PILOTs for robotic INspection and maintenance Grounded on advanced intelligent platforms and prototype applications

Deliverables

Demonstrators, pilots, prototypes (1)

PILOTING first robotic vehicles

A first version of the robotics vehicles will be ready to integrated within the PILOTING I&M platform. A brief report describing the configuration and major characteristics of each robotic vehicle will be included.

Other (3)

Beta version of advanced autonomous functionalities for aerial robots

Beta version of the algorithms developed for aerial inspection robots with respect to GNSS-free navigation and aerial contact control.

General robot control station (first version)

Standardized control station SW and its interfaces.

Beta version of advanced autonomous functionalities for ground robots and crawlers

First version of algorithms developed for dexterous manipulation, advanced perception and intelligent navigation for ground robots and crawlers.

Publications

Peer reviewed articles (2)

Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control

Author(s): Pedro J. Sanchez-Cuevas, Antonio Gonzalez-Morgado, Nicolas Cortes, Diego B. Gayango, Antonio E. Jimenez-Cano, Aníbal Ollero, Guillermo Heredia
Published in: Sensors, 20/17, 2020, Page(s) 4708, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20174708

PHASER: A Robust and Correspondence-Free Global Pointcloud Registration

Author(s): Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena
Published in: IEEE Robotics and Automation Letters, 6/2, 2021, Page(s) 855-862, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3052418

Conference proceedings (2)

Soft-Landing of Multi-Rotor Drones using a Robust Nonlinear Control and Wind Modeling

Author(s): Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Published in: ICUAS 2021, 2021
Publisher: ICUAS 2021
DOI: 10.5281/zenodo.4916555

Aerial robot for contact bridge inspection

Author(s): Miguel Ángel Trujillo, Ángel Luis Petrus, Daniel Martínez Campos, Francisco Javier Garrido, Antidio Viguria and Anibal Ollero
Published in: 2020 CivilDron Conference, 2020
Publisher: CivilDron Conference
DOI: 10.5281/zenodo.4246276