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Collaborative Aerial Robotic Workers

Deliverables

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.

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.

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Publications

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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
DOI: 10.1109/MED.2015.7158824

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
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
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
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
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
DOI: 10.1007/s10846-017-0483-z

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
DOI: 10.1016/j.ifacol.2017.08.1487

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
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
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
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
DOI: 10.1016/j.ifacol.2017.08.1820

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
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
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
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
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
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
DOI: 10.1007/s10846-015-0238-7

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
DOI: 10.1007/978-3-319-67361-5_12