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

Leistungen

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

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Veröffentlichungen

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

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

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

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

Behavioral control of unmanned aerial vehicle manipulator systems

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

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

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

Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles

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

Uncalibrated Visual Servo for Unmanned Aerial Manipulation

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

Teaching Robot’s Proactive Behavior Using Human Assistance

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

Learning Depth-Aware Deep Representations for Robotic Perception

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

Boosted Random Ferns for Object Detection

Autoren: Michael Villamizar Vergel, Juan Andrade-Cetto, Alberto Sanfeliu, Francesc Moreno-Noguer
Veröffentlicht in: IEEE Transactions on Pattern Analysis and Machine Intelligence, 40/2, 2018, Page(s) 272-288, ISSN 0162-8828
Herausgeber: 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

Autoren: Angel Santamaria-Navarro, Giuseppe Loianno, Joan Solà, Vijay Kumar, Juan Andrade-Cetto
Veröffentlicht in: Autonomous Robots, 2018, ISSN 0929-5593
Herausgeber: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9690-5

Vision-Based SLAM System for Unmanned Aerial Vehicles

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

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

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

A Stabilizing Controller for Regulation of UAV With Manipulator

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

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

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

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

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

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

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

Design of a lightweight dual arm system for aerial manipulation

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

Geometric Priors for Gaussian Process Implicit Surfaces

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

Aerial Manipulation: A Literature Review

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

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

Autoren: 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
Veröffentlicht in: IEEE Robotics & Automation Magazine, 25/4, 2018, Page(s) 12-23, ISSN 1070-9932
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2018.2852789

Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation * *This work has been partially funded by the European Unions Horizon 2020 research and innovation programme under grant agreement No 644271 AEROARMS and by the CARNOT post-doctoral project GRASP supported by the LAAS-CNRS.

Autoren: C. Nainer, M. Furci, A. Seuret, L. Zaccarian, A. Franchi
Veröffentlicht in: IFAC-PapersOnLine, 50/1, 2017, Page(s) 12698-12703, ISSN 2405-8963
Herausgeber: Elsevier
DOI: 10.1016/j.ifacol.2017.08.2260

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

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

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

Autoren: Marco Tognon, Antonio Franchi
Veröffentlicht in: IEEE Transactions on Robotics, 33/4, 2017, Page(s) 834-845, ISSN 1552-3098
Herausgeber: 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.

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

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

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

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

Autoren: Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
Veröffentlicht in: IEEE Transactions on Robotics, 34/2, 2018, Page(s) 534-541, ISSN 1552-3098
Herausgeber: 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

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

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

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

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

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

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

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

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

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

Range-only SLAM for robot-sensor network cooperation

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

Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation

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

Efficient integration of RSSI for tracking using Wireless Camera Networks

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

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

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

Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation

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

Interactive multiple object learning with scanty human supervision

Autoren: Michael Villamizar, Anaís Garrell, Alberto Sanfeliu, Francesc Moreno-Noguer
Veröffentlicht in: Computer Vision and Image Understanding, 149, 2016, Page(s) 51-64, ISSN 1077-3142
Herausgeber: 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

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

Random clustering ferns for multimodal object recognition

Autoren: M. Villamizar, A. Garrell, A. Sanfeliu, F. Moreno-Noguer
Veröffentlicht in: Neural Computing and Applications, 2016, ISSN 0941-0643
Herausgeber: Springer Verlag
DOI: 10.1007/s00521-016-2284-x

MSClique: Multiple Structure Discovery through the Maximum Weighted Clique Problem

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

Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming

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

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

Autoren: M. Tognon, S. S. Dash, and A. Franchi
Veröffentlicht in: IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732–737, 2016, ISSN 2377-3766
Herausgeber: IEEE

An adaptive hierarchical control for aerial manipulators

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

Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments

Autoren: G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Veröffentlicht in: IEEE Transactions on Control Systems Technology, 26/4, 2018, Page(s) 1406-1413, ISSN 1063-6536
Herausgeber: 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

Autoren: Francisco Alarcón, Manuel García, Ivan Maza, Antidio Viguria, Aníbal Ollero
Veröffentlicht in: Sensors, 19/4, 2019, Page(s) 886, ISSN 1424-8220
Herausgeber: 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

Autoren: Margarida Faria, Ivan Maza, Antidio Viguria
Veröffentlicht in: Journal of Intelligent & Robotic Systems, 93/1-2, 2019, Page(s) 113-133, ISSN 0921-0296
Herausgeber: 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

Autoren: Margarida Faria, Ricardo Marín, Marija Popović, Ivan Maza, Antidio Viguria
Veröffentlicht in: Sensors, 19/1, 2019, Page(s) 174, ISSN 1424-8220
Herausgeber: 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

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

Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

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

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

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

Non-Linear Local Force Feedback Control for Haptic Interfaces

Autoren: Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schaeffer
Veröffentlicht in: IFAC-PapersOnLine, 51/22, 2018, Page(s) 486-492, ISSN 2405-8963
Herausgeber: 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

