AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Learning methods for inspection

Report describing the learning methods for aerial inspection

Testing site preparation

Report describing the testing site preparation

Coordination of a heterogenous team of multiple ACWs and human

Report with the results of the task 74

Large-scale mapping

Report describing the multiresolution multisensor 3D mapping methods and experiments

Physical interaction of ACW with human

Report with the results of the task 71

Tracking system

Report describing the tracking system and experiments

Manipulation when grabbing and perching

Report describing the developed methods technologies and experiments on robotic manipulation while flying holding and perching

Monitoring and cognition of human activities

Report with the results of the task 72

Aerial robot with hybrid fixed and flapping wing

Report describing the methods platform and experiments

Data Management Plan

Report describing how the research data collected or generated will be handled,

End-effectors for holding/grabbing and manipulation

Report describing the developed endeffectors

Integration and validation of morphing technologies

Report describing the interest of the technologies for inspection and the comparison of the different platforms

Aerial robots with morphing fixed wing-rotary wing

Report describing the methods technologies platforms and experiments

Team cognition

Report describing the multi-UAV planning methods and simulation experiments.

First Dissemination and Communication Report

Plan describing the steps for the exploitation of the results following the work in 101

Manipulators with force interaction

Report describing the manipulators with force interaction capabilities to be installed in the aerial manipulator platform in WP6

Cognitive aerial manipulation

Report describing the perception, planning and reactivity methods for aerial manipulation and the corresponding experiments.

Cognitive interaction of ACWs and human

Report with the results of the task 73

Aerial-Ground Hybrid Vehicles Capable of Perching

Report describing the methods technologies and experiments

Morphing Omnidirectional Physical Aerial Vehicle

Report describing the methods platform and experiments

Final Dissemination and Communication Report

Short report summarising the dissemination and communication actions

Autonomous landing system

Report describing the autonomous landing and perching system and experiments

Cognitive Aerial System Architecture with multiple aerial robotic systems

Report describing the architecture of the cognitive system (Task 2.2) and the integration of multiple aerial systems (Task 2.3).

Ethical, Legal and Social Issues

Report that will contain the analysis of the European relevant legal framework and of the impact of the use of aerial robots in inspection applications on data protection, privacy and social impact to identify legal and ethical constraints for AERIAL-CORE.

Sensor and data fusion

Report describing the sensors and sensor data fusion techniques

Integrated aerial manipulation

Demonstration of the aerial manipulation

Augmented cognitive human-machine interfaces

Report describing the developed humanmachine interfaces

Real demonstration of the human-ACWs scenario

Demonstrator of the results of the Work-package

Validation for manipulation tasks

Demonstration of the manipulation tasks

Project Web site

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

Publications

Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs

Author(s): Elena Umili, Marco Tognon, Dario Sanalitro, Giuseppe Oriolo, Antonio Franchi
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 279-288, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9214044

UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines

Author(s): Timur Uzakov, Tiago P. Nascimento, Martin Saska
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 1301-1308, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9213967

Performance Comparison of Teleoperation Interfaces forUltra-Lightweight Anthropomorphic Arms

Author(s): Zoric, F., Suarez, A., Vasiljevic, G., Orsag, M., Kovacic, Z., & Ollero, A.
Published in: IROS IEEE/RSJ International Conference on Intelligent Robots and Systems 2023, Issue IROS IEEE/RSJ International Conference on Intelligent Robots and Systems 2023, 2023
Publisher: IEEE

Flightmare: A Flexible Quadrotor Simulator

Author(s): Y. Song, S. Naji, E. Kaufmann, A. Loquercio, D. Scaramuzza
Published in: Conference on Robot Learning (CoRL), 2020, Page(s) 8 pages
Publisher: Conference on Robot Learning (CoRL)

Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization

Author(s): Václav Pritzl, Matouš Vrba, Petr Štĕpán, Martin Saska
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, Page(s) 526-535, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836116

LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments

Author(s): Matej Petrlik, Tomas Krajnik and Martin Saska.
Published in: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, Page(s) 243–251, ISBN 978-1-6654-1535-4
Publisher: IEEE
DOI: 10.1109/icuas51884.2021.9476837

Theoretical and Experimental Investigation on Body Control after Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation

Author(s): Luque, P. S., Satue, A. C., Nekoo, S. R., Acosta, J. A., & Ollero, A.
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Issue ICUAS 2023, 2023, Page(s) 948 - 955, ISBN 9798350310382
Publisher: IEEE
DOI: 10.1109/icuas57906.2023.10156510

Neural vision-based semantic 3D world modeling

Author(s): Sotirios Papadopoulos, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 IEEE Winter Conference on Applications of Computer Vision Workshops (WACVW), 2021, Page(s) 181-190, ISBN 978-1-6654-1967-3
Publisher: IEEE
DOI: 10.1109/wacvw52041.2021.00024

Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations

Author(s): Daniel Bonilla Licea, Giuseppe Silano, Ghogho Mounir and Martin Saska
Published in: 2021 29th European Signal Processing Conference (EUSIPCO), 2021, Page(s) 1586–1590, ISBN 978-9-0827-9706-0
Publisher: IEEE
DOI: 10.23919/eusipco54536.2021.9616232

Asynchronous Event-based Line Tracking for Time-to-Contact Maneuvers in UAS

Author(s): Gomez Eguiluz, Augusto; Rodríguez Gómez, Juan Pablo; Martínez de Dios, José Ramiro; Ollero, Anibal
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Publisher: IEEE
DOI: 10.5281/zenodo.4460653

A Multi-UAV System for Detection and Elimination of Multiple Targets

Author(s): Stasinchuk, Yurii and Vrba, Matouš and Petrlík, Matěj and Báča, Tomáš and Spurný, Vojtěch and Hert, Daniel and Žaitlík, David and Nascimento, Tiago and Saska, Martin
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) 555–561, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9562057

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

Author(s): E. Kaufmann, L. Bauersfeld, D. Scaramuzza
Published in: International Conference on Robotics and Automation (ICRA), 2022
Publisher: International Conference on Robotics and Automation (ICRA)
DOI: 10.1109/icra46639.2022.9811564

Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case

Author(s): Gianluca Corsini; Martin Jacquet; Hemjyoti Das; Amr Afifi; Daniel Sidobre; Antonio Franchi
Published in: The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Issue 22, 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981045

Adversarial Optimization Scheme For Online Tracking Model Adaptation In Autonomous Systems

Author(s): Iason Karakostas, Vasileios Mygdalis, Ioannis Pitas
Published in: 2021 IEEE International Conference on Image Processing (ICIP), 2021, Page(s) 3358-3362, ISBN 978-1-6654-4115-5
Publisher: IEEE
DOI: 10.1109/icip42928.2021.9506506

Assisted Flight Control for Aerial Contact UAVs in Industrial Environments

Author(s): A.M. Casado Fauli; P. Ramon Soria; C. Martin Diaz de Espada; M.A. Trujillo; A. Viguria; A. Ollero
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571048

A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles

Author(s): Vittorio Cataffo, Giuseppe Silano, Luigi Iannelli, Vicenç Puig, Luigi Glielmo
Published in: 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Issue 09-12 October 2022, 2022, Page(s) 100-105, ISBN 978-1-6654-5258-8
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/smc53654.2022.9945279

Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing

Author(s): Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.48550/arxiv.2210.14985

Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study

Author(s): Alejandro Suarez, Anibal Ollero
Published in: Lecture Notes in Networks and Systems, vol 589, 2022, ISBN 978-3-031-21065-5
Publisher: Springer Cham
DOI: 10.1007/978-3-031-21065-5_22

Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations

Author(s): Álvaro Calvo, Giuseppe Silano, Jesús Capitán
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 21-24 June 2022, 2022, Page(s) 1644-1649, ISBN 978-1-6654-0593-5
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/icuas54217.2022.9836234

An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs

Author(s): Demkiv, Lyubomyr and Ruffo, Massimiliano and Silano, Giuseppe and Bednar, Jan and Saska, Martin
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021, Page(s) 1-8, ISBN 978-1-6654-3389-1
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571025

Domain Adaptation in Power Line Segmentation: A New Synthetic Dataset

Author(s): Georgios Kalitsios; Vasileios Mygdalis; Ioannis Pitas
Published in: IEEE International Conference on Image Processing (ICIP), Issue 08-11 October 2023, 2023, Page(s) 1820-1824, ISBN 978-1-7281-9835-4
Publisher: IEEE
DOI: 10.1109/icip49359.2023.10222078

Learning Fast and Robust Gesture Recognition

Author(s): Christos Papaioannidis, Dimitrios Makrygiannis, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 EURASIP European Signal Processing Conference (EUSIPCO), 2021
Publisher: IEEE

A Finite-Time State-Dependent Differential Riccati Equation Control Design for Closed-Loop SMA-Actuated Hip Joint

Author(s): Perez-Sanchez, V., Nekoo, S. R., Arrue, B., & Ollero, A.
Published in: IROS IEEE/RSJ International Conference on Intelligent Robots and Systems 2023, Issue IROS IEEE/RSJ International Conference on Intelligent Robots and Systems 2023, 2023
Publisher: IEEE

Monocular Weakly-Supervised Camera-Relative 3D Human Pose Estimation

Author(s): A. Christidis, C. Papaioannidis, and I. Pitas
Published in: 2022 IEEE 14th Image, Video, and Multidimensional Signal Processing Workshop (IVMSP), Issue 26-29 June 2022, 2022, Page(s) 1-5, ISBN 978-1-6654-7822-9
Publisher: IEEE
DOI: 10.1109/ivmsp54334.2022.9816196

Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements

Author(s): Jiri Horyna, Vit Kratky, Eliseo Ferrante, Martin Saska
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 23-27 October 2022, 2022, Page(s) 11570-11577, ISBN 978-1-6654-7927-1
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/iros47612.2022.9981894

A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration

Author(s): Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 06-09 June 2023, 2023, Page(s) 328-335, ISBN 979-8-3503-1037-5
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icuas57906.2023.10156559

A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

Author(s): Giuseppe Silano, Jan Bednar, Tiago Nascimento, Jesus Capitan, Martin Saska and Anibal Ollero
Published in: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, Page(s) 1624–1629, ISBN 978-1-6654-1535-4
Publisher: IEEE
DOI: 10.1109/icuas51884.2021.9476813

Vision-based UAV Safe Landing exploiting Lightweight Deep Neural Networks

Author(s): C. Symeonidis, E. Kakaletsis, I. Mademlis, N.Nikolaidis, A.Tefas and I.Pitas
Published in: Proceedings of the International Conference on Image and Graphics Processing (ICIGP),, 2021
Publisher: ACM

Learning Robust Features for 3D Object Pose Estimation

Author(s): Christos Papaioannidis, Ioannis Pitas
Published in: 2021 IEEE International Conference on Autonomous Systems (ICAS), 2021, Page(s) 1-5, ISBN 978-1-7281-7289-7
Publisher: IEEE
DOI: 10.1109/icas49788.2021.9551126

Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning

Author(s): František Nekovář, Jan Faigl, Martin Saska
Published in: 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), Issue 06-09 September 2022, 2022, ISBN 978-1-6654-9996-5
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/etfa52439.2022.9921692

Interconnection and Damping Assignment Passivity-Based Control for Gait Generation in Underactuated Compass-Like Robots

Author(s): Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 9802-9808, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196598

Autonomous Collaborative Transport of a Beam-Type Payload by a Pair of Multi-rotor Helicopters

Author(s): Jiri Horyna, Tomas Baca and Martin Saska.
Published in: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, Page(s) 1139–1147, ISBN 978-1-6654-1535-4
Publisher: IEEE
DOI: 10.1109/icuas51884.2021.9476789

Optimal Multidimensional Cyclic Convolution Algorithms For Deep Learning And Computer Vision Applications

Author(s): Ioannis Pitas
Published in: 2021 IEEE International Conference on Autonomous Systems (ICAS), 2021, Page(s) 1-5, ISBN 978-1-7281-7289-7
Publisher: IEEE
DOI: 10.1109/icas49788.2021.9551198

Autonomous Power Line Inspection with Drones via Perception-Aware MPC

Author(s): Jiaxu Xing, Giovanni Cioffi, Javier Hidalgo-Carrió, Davide Scaramuzza
Published in: IEEE Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE Conference on Robotics and Automation (ICRA)
DOI: 10.48550/arxiv.2304.00959

Grabbing power line conductors based on the measurements of the magnetic field strength

Author(s): Goran Vasiljević, Dean Martinović, Matko Orsag, Stjepan Bogdan
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Issue 04-05 October 2021, 2021, Page(s) 1-7, ISBN 978-1-6654-3389-1
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571037

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Author(s): Abraham Lopez-Lora, Pedro J. Sanchez-Cuevas, Alejandro Suarez, Ambar Garofano-Soldado, Anibal Ollero, Guillermo Heredia
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Publisher: IEEE
DOI: 10.5281/zenodo.4460438

Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS

Author(s): Martin Jacquet, Gianluca Corsini, Davide Bicego, Antonio Franchi
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 4301-4306, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9197281

User-Conditioned Neural Control Policies for Mobile Robotics

Author(s): Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.1109/icra48891.2023.10160851

Autonomous Drone Racing with Deep Reinforcement Learning

Author(s): Y. Song, M. Steinweg, E. Kaufmann, D. Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.1109/iros51168.2021.9636053

Learning High-Level Policies for Model Predictive Control

Author(s): Yunlong Song; Davide Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.1109/iros45743.2020.9340823

On the Detection of Powerline Elements with Efficient Transformers

Author(s): E. Patsiouras, V. Mygdalis, I. Pitas
Published in: 2022 IEEE 14th Image, Video, and Multidimensional Signal Processing Workshop (IVMSP), Issue 26-29 June 2022, 2022, Page(s) 1-5, ISBN 978-1-6654-7822-9
Publisher: IEEE
DOI: 10.1109/ivmsp54334.2022.9816241

Lightweight energy harvesting from power lines with a fixed-wing UAV

Author(s): William Stewart, Dario Floreano, and Emad Ebeid
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836070

Gesture Recognition by Self-Supervised Moving Interest Point Completion for CNN-LSTMs

Author(s): F. Patrona, I. Mademlis and I. Pitas
Published in: 2022 IEEE 14th Image, Video, and Multidimensional Signal Processing Workshop (IVMSP), Issue 26-29 June 2022, 2022, Page(s) 1-5, ISBN 978-1-6654-7822-9
Publisher: IEEE
DOI: 10.1109/ivmsp54334.2022.9816304

