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

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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

Pubblicazioni

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

Autori: Pedro Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Pubblicato in: International Journal of Aerospace Engineering, Numero 2017, 2017, Pagina/e 1-17, ISSN 1687-5966
Editore: Hindawi Publishing Corporation
DOI: 10.1155/2017/1823056

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

Autori: Pablo Ramon Soria, Begoña Arrue, Anibal Ollero
Pubblicato in: Sensors, Numero 17/1, 2017, Pagina/e 103, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17010103

Behavioral control of unmanned aerial vehicle manipulator systems

Autori: K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Pubblicato in: Autonomous Robots, 2016, Pagina/e 1203-1220, ISSN 0929-5593
Editore: Kluwer Academic Publishers
DOI: 10.1007/s10514-016-9590-0

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

Autori: Pablo Ramon Soria, Robert Bevec, Begoña Arrue, Aleš Ude, Aníbal Ollero
Pubblicato in: Sensors, Numero 16/5, 2016, Pagina/e 700, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16050700

Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles

Autori: Rodrigo Munguia, Sarquis Urzua, Antoni Grau
Pubblicato in: PLOS ONE, Numero 11/12, 2016, Pagina/e e0167197, ISSN 1932-6203
Editore: Public Library of Science
DOI: 10.1371/journal.pone.0167197

Uncalibrated Visual Servo for Unmanned Aerial Manipulation

Autori: Angel Santamaria-Navarro, Patrick Grosch, Vincenzo Lippiello, Joan Sola, Juan Andrade-Cetto
Pubblicato in: IEEE/ASME Transactions on Mechatronics, Numero 22/4, 2017, Pagina/e 1610-1621, ISSN 1083-4435
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TMECH.2017.2682283

Teaching Robot’s Proactive Behavior Using Human Assistance

Autori: A. Garrell, M. Villamizar, F. Moreno-Noguer, A. Sanfeliu
Pubblicato in: International Journal of Social Robotics, Numero 9/2, 2017, Pagina/e 231-249, ISSN 1875-4791
Editore: Springer Verlag
DOI: 10.1007/s12369-016-0389-0

Learning Depth-Aware Deep Representations for Robotic Perception

Autori: Lorenzo Porzi, Samuel Rota Bulo, Adrian Penate-Sanchez, Elisa Ricci, Francesc Moreno-Noguer
Pubblicato in: IEEE Robotics and Automation Letters, Numero 2/2, 2017, Pagina/e 468-475, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2016.2637444

Boosted Random Ferns for Object Detection

Autori: Michael Villamizar Vergel, Juan Andrade-Cetto, Alberto Sanfeliu, Francesc Moreno-Noguer
Pubblicato in: IEEE Transactions on Pattern Analysis and Machine Intelligence, Numero 40/2, 2018, Pagina/e 272-288, ISSN 0162-8828
Editore: 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

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

Vision-Based SLAM System for Unmanned Aerial Vehicles

Autori: Rodrigo Munguía, Sarquis Urzua, Yolanda Bolea, Antoni Grau
Pubblicato in: Sensors, Numero 16/3, 2016, Pagina/e 372, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16030372

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

Autori: Alex Goldhoorn, Anaís Garrell, René Alquézar, Alberto Sanfeliu
Pubblicato in: Robotics and Autonomous Systems, Numero 98, 2017, Pagina/e 147-157, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2017.06.005

A Stabilizing Controller for Regulation of UAV With Manipulator

Autori: Min Jun Kim, Konstantin Kondak, Christian Ott
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 1719-1726, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2803205

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

Autori: Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 2553-2560, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2809964

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

Autori: Vincenzo Lippiello, Giuseppe Andrea Fontanelli, Fabio Ruggiero
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 1856-1863, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2806091

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

Autori: Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi
Pubblicato in: IEEE Transactions on Control Systems Technology, Numero 26/1, 2018, Pagina/e 248-254, ISSN 1063-6536
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TCST.2017.2650679

