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AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance

Deliverables

Aerial telemanipulation simulator

Presentation of the Hardware in the loop simulator to perform high fidelity simulation in the two applications in WP8 and to validate the methods and technologies developed in other tasks and Work Packages

Hand-eye coordination

This deliverable will present the results obtained with visual feedback and handeye coordination integrating these virtual servoing techniques with coordination and image processing techniques

Fully actuated aerial platform

This deliverable will present the designs and simulations of the new fully actuated aerial platforms with multiple arms

First Dissemination and Communication Report

First version of the report summarising the dissemination and communication plans and actions

Precise target recognition and tracking for accurate grabbing and manipulation

This deliverable details the techniques developed for detection and tracking of anchoring points for the aerialarm system and also the accurate localization of the point of operations for the crawler

Models and control of flying robots multiple arms

This deliverable presents the models and control methods for the cases a b and c in task T31

Validation of aerial telemanipulation

The Deliverable will present the results of the validation of the aerial manipulation In this validation the algorithms and software produced in T42 and T43 will be optimized

Planning and reactivity validation

Report providing the results of the validation and assessing the suitability for implementation in the final AEROARM system and industrial validation

Planning methods for aerial robots with manipulator arms

This deliverable describes the algorithms developed during the project for planning accurate and safe motions of aerial manipulators considering the robot dynamics and taskdependent forces

Local planning for human-in-the-loop aerial telemanipulation

This deliverable describes the algorithms developed during the project for locally plan trajectories which will be used to enable a humanintheloop telemanipulation which takes into account the presence of multidimensional systems and their dynamical constraints also in the immediate future

Final Dissemination and Communication Report

Final version of the report summarising the dissemination and communication plans and actions

Precise 3D mapping using aerial robots

This deliverable detail the techniques developed for 3D map building using different sensors onboard the aerial robot and local validation experiments

Reactivity methods and technologies for safe operation

This Deliverable will present the methods technologies and preliminary experiments carried out providing guidelines for the validation

Integration for inspection and maintenance applications

This Deliverable will be a report presenting the results of the system integration ready to perform inspection and maintenance applications

Behavioural coordination of multi-arm-equipped aerial robots

This deliverable provides the kinematic control laws based on hierarchical taskpriority approaches for the behavioural coordinated control of flying robots with multiple manipulators Validations by realistic simulations based on the kinematic models developed within the WP will be presented

Force feedback aerial telemanipulation

The Deliverable will describe the system based on force feedback from the slave system to the master device and will present results of the application to the HIL simulator and to the real flight platforms

Validation of control methods

This deliverable will present the results of the validation activities and experiments

Map-based 6DoF localization of aerial vehicle and crawler

This deliverable presents the algorithms for map-based localization of aerial robot and crawler and local validation experiments

Project final report

Final report to be used for dissemination

First Data Management Plan

First version of the report describing how the research data collected or generated will be handled during the project and after it is completed

Indoor integration

This Deliverable will be a report presenting the results of the indoor integration

Project Web site

First version of the project Web site to be used in the Project management and first Dissemination activities

Final Data Management Plan

Final version of the report describing how the research data collected or generated will be handled during the project, and after it is completed

Publications

Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Author(s): Pedro Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Published in: International Journal of Aerospace Engineering, 2017, 2017, Page(s) 1-17, ISSN 1687-5966
Publisher: Hindawi Publishing Corporation
DOI: 10.1155/2017/1823056

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

Author(s): Pablo Ramon Soria, Begoña Arrue, Anibal Ollero
Published in: Sensors, 17/1, 2017, Page(s) 103, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17010103

Behavioral control of unmanned aerial vehicle manipulator systems

Author(s): K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Published in: Autonomous Robots, 2016, Page(s) 1203-1220, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-016-9590-0

Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors

Author(s): Pablo Ramon Soria, Robert Bevec, Begoña Arrue, Aleš Ude, Aníbal Ollero
Published in: Sensors, 16/5, 2016, Page(s) 700, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16050700

Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles

Author(s): Rodrigo Munguia, Sarquis Urzua, Antoni Grau
Published in: PLOS ONE, 11/12, 2016, Page(s) e0167197, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0167197

Uncalibrated Visual Servo for Unmanned Aerial Manipulation

Author(s): Angel Santamaria-Navarro, Patrick Grosch, Vincenzo Lippiello, Joan Sola, Juan Andrade-Cetto
Published in: IEEE/ASME Transactions on Mechatronics, 22/4, 2017, Page(s) 1610-1621, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TMECH.2017.2682283

Teaching Robot’s Proactive Behavior Using Human Assistance

Author(s): A. Garrell, M. Villamizar, F. Moreno-Noguer, A. Sanfeliu
Published in: International Journal of Social Robotics, 9/2, 2017, Page(s) 231-249, ISSN 1875-4791
Publisher: Springer Verlag
DOI: 10.1007/s12369-016-0389-0

Learning Depth-Aware Deep Representations for Robotic Perception

Author(s): Lorenzo Porzi, Samuel Rota Bulo, Adrian Penate-Sanchez, Elisa Ricci, Francesc Moreno-Noguer
Published in: IEEE Robotics and Automation Letters, 2/2, 2017, Page(s) 468-475, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2637444

Boosted Random Ferns for Object Detection

Author(s): Michael Villamizar Vergel, Juan Andrade-Cetto, Alberto Sanfeliu, Francesc Moreno-Noguer
Published in: IEEE Transactions on Pattern Analysis and Machine Intelligence, 40/2, 2018, Page(s) 272-288, ISSN 0162-8828
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TPAMI.2017.2676778

Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors

Author(s): Angel Santamaria-Navarro, Giuseppe Loianno, Joan Solà, Vijay Kumar, Juan Andrade-Cetto
Published in: Autonomous Robots, 2018, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9690-5

Vision-Based SLAM System for Unmanned Aerial Vehicles

Author(s): Rodrigo Munguía, Sarquis Urzua, Yolanda Bolea, Antoni Grau
Published in: Sensors, 16/3, 2016, Page(s) 372, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16030372

Searching and tracking people in urban environments with static and dynamic obstacles

Author(s): Alex Goldhoorn, Anaís Garrell, René Alquézar, Alberto Sanfeliu
Published in: Robotics and Autonomous Systems, 98, 2017, Page(s) 147-157, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2017.06.005

A Stabilizing Controller for Regulation of UAV With Manipulator

Author(s): Min Jun Kim, Konstantin Kondak, Christian Ott
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1719-1726, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2803205

Physical-Virtual Impedance Control in Ultralightweight and Compliant Dual-Arm Aerial Manipulators

Author(s): Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2553-2560, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2809964

Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator

Author(s): Vincenzo Lippiello, Giuseppe Andrea Fontanelli, Fabio Ruggiero
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1856-1863, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2806091

Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances

Author(s): Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi
Published in: IEEE Transactions on Control Systems Technology, 26/1, 2018, Page(s) 248-254, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TCST.2017.2650679

Design of a lightweight dual arm system for aerial manipulation

Author(s): Alejandro Suarez, Antonio Enrique Jimenez-Cano, Victor Manuel Vega, Guillermo Heredia, Angel Rodriguez-Castaño, Anibal Ollero
Published in: Mechatronics, 50, 2018, Page(s) 30-44, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2018.01.005

Geometric Priors for Gaussian Process Implicit Surfaces

Author(s): Wolfram Martens, Yannick Poffet, Pablo Ramon Soria, Robert Fitch, Salah Sukkarieh
Published in: IEEE Robotics and Automation Letters, 2/2, 2017, Page(s) 373-380, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2631260

Aerial Manipulation: A Literature Review

Author(s): Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1957-1964, ISSN 2377-3766
Publisher: 2018
DOI: 10.1109/LRA.2018.2808541

The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

Author(s): Anibal Ollero, Guillermo Heredia, Antonio Franchi, Gianluca Antonelli, Konstantin Kondak, Alberto Sanfeliu, Antidio Viguria, J. Ramiro Martinez-de Dios, Francesco Pierri, Juan Cortes, Angel Santamaria-Navarro, Miguel Angel Trujillo Soto, Ribin Balachandran, Juan Andrade-Cetto, Angel Rodriguez
Published in: IEEE Robotics & Automation Magazine, 25/4, 2018, Page(s) 12-23, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2018.2852789

Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction

Author(s): Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
Published in: IFAC-PapersOnLine, 50/1, 2017, Page(s) 13144-13149, ISSN 2405-8963
Publisher: ELSEVIER
DOI: 10.1016/j.ifacol.2017.08.2168

Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars

Author(s): Marco Tognon, Antonio Franchi
Published in: IEEE Transactions on Robotics, 33/4, 2017, Page(s) 834-845, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2017.2677915

Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform * *This work has been partially funded by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 644271 AEROARMS.

Author(s): Marco Tognon, Antonio Franchi
Published in: IFAC-PapersOnLine, 50/1, 2017, Page(s) 1069-1074, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2017.08.242

Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control

Author(s): Marco Tognon, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2277-2282, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2802544

Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Author(s): Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
Published in: IEEE Transactions on Robotics, 34/2, 2018, Page(s) 534-541, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2017.2786734

Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity

Author(s): Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2577-2583, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2803811

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

Author(s): Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortes, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2478-2484, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2803206

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

Author(s): Matthias Faessler, Antonio Franchi, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, 3/2, 2018, Page(s) 620-626, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2776353

Toward Aerial Physical Locomotion: The Contact-Fly-Contact Problem

Author(s): Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1514-1521, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2800798

Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness

Author(s): Giulia Michieletto, Markus Ryll, Antonio Franchi
Published in: IEEE Transactions on Robotics, 34/3, 2018, Page(s) 702-715, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2821155

Range-only SLAM for robot-sensor network cooperation

Author(s): Arturo Torres-González, Jose Ramiro Martinez-de Dios, Anibal Ollero
Published in: Autonomous Robots, 42/3, 2018, Page(s) 649-663, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9663-8

Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation

Author(s): José Martínez-de Dios, Alberto de San Bernabé, Antidio Viguria, Arturo Torres-González, Anibal Ollero
Published in: Remote Sensing, 9/4, 2017, Page(s) 336, ISSN 2072-4292
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/rs9040336

Efficient integration of RSSI for tracking using Wireless Camera Networks

Author(s): A. De San Bernabe, J.R. Martinez-de Dios, A. Ollero
Published in: Information Fusion, 36, 2017, Page(s) 296-312, ISSN 1566-2535
Publisher: Elsevier BV
DOI: 10.1016/j.inffus.2016.11.001

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation

Author(s): Arturo Torres-González, Jose Ramiro Martínez-de Dios, Anibal Ollero
Published in: Sensors, 17/4, 2017, Page(s) 903, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17040903

Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation

Author(s): Vincenzo Lippiello, Jonathan Cacace, Angel Santamaria-Navarro, Juan Andrade-Cetto, Miguel Angel Trujillo, Yamnia Rodriguez Esteves, Antidio Viguria
Published in: IEEE Robotics and Automation Letters, 1/1, 2016, Page(s) 259-266, ISSN 2377-3766
Publisher: IEEE International Conference on Robotics and Automation (ICRA 2016)
DOI: 10.1109/LRA.2015.2510749