Design, Integration and Implementation of an Intelligent and Self-recharging Drone System for Autonomous Power line Inspection

Author(s): Iversen, Nicolai; Schofield, Oscar Bowen; Cousin, Linda; Ayoub, Naeem; Vom Bögel, Gerd; Ebeid, Emad
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE

Autonomous Reactive LiDAR-based Mapping for Powerline Inspection

Author(s): J. Paneque; V. Valseca; J. R. Martinez-de Dios; A. Ollero
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 21/06/2022, 2022, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836213

POSITRON: lightweight active positioning compliant joints robotic arm in power lines inspection

Author(s): M. Perez-Jimenez, M.A. Montes-Grova, P. Ramon-Soria, B.C. Arrue, A. Ollero
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 729-736, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9214022

Online 3D LIDAR-based mapping for long-range powerline inspection using UAVs

Author(s): Gutiérrez Rodríguez, I., Luna-Santamaría, J., López Paneque, J., Martínez de Dios, J. R., & Ollero, A.
Published in: XLIV Jornadas de Automática 2023, Issue Jornadas de Automática, 2023, Page(s) 599 - 604, ISBN 9788497498609
Publisher: Comité Español de Automática
DOI: 10.17979/spudc.9788497498609.599

Optimal video handling in on-line hand gesture recognition using Deep Neural Networks

Author(s): Dimitrios Makrygiannis, Christos Papaioannidis, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 Symposium Series on Computational Intelligence (SSCI), 2021
Publisher: IEEE

Leader-Follower Formation Control of a Large-Scale Swarm of SatelliteSystem using the State-Dependent Riccati Equation: Orbit-to-Orbit andin-Same-Orbit Regulation

Author(s): Saeed Rafee Nekoo, Jie Yao, Alejandro Suarez, Raul Tapia and Anibal Ollero
Published in: IROS IEEE/RSJ International Conference on Intelligent Robots and Systems 2023, Issue IROS IEEE/RSJ International Conference on Intelligent Robots and Systems 2023, 2023
Publisher: IEEE

Constrained Design Optimization of a Long-Reach Dual-Arm Aerial Manipulator for Maintenance Tasks

Author(s): Saeed Rafee Nekoo, Alejandro Suarez, Jose Angel Acosta, Guillermo Heredia, Anibal Ollero
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023, ISBN 979-8-3503-1037-5
Publisher: IEEE
DOI: 10.1109/icuas57906.2023.10156252

Collision Avoidance of SDRE Controller using Artificial Potential Field Method: Application to Aerial Robotics*

Author(s): S. R. Nekoo, J. A. Acosta, A. Ollero
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 551-556, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9213984

Benchmarking the LiCAS dual arm teleoperation system for aerial and ground service robotic applications

Author(s): Suarez, A. & Ollero, A.
Published in: XLIV Jornadas de Automática 2023, Issue Jornadas de Automática, 2023, ISBN 9788497498609
Publisher: Comité Español de Automática
DOI: 10.17979/spudc.9788497498609.756

Explaining and verifying the robustness of Visual Object Trackers to noise

Author(s): I. Karakostas, V. Mygdalis, and I. Pitas
Published in: 2022 IEEE 14th Image, Video, and Multidimensional Signal Processing Workshop (IVMSP), Issue 26-29 June 2022, 2022, Page(s) 1-5, ISBN 978-1-6654-7822-9
Publisher: IEEE
DOI: 10.1109/ivmsp54334.2022.9816343

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Author(s): Matteo Macchini; Manana Lortkipanidze; Fabrizio Schiano; Dario Floreano
Published in: IEEE VR, Issue 7, 2021
Publisher: IEEE VR
DOI: 10.48550/arxiv.2102.00226

Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles

Author(s): Mahmoud Hamandi, Marco Tognon, Antonio Franchi
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 5335-5341, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196557

A Proportional Closed-loop Control for Equivalent Vertical Dynamics of Flapping-Wing Flying Robot

Author(s): Nekoo, S. R., & Ollero, A.
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Issue ICUAS 2023, 2023, Page(s) 1294 -1300, ISBN 9798350310382
Publisher: IEEE
DOI: 10.1109/icuas57906.2023.10156070

Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs

Author(s): A. Petitti, D. Sanalitro, M. Tognon, A. Milella, J. Cortes, A. Franchi
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 158-165, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9213842

Design and Validation of a Wireless Drone Docking Station

Author(s): Dario Stuhne, Goran Vasiljević, Stjepan Bogdan, Zdenko Kovačić
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 06-09 June 2023, 2023, Page(s) 652-657, ISBN 979-8-3503-1037-5
Publisher: IEEE
DOI: 10.1109/icuas57906.2023.10156589

Semantic Image Segmentation Guided By Scene Geometry

Author(s): Sotirios Papadopoulos, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 IEEE International Conference on Autonomous Systems (ICAS), 2021
Publisher: IEEE
DOI: 10.1109/icas49788.2021.9551117

A UAV Object Detection Benchmark for Vision-assisted Powerline Element Inspection

Author(s): E. Patsiouras, V. Mygdalis, I. Pitas
Published in: 2022 29th International Conference on Systems, Signals and Image Processing (IWSSIP), Issue 01-03 June 2022, 2022, Page(s) 1-4, ISBN 978-1-6654-9578-3
Publisher: IEEE
DOI: 10.1109/iwssip55020.2022.9854489

Aerial Device Delivery for Power Line Inspection and Maintenance

Author(s): Alejandro Suarez; Rafael Salmoral; Ambar Garofano-Soldado; Guillermo Heredia; Anibal Ollero
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 21/06/2022, 2022, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836039

Weighted Maximum Likelihood for Controller Tuning

Author(s): Angel Romero, Shreedhar Govil, Gonca Yilmaz, Yunlong Song, Davide Scaramuzza
Published in: IEEE Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE Conference on Robotics and Automation (ICRA)
DOI: 10.1109/icra48891.2023.10161417

Extinguishing of Ground Fires by Fully Autonomous UAVs motivated by the MBZIRC 2020 Competition

Author(s): Walter, Viktor and Spurný, Vojtěch and Petrlík, Matěj and Báča, Tomáš and Žaitlík, David and Saska, Martin
Published in: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, Page(s) 787–793, ISBN 978-1-6654-1535-4
Publisher: IEEE
DOI: 10.1109/icuas51884.2021.9476723

Autonomous UAV Safety by Visual Human Crowd Detection Using Multi-Task Deep Neural Networks

Author(s): Christos Papaioannidis, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) 11074-11080, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560830

Towards Intuitive HMI for UAV Control

Author(s): Filip Zorić, Goran Vasiljević, Matko Orsag, Zdenko Kovačić
Published in: 2022 International Conference on Smart Systems and Technologies (SST), Issue 19-21 October 2022, 2022, Page(s) 325-332, ISBN 978-1-6654-8215-8
Publisher: IEEE
DOI: 10.1109/sst55530.2022.9954775

MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments

Author(s): Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matouš Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Robert Penicka, Tiago Nascimento, Martin Saska
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 25757296, 2022, Page(s) 1264-1273, ISSN 2575-7296
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836083

Fast Semantic Image Segmentation for Autonomous Systems

Author(s): C.Papaioannidis, I. Mademlis, I. Pitas
Published in: 2022 IEEE International Conference on Image Processing (ICIP), Issue 16-19 October 2022, 2022, Page(s) 2646-2650, ISBN 978-1-6654-9620-9
Publisher: IEEE
DOI: 10.1109/icip46576.2022.9897582