Design of a lightweight dual arm system for aerial manipulation

Autori: Alejandro Suarez, Antonio Enrique Jimenez-Cano, Victor Manuel Vega, Guillermo Heredia, Angel Rodriguez-Castaño, Anibal Ollero
Pubblicato in: Mechatronics, Numero 50, 2018, Pagina/e 30-44, ISSN 0957-4158
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2018.01.005

Geometric Priors for Gaussian Process Implicit Surfaces

Autori: Wolfram Martens, Yannick Poffet, Pablo Ramon Soria, Robert Fitch, Salah Sukkarieh
Pubblicato in: IEEE Robotics and Automation Letters, Numero 2/2, 2017, Pagina/e 373-380, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2016.2631260

Aerial Manipulation: A Literature Review

Autori: Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 1957-1964, ISSN 2377-3766
Editore: 2018
DOI: 10.1109/LRA.2018.2808541

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

Autori: 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
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 25/4, 2018, Pagina/e 12-23, ISSN 1070-9932
Editore: 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.

Autori: C. Nainer, M. Furci, A. Seuret, L. Zaccarian, A. Franchi
Pubblicato in: IFAC-PapersOnLine, Numero 50/1, 2017, Pagina/e 12698-12703, ISSN 2405-8963
Editore: Elsevier
DOI: 10.1016/j.ifacol.2017.08.2260

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

Autori: Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
Pubblicato in: IFAC-PapersOnLine, Numero 50/1, 2017, Pagina/e 13144-13149, ISSN 2405-8963
Editore: ELSEVIER
DOI: 10.1016/j.ifacol.2017.08.2168

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

Autori: Marco Tognon, Antonio Franchi
Pubblicato in: IEEE Transactions on Robotics, Numero 33/4, 2017, Pagina/e 834-845, ISSN 1552-3098
Editore: 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.

Autori: Marco Tognon, Antonio Franchi
Pubblicato in: IFAC-PapersOnLine, Numero 50/1, 2017, Pagina/e 1069-1074, ISSN 2405-8963
Editore: Elsevier
DOI: 10.1016/j.ifacol.2017.08.242

Visual Marker based Multi-Sensor Fusion State Estimation * *During this work Jose Luis Sanchez-Lopez has been funded by the Eiffel Excellence Scholarship Program of the French Ministry of Foreign Affairs and International Development and Victor Arellano-Quintana has been funded by a scholarship from CONACyT for studies abroad.This work has been partially funded by the European Unions Horizon 2020

Autori: Jose Luis Sanchez-Lopez, Victor Arellano-Quintana, Marco Tognon, Pascual Campoy, Antonio Franchi
Pubblicato in: IFAC-PapersOnLine, Numero 50/1, 2017, Pagina/e 16003-16008, ISSN 2405-8963
Editore: Elsevier
DOI: 10.1016/j.ifacol.2017.08.1911

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

Autori: Marco Tognon, Antonio Franchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 2277-2282, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2802544

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

Autori: Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
Pubblicato in: IEEE Transactions on Robotics, Numero 34/2, 2018, Pagina/e 534-541, ISSN 1552-3098
Editore: 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

Autori: Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 2577-2583, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2803811

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

Autori: Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortes, Antonio Franchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 2478-2484, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2803206

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

Autori: Matthias Faessler, Antonio Franchi, Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/2, 2018, Pagina/e 620-626, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2017.2776353

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

Autori: Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 1514-1521, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2018.2800798

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

Autori: Giulia Michieletto, Markus Ryll, Antonio Franchi
Pubblicato in: IEEE Transactions on Robotics, Numero 34/3, 2018, Pagina/e 702-715, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2821155

Range-only SLAM for robot-sensor network cooperation

Autori: Arturo Torres-González, Jose Ramiro Martinez-de Dios, Anibal Ollero
Pubblicato in: Autonomous Robots, Numero 42/3, 2018, Pagina/e 649-663, ISSN 0929-5593
Editore: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9663-8

Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation

Autori: José Martínez-de Dios, Alberto de San Bernabé, Antidio Viguria, Arturo Torres-González, Anibal Ollero
Pubblicato in: Remote Sensing, Numero 9/4, 2017, Pagina/e 336, ISSN 2072-4292
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/rs9040336