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

Shared planning and control for mobile robots with integral haptic feedback

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

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

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

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

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

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

Autoren: Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Veröffentlicht in: IEEE Access, 6, 2018, Page(s) 29173-29189, ISSN 2169-3536
Herausgeber: 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

Autoren: Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Veröffentlicht in: IEEE Robotics & Automation Magazine, 26/1, 2019, Page(s) 44-53, ISSN 1070-9932
Herausgeber: 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

Autoren: Miguel Trujillo, José Martínez-de Dios, Carlos Martín, Antidio Viguria, Aníbal Ollero
Veröffentlicht in: Sensors, 19/6, 2019, Page(s) 1305, ISSN 1424-8220
Herausgeber: 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

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

Aerial physical interaction via IDA-PBC

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

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

Autoren: Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
Veröffentlicht in: IFAC-PapersOnLine, 51/22, 2018, Page(s) 465-470, ISSN 2405-8963
Herausgeber: 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

Autoren: Shaima Algabli, Francesc Serratosa
Veröffentlicht in: Pattern Recognition Letters, 112, 2018, Page(s) 353-360, ISSN 0167-8655
Herausgeber: 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

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

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

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

Cooperative Aerial Load Transportation via Sampled Communication

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

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

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

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

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

The Tele-MAGMaS: An Aerial-Ground Comanipulator System

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

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

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

Multirotor UAS for bridge inspection by contact using the ceiling effect

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

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

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

Anthropomorphic, compliant and lightweight dual arm system for aerial manipulation

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

Design of a High Performance Dual Arm Aerial Manipulator

Autoren: Pedro Grau, Alejandro Suarez, Victor Manuel Vega, Angel Rodriguez-Castaño, Anibal Ollero
Veröffentlicht in: Design of a High Performance Dual Arm Aerial Manipulator, 2017, Page(s) 730-741, ISBN 978-3-319-70832-4
Herausgeber: 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

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

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

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

Lightweight and human-size dual arm aerial manipulator

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

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

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

Experiments on coordinated motion of aerial robotic manipulators

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

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

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

Nonlinear model predictive control for aerial manipulation

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

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

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

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

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

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

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

BASS: Boundary-Aware Superpixel Segmentation

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

Discriminative Learning of Deep Convolutional Feature Point Descriptors

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

Matchability Prediction for Full-Search Template Matching Algorithms

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

6D physical interaction with a fully actuated aerial robot

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

Distributed cooperative object parameter estimation and manipulation without explicit communication

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

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

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

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

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

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

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

Towards robotic MAGMaS: Multiple aerial-ground manipulator systems

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

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

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

Dynamic decentralized control for protocentric aerial manipulators

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

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

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

Towards a Flying Companion Paradigm: the OTHex

Autoren: Staub, N, Bicego, D, Sablé, Q, Arellano-Quintana, V, Mishra, S, Franchi, A
Veröffentlicht in: 2018 IEEE Int. Conf. on Robotics and Automation, 2018
Herausgeber: IEEE

Sistema aéreo no tripulado con capacidad avanzada de manipulación

Autoren: M.A. Trujillo, A. Viguria, R. Cano and A. Ollero
Veröffentlicht in: IV Congreso Nacional de I+D en Defensa y Seguridad, 2016
Herausgeber: 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

Autoren: Adrian Amor-Martinez, Angel Santamaria-Navarro, Fernando Herrero, Alberto Ruiz, Alberto Sanfeliu
Veröffentlicht in: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, Page(s) 15-20, ISBN 978-1-5090-4349-1
Herausgeber: 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

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

Lightweight compliant arm with compliant finger for aerial manipulation and inspection

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

Impedance Control of an aerial-manipulator: Preliminary results

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

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

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

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

Autoren: Signe Moe, Gianluca Antonelli, Kristin Y. Pettersen, Johannes Schrimpf
Veröffentlicht in: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015, Page(s) 1233-1239, ISBN 978-1-4673-9675-2
Herausgeber: 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

Autoren: Yüksel, Burak; Buondonno, Gabriele; Franchi, Antonio
Veröffentlicht in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea, 4, 2016
Herausgeber: IEEE

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

Autoren: Notarstefano, Giuseppe; Franchi, Antonio; Spedicato, Sara
Veröffentlicht in: 2016 IEEE Int. Conf. on Robotics & Automation (ICRA), 9, 2016
Herausgeber: IEEE

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

Autoren: Bicego, Davide; Ryll, Markus; Franchi, Antonio
Veröffentlicht in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon. 2016, 5, 2016
Herausgeber: IEEE

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

Autoren: Franchi, Antonio; Staub, Nicolas; Yüksel, Burak
Veröffentlicht in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, 5, 2016
Herausgeber: IEEE

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

Autoren: Tognon, Marco; Rossi, Enrica; Franchi, Antonio; Testa, Andrea
Veröffentlicht in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea, 3, 2016
Herausgeber: IEEE