Long-Awaited Next-Generation Road Damage Detection and Localization System is Finally Here

Author(s): Rui Fan, Jintao Cheng, Yang Yu, Juncan Deng, George Giakos, Ioannis Pitas
Published in: 2021 EURASIP European Signal Processing Conference (EUSIPCO), 2021
Publisher: IEEE

Self-Supervised Convolutional Neural Networks for Fast Gesture Recognition in Human-Robot Interaction

Author(s): Fotini Patrona, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 10th International Conference on Information and Automation for Sustainability (ICIAfS), 2021, Page(s) 88-93, ISBN 978-1-6654-4429-3
Publisher: IEEE
DOI: 10.1109/iciafs52090.2021.9605915

A Vision-Based Algorithm for a Path Following Problem

Author(s): Mario Terlizzi, Giuseppe Silano, Luigi Russo, Muhammad Aatif, Amin Basiri, Valerio Mariani, Luigi Iannelli and Luigi Glielmo
Published in: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, Page(s) 1630–1635, ISBN 978-1-6654-1535-4
Publisher: IEEE
DOI: 10.1109/icuas51884.2021.9476777

Validation of two-wire power line UAV localization based on the magnetic field strength

Author(s): Goran Vasiljević, Dean Martinović, Matko Batoš, Stjepan Bogdan
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 21-24 June 2022, 2022, Page(s) 434-441, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836106

Enforcing Vision-Based Localization using Perception Constrained {N-MPC} for Multi-Rotor Aerial Vehicles

Author(s): M. Jacquet and A. Franchi
Published in: The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Issue 22, 2022
Publisher: IEEE

H2AMI: Intuitive Human to Aerial Manipulator Interface

Author(s): Filip Zorić, Matko Orsag
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 06-09 June 2023, 2023, Page(s) 1226-1232, ISBN 979-8-3503-1037-5
Publisher: IEEE
DOI: 10.1109/icuas57906.2023.10156265

Enhancing Power Line Segmentation for UAV Inspection utilizing Synthetic Data

Author(s): G. Kalitsios, V. Mygdalis, I. Pitas
Published in: The Role of Robotics Simulators for Unmanned Aerial Vehicles, Half-Day Workshop at ICRA 2023, Issue 02 June 2023, 2023
Publisher: IEEE

Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control

Author(s): A. Alharbat and H. Esmaeeli and D. Bicego and A. Mersha and A. Franchi
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/icuas54217.2022.9836221

Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry

Author(s): Giovanni Cioffi, Davide Scaramuzza
Published in: International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 6 pages
Publisher: IEEE/RSJ

Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Unidirectional Thrusters

Author(s): Mahmoud Hamandi, Kapil Sawant, Marco Tognon, Antonio Franchi
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 754-761, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9214065

Does spontaneous motion lead to intuitive Body-Machine Interfaces? A fitness study of different body segments for wearable telerobotics

Author(s): Macchini, Matteo; Frogg, Jan; Schiano, Fabrizio; Floreano, Dario
Published in: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), 2021
Publisher: IEEE
DOI: 10.1109/ro-man53752.2022.9900570

Online Weight-adaptive Nonlinear Model Predictive Control

Author(s): D. Kostadinov, D. Scaramuzza
Published in: International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 6
Publisher: IEEE/RSJ
DOI: 10.1109/iros45743.2020.9341495

Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle

Author(s): Mahmoud Hamandi; Quentin Sable; Marco Tognon; Antonio Franchi
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Issue 1, 2021, Page(s) 1-6
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571051

Autonomous Flying into Buildings in a Firefighting Scenario

Author(s): Pritzl, Vaclav and Stepan, Petr and Saska, Martin
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) 239-245, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560789

Geometry-aware Compensation Scheme for Morphing Drones

Author(s): A. Fabris, K. Kleber, D. Falanga, D. Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.1109/icra48506.2021.9561774

Fast Nonlinear Model Predictive Control for Very-Small Aerial Vehicles

Author(s): Tiago P. Nascimento, Martin Saska
Published in: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Page(s) 523-528, ISBN 978-1-7281-4278-4
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9213924

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Author(s): Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza
Published in: Robotics: Science and Systems (RSS), 2023
Publisher: Robotics: Science and Systems (RSS)
DOI: 10.48550/arxiv.2306.11429

Controlling a Swarm of Unmanned Aerial Vehicles Using Full-Body k-Nearest Neighbor Based Action Classifier

Author(s): Akash Chaudhary, Tiago Nascimento, Martin Saska
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, Page(s) 544-551, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836097

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Author(s): Bauersfeld, L., Kaufmann, E., Foehn, P., Sun, S., Scaramuzza, D.
Published in: Robotics: Science and Systems (RSS), 2021
Publisher: Robotics: Science and Systems (RSS)
DOI: 10.15607/rss.2021.xvii.042

A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Author(s): Gianluca Corsini; Martin Jacquet; A. E. Jimenez-Cano; Amr Afifi; Daniel Sidobre; Antonio Franchi
Published in: The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Issue 8, 2021
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571053

Communications-Aware Robotics: Challenges and Opportunities

Author(s): Daniel Bonilla Licea, Giuseppe Silano, Mounir Ghogho, and Martin Saska
Published in: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 06-09 June 2023, 2023, Page(s) 366-371, ISBN 979-8-3503-1037-5
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icuas57906.2023.10155882

Learning Perception-Aware Agile Flight in Cluttered Environments

Author(s): Yunlong Song, Kexin Shi, Robert Penicka, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.1109/icra48891.2023.10160563

Powerline Tracking with Event Cameras

Author(s): Dietsche, Alexander; Cioffi, Giovanni; Hidalgo-Carrio, Javier; Scaramuzza, Davide
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.1109/iros51168.2021.9636824

A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Author(s): Andriy Dmytruk, Giuseppe Silano, Davide Bicego, Daniel Bonilla Licea, Martin Saska
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, Page(s) 1668-1673
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836071

An Overview of Hand Gesture Languages for Autonomous UAV Handling

Author(s): Fotini Patrona, Ioannis Mademlis, Ioannis Pitas
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021, Page(s) 1-7, ISBN 978-1-6654-3389-1
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571027

Fast Single-Person 2D Human Pose Estimation Using Multi-Task Convolutional Neural Networks

Author(s): C. Papaioannidis, I. Mademlis, I. Pitas
Published in: Proccedings of the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 2023, Issue 04-10 June 2023, 2023, Page(s) 1-5, ISBN 978-1-7281-6327-7
Publisher: IEEE
DOI: 10.1109/icassp49357.2023.10095964

An Efficient Framework for Human Action Recognition Based on Graph Convolutional Networks

Author(s): N. Kilis, C. Papaioannidis, I. Mademlis, and I. Pitas
Published in: 2022 IEEE International Conference on Image Processing (ICIP), Issue 16-19 October 2022, 2022, Page(s) 1441-1445, ISBN 978-1-6654-9620-9
Publisher: IEEE
DOI: 10.1109/icip46576.2022.9897258

Whitening Transformation inspired Self-Attention for Powerline Element Detection

Author(s): E. Patsiouras, V. Mygdalis and I. Pitas
Published in: IEEE International Conference on Pattern Recognition (ICPR 2022), Issue 21-25 August 2022, 2022, Page(s) 4844-4849, ISBN 978-1-6654-9062-7
Publisher: IEEE
DOI: 10.1109/icpr56361.2022.9956307

Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment

Author(s): Nicolai Iversen; Aljaž Kramberger; Oscar Bowen Schofield; Emad Ebeid
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) 548-554
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560946

Deployment of Reliable Visual Inertial Odometry Approaches for Unmanned Aerial Vehicles in Real-world Environment

Author(s): Jan Bednář, Matěj Petrlík, Kelen Cristiane Teixeira Vivaldini, Martin Saska
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, Page(s) 167-176, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836067

Real-time LiDAR-based Semantic Classification for Powerline Inspection

Author(s): V. Valseca; J. Paneque; J. R. Martinez-de Dios; A. Ollero
Published in: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), Issue 21/06/2022, 2022, ISBN 978-1-6654-0593-5
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836185

Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle

Author(s): Vít Krátký, Pavel Petráček, Tiago Nascimento, Michaela Čadilová, Milan Škobrtal, Pavel Stoudek and Martin Saska
Published in: ISPRS International Journal of Geo-Information, Issue 10,11, 2021, Page(s) 1-16, ISSN 2220-9964
Publisher: MDPI
DOI: 10.3390/ijgi10110738

Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication ⋆

Author(s): Enrica Rossi; Marco Tognon; Luca Ballotta; Ruggero Carli; Juan Cortés; Antonio Franchi; Luca Schenato
Published in: Automatica, 2023, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.48550/arxiv.2112.00165

Deep Learning Techniques for Visual SLAM: A Survey

Author(s): Saad Mokssit, Daniel Bonilla Licea, Bassma Guermah, Mounir Ghogho
Published in: IEEE Access, Issue vol. 11, 2023, 2023, Page(s) 20026-20050, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3249661

Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties

Author(s): Dario Sanalitro, Heitor J. Savino, Marco Tognon, Juan Cortes, Antonio Franchi
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2185-2191, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2969930

Distributed Predictive Drone Swarms in Cluttered Environments

Author(s): Enrica Soria; Fabrizio Schiano; Dario Floreano
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3118091

Benchmarks for Aerial Manipulation

Author(s): Alejandro Suarez, Victor M. Vega, Manuel Fernandez, Guillermo Heredia, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2650-2657, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2972870

Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle

Author(s): Spurny, Vojtech and Pritzl, Vaclav and Walter, Viktor and Petrlik, Matej and Baca, Tomas and Stepan, Petr and Zaitlik, David and Saska, Martin
Published in: IEEE Access, Issue 9, 2021, Page(s) 15872-15890, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3052967

Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC

Author(s): Barbara Carlos, Antonio Franchi, Giuseppe Oriolo
Published in: IEEE Robotics and Automation Letters, Issue Volume: 6, Issue: 4, 2021, Page(s) 7611-7618, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3096502

Domain-Translated 3D Object Pose Estimation

Author(s): Christos Papaioannidis, Vasileios Mygdalis, Ioannis Pitas
Published in: IEEE Transactions on Image Processing, Issue 29, 2020, Page(s) 9279-9291, ISSN 1057-7149
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tip.2020.3025447

Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles

Author(s): Martin Jacquet; Antonio Franchi
Published in: IEEE Robotics and Automation Letters, Issue vol 6, no. 2, 2020, Page(s) 518-525, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3045654

Learned Inertial Odometry for Autonomous Drone Racing

Author(s): G. Cioffi, L. Bauersfeld, E. Kaufmann, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2023.3252342

Human-Piloted Drone Racing: Visual Processing and Control

Author(s): C. Pfeiffer, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3064282

Insect Inspired Self-Righting for Fixed-Wing Drones

Author(s): Charalampos Vourtsis; Victor Casas Rochel; Francisco Ramirez Serrano; William Stewart; Dario Floreano
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3096159

How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Author(s): William Stewart; Enrico Ajanic; Matthias Muller; Dario Floreano
Published in: IEEE/ASME Transactions on Mechatronics, 2022, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3143095

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

Author(s): Matej Petrlik; Pavel Petráček; Vít Krátký; Tomáš Musil; Yurii Stasinchuk; Matouš Vrba; Tomáš Báča; Daniel Heřt; Martin Pecka; Tomáš Svoboda; Martin Saska
Published in: Field Robotics, Issue 3, 2023, Page(s) 1-68, ISSN 2771-3989
Publisher: Field Robotics
DOI: 10.55417/fr.2023001

Wind Defiant Morphing Drones

Author(s): Charalampos Vourtsis, Victor Casas Rochel, Nathan Samuel Müller, William Stewart, Dario Floreano
Published in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202200297

New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy

Author(s): Petracek, Pavel; Kratky, Vit; Baca, Tomas; Petrlik, Matej; Saska, Martin
Published in: IEEE Robotics & Automation Magazine, Issue 28 February 2023, 2023, Page(s) 2 - 19, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2023.3244423

Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

Author(s): Alejandro Suarez, Fran Real, Victor M. Vega, Guillermo Heredia, Angel Rodriguez-Castano, Anibal Ollero
Published in: IEEE Access, Issue 8, 2020, Page(s) 88844-88865, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.2993101

Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications

Author(s): Silano, Giuseppe and Baca, Tomas and Penicka, Robert and Liuzza, Davide and Saska, Martin
Published in: IEEE Robotics and Automation Letters, Issue 6,2, 2021, Page(s) 4169-4176, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068114

Avian-Inspired Claws Enable Robot Perching or Walking

Author(s): Mohammad Askari; Won Dong Shin; Damian Lenherr; William Stewart; Dario Floreano
Published in: IEEE/ASME Transactions on Mechatronics, 2023, ISSN 1941-014X
Publisher: IEEE
DOI: 10.1109/tmech.2023.3331357

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Author(s): Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska
Published in: Journal of Intelligent & Robotic Systems, Issue 102,26, 2021, Page(s) 1-28, ISSN 1573-0409
Publisher: Springer Nature B.V.
DOI: 10.1007/s10846-021-01383-5

Range, Endurance, and Optimal Speed Estimates for Multicopters

Author(s): L. Bauersfeld, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3145063

Introducing autonomous aerial robots in industrial manufacturing

Author(s): Francisco J. Perez-Grau, J. Ramiro Martinez-de Dios, Julio L. Paneque, J. Joaquin Acevedo, Arturo Torres-González, Antidio Viguria, Juan R. Astorga, Anibal Ollero
Published in: Journal of Manufacturing Systems, Issue Volume 60, 2021, Page(s) 312-324, ISSN 0278-6125
Publisher: Elsevier BV
DOI: 10.1016/j.jmsy.2021.06.008

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

Author(s): Mostafa Mohammadi; Davide Bicego; Antonio Franchi; Davide Barcelli; Domenico Prattichizzo
Published in: Applied Sciences, Issue Vol 11(19), 2021, Page(s) 8955, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11198955

Extinguishing Real Fires by Fully Autonomous Multirotor UAVs in the MBZIRC 2020 Competition

Author(s): V Walter, V Spurny, M Petrlik, T Báca, D Zaitlík, L Demkiv and M Saska
Published in: Field Robotics, Issue 2, 2022, Page(s) 406–436, ISSN 2771-3989
Publisher: Field Robotics
DOI: 10.55417/fr.2022015