Efficient integration of RSSI for tracking using Wireless Camera Networks

Autori: A. De San Bernabe, J.R. Martinez-de Dios, A. Ollero
Pubblicato in: Information Fusion, Numero 36, 2017, Pagina/e 296-312, ISSN 1566-2535
Editore: Elsevier BV
DOI: 10.1016/j.inffus.2016.11.001

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

Autori: Arturo Torres-González, Jose Ramiro Martínez-de Dios, Anibal Ollero
Pubblicato in: Sensors, Numero 17/4, 2017, Pagina/e 903, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17040903

Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation

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

Interactive multiple object learning with scanty human supervision

Autori: Michael Villamizar, Anaís Garrell, Alberto Sanfeliu, Francesc Moreno-Noguer
Pubblicato in: Computer Vision and Image Understanding, Numero 149, 2016, Pagina/e 51-64, ISSN 1077-3142
Editore: 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

Autori: Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf
Pubblicato in: Frontiers in Robotics and AI, Numero 3, 2016, Pagina/e Frontiers in Robotics and AI, Vol. 3, pp. 16, ISSN 2296-9144
Editore: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2016.00016

Random clustering ferns for multimodal object recognition

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

MSClique: Multiple Structure Discovery through the Maximum Weighted Clique Problem

Autori: Gerard Sanroma, Adrian Penate-Sanchez, René Alquézar, Francesc Serratosa, Francesc Moreno-Noguer, Juan Andrade-Cetto, Miguel Ángel González Ballester
Pubblicato in: PLOS ONE, Numero 11/1, 2016, Pagina/e e0145846, ISSN 1932-6203
Editore: Public Library of Science
DOI: 10.1371/journal.pone.0145846

Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming

Autori: Roberto Rossi, Angel Santamaria-Navarro, Juan Andrade-Cetto, Paolo Rocco
Pubblicato in: IEEE Robotics and Automation Letters, Numero 2/2, 2017, Pagina/e 389-396, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2016.2633625

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

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

An adaptive hierarchical control for aerial manipulators

Autori: Francesco Pierri, Giuseppe Muscio, Fabrizio Caccavale
Pubblicato in: Robotica, Numero 36/10, 2018, Pagina/e 1527-1550, ISSN 0263-5747
Editore: Cambridge University Press
DOI: 10.1017/S0263574718000553

Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments

Autori: G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
Pubblicato in: IEEE Transactions on Control Systems Technology, Numero 26/4, 2018, Pagina/e 1406-1413, ISSN 1063-6536
Editore: 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

Autori: Francisco Alarcón, Manuel García, Ivan Maza, Antidio Viguria, Aníbal Ollero
Pubblicato in: Sensors, Numero 19/4, 2019, Pagina/e 886, ISSN 1424-8220
Editore: 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

Autori: Margarida Faria, Ivan Maza, Antidio Viguria
Pubblicato in: Journal of Intelligent & Robotic Systems, Numero 93/1-2, 2019, Pagina/e 113-133, ISSN 0921-0296
Editore: 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

Autori: Margarida Faria, Ricardo Marín, Marija Popović, Ivan Maza, Antidio Viguria
Pubblicato in: Sensors, Numero 19/1, 2019, Pagina/e 174, ISSN 1424-8220
Editore: 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

Autori: Jorge Muñoz-Morera, Francisco Alarcon, Ivan Maza, Anibal Ollero
Pubblicato in: International Journal of Advanced Robotic Systems, Numero 15/3, 2018, Pagina/e 172988141878208, ISSN 1729-8814
Editore: International Journal of Advanced Robotic Systems
DOI: 10.1177/1729881418782088

Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

Autori: Edmundo Guerra, Rodrigo Munguía, Yolanda Bolea, Antoni Grau
Pubblicato in: Mathematical Problems in Engineering, Numero 2018, 2018, Pagina/e 1-13, ISSN 1024-123X
Editore: Hindawi Publishing Corporation
DOI: 10.1155/2018/2758021

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

Autori: Edmundo Guerra, Rodrigo Munguia, Antoni Grau
Pubblicato in: Proceedings, Numero 1/8, 2017, Pagina/e 738, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/proceedings1080738