Interactive multiple object learning with scanty human supervision

Author(s): Michael Villamizar, Anaís Garrell, Alberto Sanfeliu, Francesc Moreno-Noguer
Published in: Computer Vision and Image Understanding, 149, 2016, Page(s) 51-64, ISSN 1077-3142
Publisher: Academic Press
DOI: 10.1016/j.cviu.2016.03.010

Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results

Author(s): Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf
Published in: Frontiers in Robotics and AI, 3, 2016, Page(s) Frontiers in Robotics and AI, Vol. 3, pp. 16, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2016.00016

Random clustering ferns for multimodal object recognition

Author(s): M. Villamizar, A. Garrell, A. Sanfeliu, F. Moreno-Noguer
Published in: Neural Computing and Applications, 2016, ISSN 0941-0643
Publisher: Springer Verlag
DOI: 10.1007/s00521-016-2284-x

MSClique: Multiple Structure Discovery through the Maximum Weighted Clique Problem

Author(s): Gerard Sanroma, Adrian Penate-Sanchez, René Alquézar, Francesc Serratosa, Francesc Moreno-Noguer, Juan Andrade-Cetto, Miguel Ángel González Ballester
Published in: PLOS ONE, 11/1, 2016, Page(s) e0145846, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0145846

Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming

Author(s): Roberto Rossi, Angel Santamaria-Navarro, Juan Andrade-Cetto, Paolo Rocco
Published in: IEEE Robotics and Automation Letters, 2/2, 2017, Page(s) 389-396, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2633625

Observer-based control of posi- tion and tension for an aerial robot tethered to a moving platform

Author(s): M. Tognon, S. S. Dash, and A. Franchi
Published in: IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732–737, 2016, ISSN 2377-3766
Publisher: IEEE

An adaptive hierarchical control for aerial manipulators

Author(s): Francesco Pierri, Giuseppe Muscio, Fabrizio Caccavale
Published in: Robotica, 36/10, 2018, Page(s) 1527-1550, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/S0263574718000553

Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments

Author(s): G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Published in: IEEE Transactions on Control Systems Technology, 26/4, 2018, Page(s) 1406-1413, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2017.2716905

A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs

Author(s): Francisco Alarcón, Manuel García, Ivan Maza, Antidio Viguria, Aníbal Ollero
Published in: Sensors, 19/4, 2019, Page(s) 886, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19040886

Applying Frontier Cells Based Exploration and Lazy Theta* Path Planning over Single Grid-Based World Representation for Autonomous Inspection of Large 3D Structures with an UAS

Author(s): Margarida Faria, Ivan Maza, Antidio Viguria
Published in: Journal of Intelligent & Robotic Systems, 93/1-2, 2019, Page(s) 113-133, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-018-0798-4

Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV

Author(s): Margarida Faria, Ricardo Marín, Marija Popović, Ivan Maza, Antidio Viguria
Published in: Sensors, 19/1, 2019, Page(s) 174, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19010174

Combining a hierarchical task network planner with a constraint satisfaction solver for assembly operations involving routing problems in a multi-robot context

Author(s): Jorge Muñoz-Morera, Francisco Alarcon, Ivan Maza, Anibal Ollero
Published in: International Journal of Advanced Robotic Systems, 15/3, 2018, Page(s) 172988141878208, ISSN 1729-8814
Publisher: International Journal of Advanced Robotic Systems
DOI: 10.1177/1729881418782088

Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

Author(s): Edmundo Guerra, Rodrigo Munguía, Yolanda Bolea, Antoni Grau
Published in: Mathematical Problems in Engineering, 2018, 2018, Page(s) 1-13, ISSN 1024-123X
Publisher: Hindawi Publishing Corporation
DOI: 10.1155/2018/2758021

UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications

Author(s): Edmundo Guerra, Rodrigo Munguia, Antoni Grau
Published in: Proceedings, 1/8, 2017, Page(s) 738, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/proceedings1080738

Non-Linear Local Force Feedback Control for Haptic Interfaces

Author(s): Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schaeffer
Published in: IFAC-PapersOnLine, 51/22, 2018, Page(s) 486-492, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2018.11.587

Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy

Author(s): Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, Cristian Secchi
Published in: IEEE Robotics and Automation Letters, 4/2, 2019, Page(s) 1319-1326, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2019.2895420

Shared planning and control for mobile robots with integral haptic feedback

Author(s): Carlo Masone, Mostafa Mohammadi, Paolo Robuffo Giordano, Antonio Franchi
Published in: The International Journal of Robotics Research, 37/11, 2018, Page(s) 1395-1420, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364918802006

A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants

Author(s): Marco Tognon, Hermes A. Tello Chavez, Enrico Gasparin, Quentin Sable, Davide Bicego, Anthony Mallet, Marc Lany, Gilles Santi, Bernard Revaz, Juan Cortes, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, 4/2, 2019, Page(s) 1846-1851, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2895880

Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms

Author(s): Alvaro Caballero, Manuel Bejar, Angel Rodriguez-Castaño, Anibal Ollero
Published in: International Journal of Advanced Robotic Systems, 15/3, 2018, Page(s) 172988141877052, ISSN 1729-8814
Publisher: SAGE Journals
DOI: 10.1177/1729881418770525

Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation

Author(s): Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Published in: IEEE Access, 6, 2018, Page(s) 29173-29189, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2018.2833160

A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Author(s): Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Published in: IEEE Robotics & Automation Magazine, 26/1, 2019, Page(s) 44-53, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2018.2884744