Cartesian Aerial Manipulator with Compliant Arm

Author(s): Alejandro Suarez, Manuel Perez, Guillermo Heredia, Anibal Ollero
Published in: Applied Sciences, Issue 11/3, 2021, Page(s) 1001, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11031001

Data-Driven MPC for Quadrotors

Author(s): G. Torrente, E. Kaufmann, P. Foehn, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3061307

Side-Pull Maneuver: A Novel Control Strategy for Dragging a Cable-Tethered Load of Unknown Weight Using a UAV

Author(s): Alexandre S. Brandão, Daniel Smrcka, Éric Pairet, Tiago Nascimento, Martin Saska
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, Page(s) 9159-9166, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3190092

Hecatonquiros: Open-source hardware for aerial manipulation applications

Author(s): M Perez-Jimenez, P Ramon-Soria, BC Arrue, A Ollero
Published in: International Journal of Advanced Robotic Systems, Issue 17/2, 2020, Page(s) 172988142092162, ISSN 1729-8814
Publisher: SAGE Publishing
DOI: 10.1177/1729881420921622

Visual Attention Prediction Improves Performance of Autonomous Drone Racing Agents

Author(s): Pfeiffer C, Wengeler S, Loquercio A, Scaramuzza D
Published in: PLoS ONE, 2022, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0264471

Benchmark Evaluation of Hybrid Fixed-Flapping Wing Aerial Robot with Autopilot Architecture for Autonomous Outdoor Flight Operations

Author(s): Diego Gayango; Rafael Salmoral; Honorio Romero; Jose Manuel Carmona; Alejandro Suarez; Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3280753

Landing a UAV in Harsh Winds and Turbulent Open Waters

Author(s): Parakh M. Gupta, Eric Pairet, Tiago Nascimento, Martin Saska
Published in: IEEE Robotics and Automation Letters, Issue Volume: 8, Issue: 2, February 2023, 2022, Page(s) 744 - 751, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2022.3231831

Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation

Author(s): Angel Rodriguez-Castaño; Saeed Rafee Nekoo; Honorio Romero; Rafael Salmoral; José Ángel Acosta; Anibal Ollero
Published in: Applied Sciences, Issue 10/08/2021, 2021, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11167427

Towards new frontiers in mobile manipulation: Team CTU-UPenn-NYU at MBZIRC 2020

Author(s): P Štibinger, G Broughton, F Majer, Z Rozsypálek, A Wang, K Jindal, A Zhou, D Thakur, G Loianno, T Krajník and M Saska
Published in: Field Robotics, Issue 2, 2022, Page(s) 75-106, ISSN 2771-3989
Publisher: --
DOI: 10.55417/fr.2022004

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

Author(s): D. Hanover, P. Foehn, S. Sun, E. Kaufmann, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3131690

Dual Stiffness Tensegrity Platform for Resilient Robotics

Author(s): Davide Zappetti, Yi Sun, Matthieu Gevers, Stefano Mintchev, Dario Floreano
Published in: Advanced Intelligent Systems, 2022, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202200025

Sharp turning maneuvers with avian-inspired wing and tail morphing

Author(s): Enrico Ajanic, Mir Feroskhan, Valentin Wüest & Dario Floreano
Published in: Communications Engineering, 2022, ISSN 2731-3395
Publisher: Springer Nature

Collision-free trajectory planning of multi-rotor UAVs in a wind condition based on modified potential field

Author(s): Hamidreza Heidari, Martin Saska
Published in: Mechanism and Machine Theory, Issue 156, 2021, Page(s) 104140, ISSN 0094-114X
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechmachtheory.2020.104140

A framework to design interaction control of aerial slung load systems: transfer from existing flight control of under-actuated aerial vehicles

Author(s): Yushu Yu; Kaidi Wang; Rong Guo; Vincenzo Lippiello; Xiaojian Yi
Published in: International Journal of Systems Science, Issue 00207721, 2021, Page(s) 2845-2857, ISSN 0020-7721
Publisher: Taylor & Francis
DOI: 10.1080/00207721.2021.1909777

PACNav: a collective navigation approach for UAV swarms deprived of communication and external localization

Author(s): Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano, Tomáš Báča and Martin Saska
Published in: Bioinspiration & Biomimetics, Issue Volume 17, Number 6, 2022, ISSN 1748-3182
Publisher: Institute of Physics Publishing
DOI: 10.1088/1748-3190/ac98e6

Time-Optimal Online Replanning for Agile Quadrotor Flight

Author(s): A. Romero, R. Penicka, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3185772

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Author(s): Charalampos Vourtsis; William Stewart; Dario Floreano
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3123378

Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays

Author(s): Alejandro Suarez, Alvaro Caballero, Ambar Garofano, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Published in: IEEE Access, Issue 8, 2020, Page(s) 162516-162532, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.3021126

Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System

Author(s): Jiménez-Cano, A,; Sanalitro, Dario; Tognon, M.; Franchi, A.; Cortés, J.
Published in: Journal of Intelligent & Robotic Systems, Issue 24, 2022, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-022-01668-3

Continuous-Time Vs. Discrete-Time Vision-Based SLAM: A Comparative Study

Author(s): G. Cioffi, T. Cieslewski, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3143303

Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

Author(s): Alejandro Suarez, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Published in: Applied Sciences, Issue 10/24, 2020, Page(s) 8927, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app10248927

Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs

Author(s): Davide Bicego, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, Antonio Franchi
Published in: Journal of Intelligent & Robotic Systems, Issue 100/3-4, 2020, Page(s) 1213-1247, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-020-01250-9

Smart Textiles that Teach: Fabric-Based Haptic Device Improves the Rate of Motor Learning

Author(s): Vivek Ramachandran, Fabian Schilling, Amy R. Wu, Dario Floreano
Published in: Advanced Intelligent Systems, 2021, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202100043

On Trajectory Design for Intruder Detection in Wireless Mobile Sensor Networks

Author(s): Nurellari, Edmond and Licea, Daniel Bonilla and Ghogho, Mounir and Rivero-Angeles, Mario Eduardo
Published in: IEEE Transactions on Signal and Information Processing over Networks, Issue 7, 2021, Page(s) 236-248, ISSN 2373-776X
Publisher: IEEE
DOI: 10.1109/tsipn.2021.3067305

Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles

Author(s): Tiago Pereira Nascimento and Martin Saska
Published in: Journal of Intelligent & Robotic Systems, Issue 103,74, 2021, Page(s) 1-11, ISSN 1573-0409
Publisher: Springer Nature SharedIt
DOI: 10.1007/s10846-021-01522-y

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

Author(s): Amin Basiri, Valerio Mariani, Giuseppe Silano, Muhammad Aatif, Luigi Iannelli and Luigi Glielmo
Published in: The Journal of Navigation, 2022, Page(s) 1-20, ISSN 0373-4633
Publisher: Cambridge University Press
DOI: 10.1017/s0373463321000825

Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation

Author(s): Perez-Sanchez, V., Garcia-Rubiales, F. J., Nekoo, S. R., Arrue, B., & Ollero, A.
Published in: Machines, Issue 11(9), 2023, Page(s) 859, ISSN 2075-1702
Publisher: MDPI
DOI: 10.3390/machines11090859

Ultra-lightweight anthropomorphic dual-arm rolling robot for dexterous manipulation tasks on linear infrastructures: A self-stabilizing system

