006 Hybrid coverage and inspection control for anisotropic mobile sensor teams Author(s): Antonio Adaldo, Dimos V. Dimarogonas, Karl H. Johansson Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 613-618, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.098 Survey on Computer Vision for UAVs: Current Developments and Trends Author(s): Christoforos Kanellakis, George Nikolakopoulos Published in: Journal of Intelligent & Robotic Systems, Issue 87/1, 2017, Page(s) 141-168, ISSN 0921-0296 Publisher: Kluwer Academic Publishers DOI: 10.1007/s10846-017-0483-z Using progress sets on non-deterministic transition systems for multiple UAV motion planning * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation Author(s): Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 15977-15982, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.1752 A Geometric Pulling Force Controller for Aerial Robotic Workers * *This work has received funding from the European Unions Horizon 2020 Research and Innovation Program under the Grant Agreement No 644128 AEROWORKS Author(s): David Wuthier, Dariusz Kominiak, Emil Fresk, George Nikolakopoulos Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 10287-10292, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.1487 Multi-Agent Motion Planning and Object Transportation under High Level Goals * *This work was supported by the H2020 ERC Starting Grand BU-COPHSYS, the Swedish Research Council (VR), the Knut och Alice Wallenberg Foundation and the European Union’s Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128 (AEROWORKS) Author(s): Christos K. Verginis, Dimos V. Dimarogonas Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 15816-15821, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.2325 Abstraction refinement and plan revision for control synthesis under high level specifications * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation Author(s): Pierre-Jean Meyer, Dimos V. Dimarogonas Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 9254-9259, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.1292 Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments * *This work has received funding from the European Union Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128, AEROWORKS. Author(s): Ioannis Arvanitakis, Anthony Tzes, Konstantinos Giannousakis Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 12710-12714, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.2267 CHAT: Clustered hierarchical key management for wireless sensor networks using network topology Author(s): Dimitris Tsitsipis, Anthony Tzes, Stavros Koubias Published in: International Journal of Distributed Sensor Networks, Issue 13/11, 2017, Page(s) 155014771774157, ISSN 1550-1477 Publisher: IEEE DOI: 10.1177/1550147717741570 Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles Author(s): Mina Kamel, Michael Burri, Roland Siegwart Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 3463-3469, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.849 Ultra WideBand enabled Inertial Odometry for Generic Localization Author(s): Emil Fresk, Kristoffer Ödmark, George Nikolakopoulos Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 11465-11472, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2017.08.1820 Robust Quaternion-based Cooperative Manipulation without Force/Torque Information * *This work was supported by the H2020 ERC Starting Grand BU-COPHSYS, the Swedish Research Council (VR), the Knut och Alice Wallenberg Foundation and the European Union’s Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128 (AEROWORKS). Author(s): Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 1754-1759, ISSN 2405-8963 Publisher: Ifac DOI: 10.1016/j.ifacol.2017.08.526 Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments Author(s): Ioannis Arvanitakis, Anthony Tzes, Konstantinos Giannousakis Published in: International Journal of Advanced Robotic Systems, Issue 15/1, 2018, Page(s) 172988141775078, ISSN 1729-8814 Publisher: SAGE DOI: 10.1177/1729881417750785 Collaborative visual area coverage Author(s): Sotiris Papatheodorou, Anthony Tzes, Yiannis Stergiopoulos Published in: Robotics and Autonomous Systems, Issue 92, 2017, Page(s) 126-138, ISSN 0921-8890 Publisher: Elsevier BV DOI: 10.1016/j.robot.2017.03.005 A Generalized Reduced-Complexity Inertial Navigation System for Unmanned Aerial Vehicles Author(s): Emil Fresk, George Nikolakopoulos, Thomas Gustafsson Published in: IEEE Transactions on Control Systems Technology, 2016, Page(s) 1-16, ISSN 1063-6536 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/TCST.2016.2542022 Dual–Authority Thrust–Vectoring of a Tri–TiltRotor employing Model Predictive Control Author(s): Christos Papachristos, Kostas Alexis, Anthony Tzes Published in: Journal of Intelligent & Robotic Systems, Issue 81/3-4, 2016, Page(s) 471-504, ISSN 0921-0296 Publisher: Kluwer Academic Publishers DOI: 10.1007/s10846-015-0231-1 Compliant Aerial Manipulators: Toward a New Generation of Aerial Robotic Workers Author(s): T. Bartelds, A. Capra, S. Hamaza, S. Stramigioli, M. Fumagalli Published in: IEEE Robotics and Automation Letters, Issue 1/1, 2016, Page(s) 477-483, ISSN 2377-3766 Publisher: Robotics and Automation Letters, IEEE DOI: 10.1109/LRA.2016.2519948 Robust Model Predictive Flight Control of Unmanned Rotorcrafts Author(s): Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes Published in: Journal of Intelligent & Robotic Systems, Issue 81/3-4, 2016, Page(s) 443-469, ISSN 0921-0296 Publisher: Kluwer Academic Publishers DOI: 10.1007/s10846-015-0238-7 Book chapters (1) UAVs as a tool for Aerial Inspection of the Aging Infrastructure.” Author(s): Sina Sharif Mansouri, Christoforos Kanellakis, Emil Fresk, Dariusz Kominiak, George Nikolakopoulos Published in: 2018, Page(s) 177-189 Publisher: Springer International Publishing DOI: 10.1007/978-3-319-67361-5_12 Searching for OpenAIRE data... There was an error trying to search data from OpenAIRE No results available