Novel Aerial Manipulator for Accurate and Robust Industrial NDT Contact Inspection: A New Tool for the Oil and Gas Inspection Industry

Author(s): Miguel Trujillo, José Martínez-de Dios, Carlos Martín, Antidio Viguria, Aníbal Ollero
Published in: Sensors, 19/6, 2019, Page(s) 1305, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19061305

Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach

Author(s): Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, Antoni Grau
Published in: Sensors, 18/12, 2018, Page(s) 4243, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18124243

Aerial physical interaction via IDA-PBC

Author(s): Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
Published in: The International Journal of Robotics Research, 38/4, 2018, Page(s) 403-421, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364919835605

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

Author(s): Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
Published in: IFAC-PapersOnLine, 51/22, 2018, Page(s) 465-470, ISSN 2405-8963
Publisher: 12th IFAC Symposium on Robot Control
DOI: 10.1016/j.ifacol.2018.11.590

Embedding the node-to-node mappings to learn the Graph edit distance parameters

Author(s): Shaima Algabli, Francesc Serratosa
Published in: Pattern Recognition Letters, 112, 2018, Page(s) 353-360, ISSN 0167-8655
Publisher: Elsevier BV
DOI: 10.1016/j.patrec.2018.08.026

Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform

Author(s): Marco Tognon, Sanket S. Dash, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, 1/2, 2016, Page(s) 732-737, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2016.2523599

Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments

Author(s): Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, Antoni Grau
Published in: Sensors, 18/5, 2018, Page(s) 1351, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18051351

Cooperative Aerial Load Transportation via Sampled Communication

Author(s): Enrica Rossi, Marco Tognon, Ruggero Carli, Luca Schenato, Juan Cortes, Antonio Franchi
Published in: IEEE Control Systems Letters, 4/2, 2020, Page(s) 277-282, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/LCSYS.2019.2924413

Simultaneous system design and path planning: A sampling-based algorithm

Author(s): Kevin Molloy, Laurent Denarie, Marc Vaisset, Thierry Siméon, Juan Cortés
Published in: The International Journal of Robotics Research, 38/2-3, 2018, Page(s) 375-387, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364918783054

A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors

Author(s): Victor Manuel Arellano-Quintana, Emmanuel Alejandro Merchan-Cruz, Antonio Franchi
Published in: IEEE Access, 6, 2018, Page(s) 68155-68168, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2018.2879636

The Tele-MAGMaS: An Aerial-Ground Comanipulator System

Author(s): Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Quentin Delamare, Hyunsoo Yang, Domenico Prattichizzo, Paolo Robuffo Giordano, Dongjun Lee, Antonio Franchi
Published in: IEEE Robotics & Automation Magazine, 25/4, 2018, Page(s) 66-75, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2018.2871344

Vision-Based Deflection Estimation in an Anthropomorphic, Compliant and Lightweight Dual Arm

Author(s): Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Published in: ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference, 2017, Page(s) 332-344
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70836-2_28

Multirotor UAS for bridge inspection by contact using the ceiling effect

Author(s): P. J. Sanchez-Cuevas, G. Heredia, A. Ollero
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 767-774, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991412

Relative-pose optimisation for robust and nonlinear control of unmanned aerial manipulators

Author(s): C.R. de Cos, J.A. Acosta, A. Ollero
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 999-1005, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991363

Anthropomorphic, compliant and lightweight dual arm system for aerial manipulation

Author(s): Alejandro Suarez, Pablo Ramon Soria, Guillermo Heredia, Begona C. Arrue, Anibal Ollero
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 992-997, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202266

Design of a High Performance Dual Arm Aerial Manipulator

Author(s): Pedro Grau, Alejandro Suarez, Victor Manuel Vega, Angel Rodriguez-Castaño, Anibal Ollero
Published in: Design of a High Performance Dual Arm Aerial Manipulator, 2017, Page(s) 730-741, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_59

Motion planning for long reach manipulation in aerial robotic systems with two arms

Author(s): A. Caballero, M. Bejar, A. Rodriguez-Castano, A. Ollero
Published in: 2017 European Conference on Mobile Robots (ECMR), 2017, Page(s) 1-7, ISBN 978-1-5386-1096-1
Publisher: IEEE
DOI: 10.1109/ECMR.2017.8098716

Experimental Approach to the Aerodynamic Effects Produced in Multirotors Flying Close to Obstacles

Author(s): P. J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Published in: ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference, 2017, Page(s) 742-752, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_60

Lightweight and human-size dual arm aerial manipulator

Author(s): A. Suarez, A. E. Jimenez-Cano, V. M. Vega, G. Heredia, A. Rodriguez-Castano, A. Ollero
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1778-1784, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991357

A robust decentralised strategy for multi-task control of unmanned aerial systems. Application on underactuated aerial manipulator

Author(s): J. A. Acosta, C. R. de Cos, A. Ollero
Published in: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, Page(s) 1075-1084, ISBN 978-1-4673-9334-8
Publisher: IEEE
DOI: 10.1109/ICUAS.2016.7502675

Experiments on coordinated motion of aerial robotic manipulators

Author(s): G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Giglio, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1224-1229, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487252

PL-SLAM: Real-time monocular visual SLAM with points and lines

Author(s): Albert Pumarola, Alexander Vakhitov, Antonio Agudo, Alberto Sanfeliu, Francese Moreno-Noguer
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 4503-4508, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989522

Nonlinear model predictive control for aerial manipulation

Author(s): Dario Lunni, Angel Santamaria-Navarro, Roberto Rossi, Paolo Rocco, Luca Bascetta, Juan Andrade-Cetto
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 87-93, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991347