Author(s): Alejandro Suarez, Saeed Rafee Nekoo, Anibal Ollero
Published in: Mechatronics, 2023, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2023.103021

Personalized Human-Swarm Interaction Through Hand Motion

Author(s): Matteo Macchini; Ludovic De Matteis; Fabrizio Schiano; Dario Floreano
Published in: IEEE Robotics And Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3102324

Energy-Efficient Fixed-Wing UAV Relay With Considerations of Airframe Shadowing

Author(s): Daniel Bonilla Licea, Moises Bonilla E., Mounir Ghogho, Martin Saska
Published in: IEEE Communications Letters, Issue vol. 27, no. 6, 2023, Page(s) 1550-1554, ISSN 1089-7798
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lcomm.2023.3264780

Experimental investigation of variational mode decomposition and deep learning for short-term multi-horizon residential electric load forecasting

Author(s): Mohamed Aymane Ahajjam, Daniel Bonilla Licea, Mounir Ghogho, Abdellatif Kobbane
Published in: Applied Energy, Issue colume 326, 2022, ISSN 0306-2619
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.apenergy.2022.119963

Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

Author(s): Štibinger, Petr and Broughton, George and Majer, Filip and Rozsypálek, Zdeněk and Wang, Anthony and Jindal, Kshitij and Zhou, Alex and Thakur, Dinesh and Loianno, Giuseppe and Krajník, Tomáš and Saska, Martin
Published in: IEEE Robotics and Automation Letters, Issue 6,2, 2021, Page(s) 2595-2602, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061377

Model Predictive Contouring Control for Time-Optimal Quadrotor Flight

Author(s): A. Romero, S. Sun, P. Foehn, D. Scaramuzza
Published in: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3173711

Safe local aerial manipulation for the installation of devices on power lines: Aerial-core first year results and designs

Author(s): Jonathan Cacace; Santos M. Orozco-Soto; Alejandro Suarez; Alvaro Caballero; Matko Orsag; Stjepan Bogdan; Goran Vasiljevic; Emad Ebeid; Jose Alberto Acosta Rodriguez; Anibal Ollero
Published in: Volume 11, Issue 20763417, 2021, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11136220

Time-Optimal Planning for Quadrotor Waypoint Flight

Author(s): Foehn, P., Romero, A., Scaramuzza, D.
Published in: Science Robotics, 2021, ISSN 2470-9476
Publisher: Science Robotics
DOI: 10.1126/scirobotics.abh1221

Predictive control of aerial swarms in cluttered environments

Author(s): Enrica Soria, Fabrizio Schiano & Dario Floreano
Published in: Nature Machine Intelligence, 2021, ISSN 2522-5839
Publisher: Springer Nature

Energy Aware Impedance Control of a Flying End-effector in thePort-Hamiltonian Framework

Author(s): R. Rashad and D. Bicego and J. Zult and S. Sanchez-Escalonilla and R. Jiao and A. Franchi and S. Stramigioli
Published in: IEEE Transactions on Robotics, Issue Volume: 38 Issue: 6, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3183532

Passive Perching with Energy Storage for Winged Aerial Robots

Author(s): William Stewart, Luca Guarino, Yegor Piskarev, Dario Floreano
Published in: Advanced Intelligent Systems, 2021, ISSN 2640-4567
Publisher: Wiley-VCH
DOI: 10.1002/aisy.202100150

Robust active disturbance rejection control for systems with internal uncertainties: Multirotor UAV application

Author(s): Chebbi J, Briere Y
Published in: Journal of Field Robotics, Issue Volume 39, Issue 4, June 2022, 2022, ISSN 1556-4967
Publisher: Wiley Periodicals, LLC
DOI: 10.1002/rob.22058

Winged Aerial Manipulation Robot with Dual Arm and Tail

Author(s): Alejandro Suarez, Pedro Grau, Guillermo Heredia, Anibal Ollero
Published in: Applied Sciences, Issue 10/14, 2020, Page(s) 4783, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app10144783

Perception-Aware Perching on Powerlines With Multirotors

Author(s): Paneque, J.L., Dios, J.R., Ollero, A., Hanover, D., Sun, S., Romero, A., Scaramuzza, D.
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3145514

Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight

Author(s): Foehn, P., Kaufmann, E., Romero, A., Pěnička, R., Sun, S., Bauersfeld, L., Laengle, T.M., Cioffi, G., Song, Y., Loquercio, A., Scaramuzza, D.
Published in: Science Robotics, 2022, ISSN 2470-9476
Publisher: Science Robotics
DOI: 10.1126/scirobotics.abl6259

Mathematical Considerations for Unmanned Aerial Vehicle Navigation in the Magnetic Field of Two Parallel Transmission Lines

Author(s): Dean Martinović, Stjepan Bogdan, Zdenko Kovačić
Published in: Applied Sciences, Issue 11/8, 07.04.2021, 2021, Page(s) 3323, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11083323

Autonomous capture of agile flying objects using UAVs: The MBZIRC 2020 challenge

Author(s): Matouš Vrba, Yurii Stasinchuk, Tomáš Báča, Vojtěch Spurný, Matěj Petrlík, Daniel Heřt, David Žaitlík and Martin Saska
Published in: Robotics and Autonomous Systems, Issue 149, 2022, Page(s) 103970, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2021.103970

MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects

Author(s): Giuseppe Silano and Luigi Iannelli
Published in: IEEE Access, Issue 9, 2021, Page(s) 39333-39343, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3064758

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Author(s): F. Nan, S. Sun, P. Foehn, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3154033

Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction

Author(s): Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
Published in: Automatica, Issue 117, 2020, Page(s) 108991, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108991

Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles

Author(s): Krátký, Vít and Alcántara, Alfonso and Capitán, Jesús and Štěpán, Petr and Saska, Martin and Ollero, Aníbal
Published in: IEEE Robotics and Automation Letters, Issue 6,4, 2021, Page(s) 7580-7587, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3098811

Multi-tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection

Author(s): František Nekovář, Jan Faigl and Martin Saska
Published in: IEEE Robotics and Automation Letters, Issue 6,4, 2021, Page(s) 6196-6203, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3091695

Fast CNN-Based Single-Person 2D Human Pose Estimation for Autonomous Systems

Author(s): Christos Papaioannidis; Ioannis Mademlis; Ioannis Pitas
Published in: IEEE Transactions on Circuits and Systems for Video Technology, Issue 16, 2022, Page(s) 1262 - 1275, ISSN 1558-2205
Publisher: IEEE
DOI: 10.1109/tcsvt.2022.3209160

A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure

Author(s): Elgiz Baskaya; Mahmoud Hamandi; Murat Bronz; Antonio Franchi
Published in: IEEE Robotics and Automation Letters, Issue Volume: 6, Issue: 2, 2021, Page(s) 4001-4008, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3067182

Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization

Author(s): Pavel Petráček, Viktor Walter, Tomáš Báča and Martin Saska
Published in: Bioinspiration & Biomimetics, Issue 16,2, 2021, Page(s) 026009, ISSN 1748-3190
Publisher: IOP Science
DOI: 10.1088/1748-3190/abc6b3

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Author(s): Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Robert Penicka, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Martin Sramek, Afzal Ahmad, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Tiago Nascimento, Martin Saska
Published in: Journal of Intelligent & Robotic Systems, Issue Vol 108, Issue 4, 2023, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-023-01879-2