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

Autoren: M. Tognon and A. Franchi
Veröffentlicht in: 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, 2015
Herausgeber: IEEE

Combining System Design and Path Planning

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

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

Autoren: E. Cataldi; F. Real; A. Suarez; P.A. Di Lillo; F. Pierri; G. Antonelli; F. Caccavale; G. Heredia; A. Ollero
Veröffentlicht in: 2019 IEEE International Conference on Robotics and Automation, 2019
Herausgeber: IEEE
DOI: 10.5281/zenodo.2608974

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

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

Multi-modal joint embedding for fashion product retrieval

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

Joint coarse-and-fine reasoning for deep optical flow

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

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

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

Development of SAM: cable-Suspended Aerial Manipulator

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

Passive compliance control of aerial manipulators

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

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

Autoren: Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
Veröffentlicht in: IFAC Symposium on Robot Control (SYROCO), 2018
Herausgeber: IFAC

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

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

Passivity-based stability in explicit force control of robots

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

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

Autoren: Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak
Veröffentlicht in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 5525-5532, ISBN 978-1-5386-8094-0
Herausgeber: 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

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

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

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

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

Autoren: Tognon , Marco; Testa , Andrea; Rossi , Enrica; Franchi , Antonio
Veröffentlicht in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. 2016, 12, 2016
Herausgeber: IEEE

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

Autoren: Tognon , Marco; Franchi , Antonio
Veröffentlicht in: 20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017, 12, 2017
Herausgeber: IFAC

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

Autoren: Tognon , Marco; Franchi , Antonio
Veröffentlicht in: 9th International Micro Air Vehicles Conference , Sep 2017, Toulouse, France. pp.97-102, 2017, 6, 2017
Herausgeber: IMAV

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

Autoren: Morbidi , Fabio; Bicego , Davide; Ryll , Markus; Franchi , Antonio
Veröffentlicht in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 7, 2018
Herausgeber: IEEE

Multi-Robot Path Planning with Maintenance of Generalized Connectivity

Autoren: Solana , Yoann; Furci , Michele; Cortés , Juan; Franchi , Antonio
Veröffentlicht in: 2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems, 10, 2017
Herausgeber: IEEE

Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations

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

Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

Autoren: A. Suarez, G. Heredia, A. Ollero
Veröffentlicht in: Jornadas de Automática, 2017, ISBN 978-84-16664-74-0
Herausgeber: 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

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

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

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

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

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

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

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

Unsupervised Person Image Synthesis in Arbitrary Poses

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

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

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

Development of SAM: cable-Suspended Aerial Manipulator *

Autoren: Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
Veröffentlicht in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5323-5329, ISBN 978-1-5386-6027-0
Herausgeber: 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

Autoren: Tognon, Marco; Franchi, Antonio
Veröffentlicht in: 9th International Micro Air Vehicles Conference, 1, 2017
Herausgeber: International Micro Air Vehicles

3DPeople: Modeling the Geometry of Dressed Humans

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

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

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

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

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

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

Autoren: Tognon , Marco; Testa , Andrea; Rossi , Enrica; Franchi , Antonio
Veröffentlicht in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3, 2016
Herausgeber: IEEE/RSJ International Conference on Intelligent Robots and Systems

Task-space Tracking Control for Underactuated Aerial Manipulators

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

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

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

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

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

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

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

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

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

A Montecarlo Reactive Navigation Algorithm for a Dual Arm Aerial Robot

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

GANimation: Anatomically-Aware Facial Animation from a Single Image

Autoren: Albert Pumarola, Antonio Agudo, Aleix M. Martinez, Alberto Sanfeliu, Francesc Moreno-Noguer
Veröffentlicht 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
Herausgeber: 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

Autoren: Pablo Ramon Soria, Fouad Sukkar, Wolfram Martens, B. C. Arrue, Robert Fitch
Veröffentlicht in: ROBOT 2017: Third Iberian Robotics Conference, 694, 2018, Page(s) 320-331, ISBN 978-3-319-70835-5
Herausgeber: 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

Autoren: Xavier Cortés, Donatello Conte, Hubert Cardot, Francesc Serratosa
Veröffentlicht 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
Herausgeber: Springer International Publishing
DOI: 10.1007/978-3-319-97785-0_31

Platforms with Multi-directional Total Thrust

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

Visual Guidance of Unmanned Aerial Manipulators

Autoren: Àngel Santamaria-Navarro, Joan Solà Ortega, Juan Andrade-Cetto
Veröffentlicht in: Springer Tracts on Advanced Robotics, Volume 125, 2019, ISBN 978-3-319-96580-2
Herausgeber: Springer
DOI: 10.1007/978-3-319-96580-2

Simulation study on control concepts for a floating platform manipulation

Autoren: Jianjie Lin
Veröffentlicht in: 2017
Herausgeber: Technical University of Munich

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

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