A flexible hardware-in-the-loop architecture for UAVs

Author(s): Peter Lepej, Angel Santamaria-Navarro, Joan Sola
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1751-1756, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991330

Aerial social force model: A new framework to accompany people using autonomous flying robots

Author(s): A. Garrell, Luis Garza-Elizondo, M. Villamizar, F. Herrero, A. Sanfeliu
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 7011-7017, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206627

Depth-aware convolutional neural networks for accurate 3D pose estimation in RGB-D images

Author(s): Lorenzo Porzi, Adrian Penate-Sanchez, Elisa Ricci, Francesc Moreno-Noguer
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 5777-5783, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206469

BASS: Boundary-Aware Superpixel Segmentation

Author(s): Antonio Rubio, LongLong Yu, Edgar Simo-Serra, Francesc Moreno-Noguer
Published in: 2016 23rd International Conference on Pattern Recognition (ICPR), 2016, Page(s) 2824-2829, ISBN 978-1-5090-4847-2
Publisher: IEEE
DOI: 10.1109/ICPR.2016.7900064

Discriminative Learning of Deep Convolutional Feature Point Descriptors

Author(s): Edgar Simo-Serra, Eduard Trulls, Luis Ferraz, Iasonas Kokkinos, Pascal Fua, Francesc Moreno-Noguer
Published in: 2015 IEEE International Conference on Computer Vision (ICCV), 2015, Page(s) 118-126, ISBN 978-1-4673-8391-2
Publisher: IEEE
DOI: 10.1109/ICCV.2015.22

Matchability Prediction for Full-Search Template Matching Algorithms

Author(s): Adrian Penate-Sanchez, Lorenzo Porzi, Francesc Moreno-Noguer
Published in: 2015 International Conference on 3D Vision, 2015, Page(s) 353-361, ISBN 978-1-4673-8332-5
Publisher: IEEE
DOI: 10.1109/3DV.2015.47

6D physical interaction with a fully actuated aerial robot

Author(s): Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale, Antonio Franchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 5190-5195, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989608

Distributed cooperative object parameter estimation and manipulation without explicit communication

Author(s): Alessandro Marino, Giuseppe Muscio, Francesco Pierri
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 2110-21116, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989243

Flexible link long reach manipulator with lightweight dual arm: Soft-collision detection, reaction, and obstacle localization

Author(s): A. Suarez, A. M. Giordano, K. Kondak, G. Heredia, A. Ollero
Published in: 2018 IEEE International Conference on Soft Robotics (RoboSoft), 2018, Page(s) 406-411, ISBN 978-1-5386-4516-1
Publisher: IEEE
DOI: 10.1109/ROBOSOFT.2018.8404953

An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base

Author(s): Marco De Stefano, Ribin Balachandran, Alessandro M. Giordano, Christian Ott, Cristian Secchi
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1072-1077, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8460497

A passive integration strategy for rendering rotational rigid-body dynamics on a robotic simulator

Author(s): Marco De Stefano, Jordi Artigas, Cristian Secchi
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 2806-2812, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206111

Towards robotic MAGMaS: Multiple aerial-ground manipulator systems

Author(s): Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 1307-1312, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989154

Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles

Author(s): Antonio Franchi, Anthony Mallet
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 5203-5208, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989610

Dynamic decentralized control for protocentric aerial manipulators

Author(s): Marco Tognon, Burak Yuksel, Gabriele Buondonno, Antonio Franchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 6375-6380, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989753

Control of statically hoverable multi-rotor aerial vehicles and application to rotor-failure robustness for hexarotors

Author(s): Giulia Michieletto, Markus Ryll, Antonio Franchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 2747-2752, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989320

Towards a Flying Companion Paradigm: the OTHex

Author(s): Staub, N, Bicego, D, Sablé, Q, Arellano-Quintana, V, Mishra, S, Franchi, A
Published in: 2018 IEEE Int. Conf. on Robotics and Automation, 2018
Publisher: IEEE

Sistema aéreo no tripulado con capacidad avanzada de manipulación

Author(s): M.A. Trujillo, A. Viguria, R. Cano and A. Ollero
Published in: IV Congreso Nacional de I+D en Defensa y Seguridad, 2016
Publisher: IV Congreso Nacional de I+D en Defensa y Seguridad
DOI: 10.5281/zenodo.2630573

Planar PØP: Feature-less pose estimation with applications in UAV localization

Author(s): Adrian Amor-Martinez, Angel Santamaria-Navarro, Fernando Herrero, Alberto Ruiz, Alberto Sanfeliu
Published in: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, Page(s) 15-20, ISBN 978-1-5090-4349-1
Publisher: IEEE
DOI: 10.1109/SSRR.2016.7784271

Learning the hidden human knowledge of UAV pilots when navigating in a cluttered environment for improving path planning

Author(s): Ignacio Alzugaray, Alberto Sanfeliu
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 1589-1594, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759257

Lightweight compliant arm with compliant finger for aerial manipulation and inspection

Author(s): Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4449-4454, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759655

Impedance Control of an aerial-manipulator: Preliminary results

Author(s): E. Cataldi, G. Muscio, M. A. Trujillo, Y. Rodriguez, F. Pierri, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 3848-3853, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759566

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Author(s): Signe Moe, Andrew R. Teel, Gianluca Antonelli, Kristin Y. Pettersen
Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 171-178, ISBN 978-1-4799-7886-1
Publisher: IEEE
DOI: 10.1109/CDC.2015.7402104

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Author(s): Signe Moe, Gianluca Antonelli, Kristin Y. Pettersen, Johannes Schrimpf
Published in: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015, Page(s) 1233-1239, ISBN 978-1-4673-9675-2
Publisher: IEEE
DOI: 10.1109/ROBIO.2015.7418940

Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints

Author(s): Yüksel, Burak; Buondonno, Gabriele; Franchi, Antonio
Published in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea, 4, 2016
Publisher: IEEE

From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots

Author(s): Notarstefano, Giuseppe; Franchi, Antonio; Spedicato, Sara
Published in: 2016 IEEE Int. Conf. on Robotics & Automation (ICRA), 9, 2016
Publisher: IEEE

Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor

Author(s): Bicego, Davide; Ryll, Markus; Franchi, Antonio
Published in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon. 2016, 5, 2016
Publisher: IEEE

Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments

Author(s): Franchi, Antonio; Staub, Nicolas; Yüksel, Burak
Published in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, 5, 2016
Publisher: IEEE

Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot

Author(s): Tognon, Marco; Rossi, Enrica; Franchi, Antonio; Testa, Andrea
Published in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea, 3, 2016
Publisher: IEEE

Nonlinear observer for the control of bi- tethered multi aerial robots

Author(s): M. Tognon and A. Franchi
Published in: 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, 2015
Publisher: IEEE

Combining System Design and Path Planning

Author(s): L. Denarie K. Molloy, M. Vaisset T. Siméon J. Cortés
Published in: Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec 2016, San Francisco, United States., 2016
Publisher: IFRR

Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

Author(s): E. Cataldi; F. Real; A. Suarez; P.A. Di Lillo; F. Pierri; G. Antonelli; F. Caccavale; G. Heredia; A. Ollero
Published in: 2019 IEEE International Conference on Robotics and Automation, 2019
Publisher: IEEE
DOI: 10.5281/zenodo.2608974

Robust Decentralized Context-Aware Sensor Fault Detection with In-Place Self-Calibration

Author(s): J.L. Paneque, J.R. Martinez-Dedios, A. Ollero
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 3130-3136, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8593680

Multi-modal joint embedding for fashion product retrieval

Author(s): A. Rubio, LongLong Yu, E. Simo-Serra, F. Moreno-Noguer
Published in: 2017 IEEE International Conference on Image Processing (ICIP), 2017, Page(s) 400-404, ISBN 978-1-5090-2175-8
Publisher: IEEE
DOI: 10.1109/ICIP.2017.8296311

Joint coarse-and-fine reasoning for deep optical flow

Author(s): Victor Vaquero, German Ros, Francese Moreno-Noguer, Antonio M. Lopez, Alberto Sanfeliu
Published in: 2017 IEEE International Conference on Image Processing (ICIP), 2017, Page(s) 2558-2562, ISBN 978-1-5090-2175-8
Publisher: IEEE
DOI: 10.1109/ICIP.2017.8296744

First Experimental Results on Motion Planning for Transportation in Aerial Long-Reach Manipulators with Two Arms

Author(s): Alvaro Caballero, Alejandro Suarez, Fran Real, Victor M. Vega, Manuel Bejar, Angel Rodriguez-Castano, Anibal Ollero
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 8471-8477, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594123

Development of SAM: cable-Suspended Aerial Manipulator

Author(s): Yuri S Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
Published in: IEEE International Conference on Robotics and Automation (ICRA) 2019, 2019
Publisher: IEEE

Passive compliance control of aerial manipulators

Author(s): Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018, 2018
Publisher: IEEE

Oscillation damping control of pendulum-like manipulation platform using moving masses

Author(s): Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
Published in: IFAC Symposium on Robot Control (SYROCO), 2018
Publisher: IFAC

Performance comparison of Wave Variable Transformation and Time Domain Passivity Approaches for time-delayed teleoperation: Preliminary results

Author(s): Ribin Balachandran, Jordi Artigas, Usman Mehmood, Jee-Hwan Ryu
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 410-417, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759087

Passivity-based stability in explicit force control of robots

Author(s): Ribin Balachandran, Mikael Jorda, Jordi Artigas, Jee-Hwan Ryu, Oussama Khatib
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 386-393, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/icra.2017.7989050

Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation

Author(s): Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 5525-5532, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594125

An optimized passivity-based method for simulating satellite dynamics on a position controlled robot in presence of latencies

Author(s): Marco De Stefano, Jordi Artigas, Cristian Secchi
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 5419-5426, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759797

Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator

Author(s): Marco De Stefano, Ribin Balachandran, Jordi Artigas, Cristian Secchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 5899-5906, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/icra.2017.7989694

Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot

Author(s): Tognon , Marco; Testa , Andrea; Rossi , Enrica; Franchi , Antonio
Published in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. 2016, 12, 2016
Publisher: IEEE

Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform

Author(s): Tognon , Marco; Franchi , Antonio
Published in: 20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017, 12, 2017
Publisher: IFAC

Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination

Author(s): Tognon , Marco; Franchi , Antonio
Published in: 9th International Micro Air Vehicles Conference , Sep 2017, Toulouse, France. pp.97-102, 2017, 6, 2017
Publisher: IMAV

Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers

Author(s): Morbidi , Fabio; Bicego , Davide; Ryll , Markus; Franchi , Antonio
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 7, 2018
Publisher: IEEE

Multi-Robot Path Planning with Maintenance of Generalized Connectivity

Author(s): Solana , Yoann; Furci , Michele; Cortés , Juan; Franchi , Antonio
Published in: 2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems, 10, 2017
Publisher: IEEE

Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations

Author(s): A. Suarez, P. Sanchez-Cuevas, M. Fernandez, M. Perez, Guillermo Heredia, Anibal Ollero
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6746-6752, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8593940

Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

Author(s): A. Suarez, G. Heredia, A. Ollero
Published in: Jornadas de Automática, 2017, ISBN 978-84-16664-74-0
Publisher: Dialnet Plus
DOI: 10.5281/zenodo.2621733

On the use of velocity adaptation to outperform the motion planning with dynamics awareness in aerial long-reach manipulators with two arms

Author(s): A. Caballero, M. Bejar, A. Ollero
Published in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Page(s) 1125-1133, ISBN 978-1-5386-1354-2
Publisher: IEEE
DOI: 10.1109/icuas.2018.8453392

Aerial Robot Coworkers for Autonomous Localization of Missing Tools in Manufacturing Plants

Author(s): J. Ramiro Martinez-de Dios, Arturo Torres-Gonzalez, Julio L. Paneque, Dimas Fuego-Garcia, Juan Ramon Astorga Ramirez, Anibal Ollero
Published in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Page(s) 1063-1069, ISBN 978-1-5386-1354-2
Publisher: IEEE
DOI: 10.1109/icuas.2018.8453291

Bluetooth network for micro-uavs for communication network and embedded range only localization

Author(s): Pablo Ramon Soria, Andres Felipe Palomino, B.C. Arrue, Anibal Ollero
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 747-752, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991464

Preliminary design, modeling and control of a fully actuated quadrotor UAV

Author(s): Nigro, Michelangelo; Pierri, Francesco; Caccavale, Fabrizio
Published in: Proceedings of 2019 International Conference on Unmanned Aircraft Systems, 2019, Page(s) 1108-1116, ISBN 978-1-7281-0332-7
Publisher: IEEE
DOI: 10.5281/zenodo.3241519

Unsupervised Person Image Synthesis in Arbitrary Poses

Author(s): Albert Pumarola, Antonio Agudo, Alberto Sanfeliu, Francesc Moreno-Noguer
Published in: 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Page(s) 8620-8628, ISBN 978-1-5386-6420-9
Publisher: IEEE
DOI: 10.1109/CVPR.2018.00899

Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility

Author(s): Hyunsoo Yang, Nicolas Staub, Antonio Franchi, Dongjun Lee
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 1-8, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/IROS.2018.8593834

Development of SAM: cable-Suspended Aerial Manipulator *

Author(s): Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5323-5329, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793592

Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination

Author(s): Tognon, Marco; Franchi, Antonio
Published in: 9th International Micro Air Vehicles Conference, 1, 2017
Publisher: International Micro Air Vehicles

3DPeople: Modeling the Geometry of Dressed Humans

Author(s): Pumarola, Albert; Sanchez, Jordi; Choi, Gary P. T.; Sanfeliu, Alberto; Moreno-Noguer, Francesc
Published in: 1, 2019
Publisher: International Conference on Computer Vision (ICCV), 2019

Geometry-Aware Network for Non-rigid Shape Prediction from a Single View

Author(s): A. Pumarola, A. Agudo, L. Porzi, A. Sanfeliu, V. Lepetit, F. Moreno-Noguer
Published in: 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Page(s) 4681-4690, ISBN 978-1-5386-6420-9
Publisher: IEEE
DOI: 10.1109/CVPR.2018.00492

Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor

Author(s): Markus Ryll, Davide Bicego, Antonio Franchi
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 1689-1694, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759271

Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot.

Author(s): Tognon , Marco; Testa , Andrea; Rossi , Enrica; Franchi , Antonio
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3, 2016
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems

Task-space Tracking Control for Underactuated Aerial Manipulators

Author(s): Gianluca Garofalo, Fabian Beck, Christian Ott
Published in: 2018 European Control Conference (ECC), 2018, Page(s) 628-634, ISBN 978-3-9524-2698-2
Publisher: IEEE
DOI: 10.23919/ecc.2018.8550248

Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

Author(s): E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, A. Ollero
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 2960-2966, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793470

ROS-MAGNA, a ROS-based framework for the definition and management of multi-UAS cooperative missions

Author(s): Jose A. Millan-Romera, Hector Perez-Leon, Alejandro Castillejo-Calle, Ivan Maza, Anibal Ollero
Published in: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), 2019, Page(s) 1477-1486, ISBN 978-1-7281-0333-4
Publisher: IEEE
DOI: 10.1109/icuas.2019.8797829

Preliminary design, modeling and control of a fully actuated quadrotor UAV

Author(s): Michelangelo Nigro, Francesco Pierri, Fabrizio Caccavale
Published in: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), 2019, Page(s) 1108-1116, ISBN 978-1-7281-0333-4
Publisher: IEEE
DOI: 10.1109/icuas.2019.8798092

Command-Filtered Backstepping Redesign for Aerial Manipulators Under Aerodynamic and Operational Disturbances

Author(s): Carlos R. de Cos, José Ángel Acosta, Anibal Ollero
Published in: ROBOT 2017: Third Iberian Robotics Conference, 693, 2018, Page(s) 817-828, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_66

A Montecarlo Reactive Navigation Algorithm for a Dual Arm Aerial Robot

Author(s): Fran Real, Ángel R. Castaño, Jesús Capitán
Published in: ROBOT 2017: Third Iberian Robotics Conference, 693, 2018, Page(s) 780-790, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_63

GANimation: Anatomically-Aware Facial Animation from a Single Image

Author(s): Albert Pumarola, Antonio Agudo, Aleix M. Martinez, Alberto Sanfeliu, Francesc Moreno-Noguer
Published in: Computer Vision – ECCV 2018 - 15th European Conference, Munich, Germany, September 8-14, 2018, Proceedings, Part X, 11214, 2018, Page(s) 835-851, ISBN 978-3-030-01248-9
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01249-6_50