Occlusion detection and drift-avoidance framework for 2D visual object tracking

Author(s): Iason Karakostas, Vasileios Mygdalis, Anastasios Tefas, Ioannis Pitas
Published in: Signal Processing: Image Communication, Issue 90, 2021, Page(s) 116011, ISSN 0923-5965
Publisher: Elsevier BV
DOI: 10.1016/j.image.2020.116011

A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems

Author(s): Alvaro Caballero, Giuseppe Silano
Published in: IEEE Access, Issue vol. 11, 31 July 2023, 2023, Page(s) 81361 - 81377, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3300240

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Author(s): R. Penicka, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3154013

FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation

Author(s): Markus Ryll; Davide Bicego; Mattia Giurato; Marco Lovera; Antonio Franchi
Published in: ISSN=1083-4435;TITLE=IEEE/ASME transactions on mechatronics, Issue vol 23, no. 3, 2021, Page(s) 1244 - 1255, ISSN 1941-014X
Publisher: IEEE/ASME
DOI: 10.1109/tmech.2021.3099197

Autonomous Installation of Electrical Spacers on Power Lines Using Magnetic Localization and Special End Effector

Author(s): Filip Zoric, Stjepan Flegaric, Goran Vasiljevic, Stjepan Bogdan, Zdenko Kovacic
Published in: Machines, Issue 11/5, 24.04.2023, 2023, Page(s) 510, ISSN 2075-1702
Publisher: MDPI
DOI: 10.3390/machines11050510

Past, Present, and Future of Aerial Robotic Manipulators

Author(s): Anibal Ollero; Marco Tognon; Alejandro Suarez; Dongjun Lee; Antonio Franchi
Published in: IEEE Transactions on Robotics, Issue 38 (1), 2021, Page(s) 626 - 645, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2021.3084395

A robust state-dependent Riccati equation controller with parameter uncertainty and matched disturbance

Author(s): Nekoo, S.R. and Ollero, A.
Published in: Journal of the Franklin Institute, Issue Volume 360, Issue 18, December 2023, 2023, Page(s) Pages 14584-14595, ISSN 0016-0032
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.jfranklin.2023.11.023

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

Author(s): Won Dong Shin; William Stewart; Matt A. Estrada; Auke J. Ijspeert; Dario Floreano
Published in: IEEE Transactions on Robotics, 2022, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2022.3189249

Arm-Wrist Haptic Sleeve for Drone Teleoperation

Author(s): Vivek Ramachandran; Matteo Macchini; Dario Floreano
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3122107

Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force

Author(s): Dariusz Horla; Mahmoud Hamandi; Wojciech Giernacki; Antonio Franchi
Published in: IEEE Robotics and Automation Letters, Issue vol. 6, no. 2, 2021, Page(s) 3949-3955, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3067229

A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight

Author(s): S. Sun, A. Romero, P. Foehn, E. Kaufmann, D. Scaramuzza
Published in: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3177279

Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs

Author(s): Martin Jacquet; Max Kivits; Hemjyoti Das; Antonio Franchi
Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 2, 2022, Page(s) 2063-2070, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3143218

An Efficient Distributed Area Division Method for Cooperative Monitoring Applications with Multiple UAVs

Author(s): José Joaquín Acevedo, Ivan Maza, Anibal Ollero, Begoña C. Arrue
Published in: Sensors, Issue 20/12, 2020, Page(s) 3448, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20123448

AL-TUNE: In-flight tuning of an altitude controller for UAVs

Author(s): Dariuz Horla, Wojciech Giernacki, Tomas Baca, Vojtech Spurny and Martin Saska
Published in: Journal of Intelligent & Robotic Systems, Issue 103,5, 2021, Page(s) 1-16, ISSN 1573-0409
Publisher: Springer Nature B.V.
DOI: 10.1007/s10846-021-01441-y

CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments

Author(s): Matej Novosad, Robert Penicka, Vojtech Vonasek
Published in: IEEE Robotics and Automation Letters, Issue 14 September 2023, 2023, Page(s) 1 - 8, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3315539

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Author(s): Mahmoud Hamandi, Federico Usai, Quentin Sable, Nicolas Staub, Marco Tognon, Antonio Franchi
Published in: The International Journal of Robotics Research, Issue vol 40, issue 8-9, 2021, Page(s) 1015-1044, ISSN 1741-3176
Publisher: Sage journals
DOI: 10.1177/02783649211025998

Design Optimization of Soft Robots

Author(s): Surya G. Nurzaman; Liyu Wang; Fumiya Iida; Jeffrey Lipton; Dario Floreano; Daniela Rus
Published in: IEEE Robotics & Automation Magazine, 2020, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.3028658

Design of a Wireless Drone Recharging Station and a Special Robot End Effector for Installation on a Power Line

Author(s): Dario Stuhne,Viet Duong Hoang, Goran Vasiljevic, Stjepan Bogdan, Zdenko Kovacic, Anibal Ollero, Emad Samuel Malki Ebeid
Published in: IEEE Access, Issue vol. 10, 24 August 2022, 2022, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2022.3201351

Learning Minimum-Time Flight in Cluttered Environments

Author(s): R. Penicka, Y. Song, E. Kaufmann, D. Scaramuzza
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2022.3181755

Policy Search for Model Predictive Control With Application to Agile Drone Flight

Author(s): Y. Song, D. Scaramuzza
Published in: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3141602

Aerial Robotics for Inspection and Maintenance: Special Issue Editorial

Author(s): Alejandro Suarez; Jonathan Cacace; Matko Orsag
Published in: Applied Sciences, Issue 01/04/2022, 2022, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app12073583

Autonomous Drone Racing: A Survey

Author(s): Drew Hanover, Antonio Loquercio, Leonard Bauersfeld, Angel Romero, Robert Penicka, Yunlong Song, Giovanni Cioffi, Elia Kaufmann, Davide Scaramuzza
Published in: ArXiv, 2023
Publisher: University of Zurich
DOI: 10.48550/arxiv.2301.01755

Expertise Affects Drone Racing Performance

Author(s): Christian Pfeiffer, Davide Scaramuzza
Published in: ArXiv, 2021
Publisher: University of Zurich
DOI: 10.48550/arxiv.2109.07307

OTE: Optimal Trustworthy EdgeAI solutions for smart cities

Author(s): Vasileios Mygdalis; Lorenzo Carnevale; Jose Ramiro Martinez-De-Dios; Dmitriy Shutin; Giovanni Aiello; Massimo Villari; Ioannis Pitas
Published in: 2022 22nd IEEE International Symposium on Cluster, Cloud and Internet Computing (CCGrid), Issue 16-19 May 2022, 2022, Page(s) 842-850, ISBN 978-1-6654-9956-9
Publisher: IEEE
DOI: 10.1109/ccgrid54584.2022.00100

Computer Stereo Vision for Autonomous Driving: Theory and Algorithms

Author(s): Rui Fan, Li Wang, Mohammud Junaid Bocus, Ioannis Pitas
Published in: Recent Advances in Computer Vision Applications Using Parallel Processing, Issue Studies in Computational Intelligence, vol 1073, 2023, Page(s) 41–70, ISBN 978-3-031-18735-3
Publisher: Springer
DOI: 10.1007/978-3-031-18735-3_3

Tales from a Robotic World

Author(s): Dario Floreano and Nicola Nosengo
Published in: 2022, ISBN 9780262047449
Publisher: The MIT Press

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