Multi-view Probabilistic Segmentation of Pome Fruit with a Low-Cost RGB-D Camera

Author(s): Pablo Ramon Soria, Fouad Sukkar, Wolfram Martens, B. C. Arrue, Robert Fitch
Published in: ROBOT 2017: Third Iberian Robotics Conference, 694, 2018, Page(s) 320-331, ISBN 978-3-319-70835-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70836-2_27

A Deep Neural Network Architecture to Estimate Node Assignment Costs for the Graph Edit Distance

Author(s): Xavier Cortés, Donatello Conte, Hubert Cardot, Francesc Serratosa
Published in: Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshop, S+SSPR 2018, Beijing, China, August 17–19, 2018, Proceedings, 11004, 2018, Page(s) 326-336, ISBN 978-3-319-97784-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-97785-0_31

Platforms with Multi-directional Total Thrust

Author(s): Antonio Franchi
Published in: Aerial Robotic Manipulation - Research, Development and Applications, 129, 2019, Page(s) 53-65, ISBN 978-3-030-12944-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-12945-3_4

Visual Guidance of Unmanned Aerial Manipulators

Author(s): Àngel Santamaria-Navarro, Joan Solà Ortega, Juan Andrade-Cetto
Published in: Springer Tracts on Advanced Robotics, Volume 125, 2019, ISBN 978-3-319-96580-2
Publisher: Springer
DOI: 10.1007/978-3-319-96580-2

Simulation study on control concepts for a floating platform manipulation

Author(s): Jianjie Lin
Published in: 2017
Publisher: Technical University of Munich

Applications and risk analysis of drones assisting in inspections of industrial facilities

Author(s): Rebekka Leisinger
Published in: 2018, Page(s) "Chapter ""01 Digitalisierung und"", article ""04_AEROARMS – Drohnen im Einsatz zur Inspektion von Rohrleitungen_Nelke_Perner_Keuchel_Trujillo"""
Publisher: Hamburg University of Applied Sciences

Datasets

Installing a EC Sensor on a remote location.

Author(s): Gasparin, Enrico; Revaz, Bernard
Published in: Zenodo

A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants

Author(s): Tognon, Marco; Tello Chávez, Hermes A.; Gasparin Enrico; Sablé, Quentin; Bicego, Davide; Mallet, Anthony; Lany, Marc; Santi, Gilles; Revaz, Bernard; Cortés, Juan; Franchi, Antonio
Published in: Zenodo

Installing a EC Sensor on a remote location.

Author(s): Enrico Gasparin
Published in: Zenodo

Multirotor with two arms: multirotor/arms interaction

Author(s): A. Suarez; G. Heredia; A. Ollero
Published in: Zenodo

Towards a Flying Assistant Paradigm: the OTHex

Author(s): Staub, Nicolas; Bicego, Davide; Sablé, Quentin; Arellano-Quintana, Victor; Subodh Mishra; Franchi, Antonio
Published in: Zenodo

Dataset AEROARMS - Perception for robot operation

Author(s): Ramon Soria, Pablo
Published in: Zenodo

AEROARMS Behavioural coordinated control

Author(s): Cataldi, E.; Di Vito, D.; Antonelli, G.; Di Lillo, P.A.; Pierri, F.; Caccavale, F.; Suarez, A.; Real, F.; Heredia, G.; Ollero, A.
Published in: Zenodo

Aerial multirotors with two arms

Author(s): Alejandro Suarez; Guillermo Heredia; Francesco Pierri; Anibal Ollero
Published in: Zenodo

Cooperative aerial tele-manipulation with haptic feedback

Author(s): Mohammadi, Mostafa; Barcelli, Davide; Prattichizzo, Domenico; Franchi, Antonio
Published in: Zenodo

AEROARMS Visual servoing with actively movable camera

Author(s): Cataldi, E.; Antonelli, G.; Di Vito, D.; Di Lillo, P.A.; Pierri, F.; Caccavale, F.; Suarez, A.; Real, F.; Heredia, G.; Ollero, A.
Published in: Zenodo

Multi-sensor mapping and localization datasets

Author(s): José Ramiro Martínez de Dios; María Polvillo Díaz; Julio José López Paneque; Víctor Manuel Vega García; Aníbal Ollero Baturone
Published in: Zenodo

Aerial Telemanipulation System

Author(s): Balachandran, Ribin; De Stefano, Marco
Published in: Zenodo

AEROARMS Control-based local optimization methods for planning

Author(s): Cataldi, E.; Antonelli, G.; Di Vito, D.; Di Lillo, P.A.
Published in: Zenodo

Integrated force and position control dataset

Author(s): Suarez, Alejandro; Heredia, Guillermo; Ollero, Anibal
Published in: Zenodo

Dataset "Reactivity for safe operation"

Author(s): Caballero, Álvaro
Published in: Zenodo

Robust perception fusion from deployed sensors

Author(s): J.R. Martínez-de Dios; M. Polvillo; J.L. Paneque; A. Sanfeliu; J. Andrade-Cetto; A. Santamaría; M. Oetiker; E. Zwicker; V. Vega; A. Ollero
Published in: Zenodo

AEROARMS - Crawler Direct Detection Image Dataset

Author(s): Pumarola, Albert; Andrade, Juan; Sanfeliu, Alberto
Published in: Zenodo

AEROARMS - Image Dataset for the Crawler Indirect Detection through its Cage

Author(s): Laplaza, Javier; Pumarola, Albert; Andrade, Juan; Sanfeliu, Alberto
Published in: Zenodo