Non-Linear Local Force Feedback Control for Haptic Interfaces

Autori: Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schaeffer
Pubblicato in: IFAC-PapersOnLine, Numero 51/22, 2018, Pagina/e 486-492, ISSN 2405-8963
Editore: 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

Autori: Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, Cristian Secchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4/2, 2019, Pagina/e 1319-1326, ISSN 2377-3766
Editore: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2019.2895420

Shared planning and control for mobile robots with integral haptic feedback

Autori: Carlo Masone, Mostafa Mohammadi, Paolo Robuffo Giordano, Antonio Franchi
Pubblicato in: The International Journal of Robotics Research, Numero 37/11, 2018, Pagina/e 1395-1420, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/0278364918802006

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

Autori: Marco Tognon, Hermes A. Tello Chavez, Enrico Gasparin, Quentin Sable, Davide Bicego, Anthony Mallet, Marc Lany, Gilles Santi, Bernard Revaz, Juan Cortes, Antonio Franchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4/2, 2019, Pagina/e 1846-1851, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2019.2895880

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

Autori: Alvaro Caballero, Manuel Bejar, Angel Rodriguez-Castaño, Anibal Ollero
Pubblicato in: International Journal of Advanced Robotic Systems, Numero 15/3, 2018, Pagina/e 172988141877052, ISSN 1729-8814
Editore: SAGE Journals
DOI: 10.1177/1729881418770525

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

Autori: Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Pubblicato in: IEEE Access, Numero 6, 2018, Pagina/e 29173-29189, ISSN 2169-3536
Editore: 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

Autori: Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 26/1, 2019, Pagina/e 44-53, ISSN 1070-9932
Editore: 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

Autori: Miguel Trujillo, José Martínez-de Dios, Carlos Martín, Antidio Viguria, Aníbal Ollero
Pubblicato in: Sensors, Numero 19/6, 2019, Pagina/e 1305, ISSN 1424-8220
Editore: 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

Autori: Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, Antoni Grau
Pubblicato in: Sensors, Numero 18/12, 2018, Pagina/e 4243, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18124243

Aerial physical interaction via IDA-PBC

Autori: Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
Pubblicato in: The International Journal of Robotics Research, Numero 38/4, 2018, Pagina/e 403-421, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/0278364919835605

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

Autori: Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
Pubblicato in: IFAC-PapersOnLine, Numero 51/22, 2018, Pagina/e 465-470, ISSN 2405-8963
Editore: 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

Autori: Shaima Algabli, Francesc Serratosa
Pubblicato in: Pattern Recognition Letters, Numero 112, 2018, Pagina/e 353-360, ISSN 0167-8655
Editore: 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

Autori: Marco Tognon, Sanket S. Dash, Antonio Franchi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 1/2, 2016, Pagina/e 732-737, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2016.2523599

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

Autori: Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, Antoni Grau
Pubblicato in: Sensors, Numero 18/5, 2018, Pagina/e 1351, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18051351

Cooperative Aerial Load Transportation via Sampled Communication

Autori: Enrica Rossi, Marco Tognon, Ruggero Carli, Luca Schenato, Juan Cortes, Antonio Franchi
Pubblicato in: IEEE Control Systems Letters, Numero 4/2, 2020, Pagina/e 277-282, ISSN 2475-1456
Editore: IEEE
DOI: 10.1109/LCSYS.2019.2924413

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

Autori: Kevin Molloy, Laurent Denarie, Marc Vaisset, Thierry Siméon, Juan Cortés
Pubblicato in: The International Journal of Robotics Research, Numero 38/2-3, 2018, Pagina/e 375-387, ISSN 0278-3649
Editore: SAGE Publications
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A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors

Autori: Victor Manuel Arellano-Quintana, Emmanuel Alejandro Merchan-Cruz, Antonio Franchi
Pubblicato in: IEEE Access, Numero 6, 2018, Pagina/e 68155-68168, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2018.2879636

The Tele-MAGMaS: An Aerial-Ground Comanipulator System

Autori: Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Quentin Delamare, Hyunsoo Yang, Domenico Prattichizzo, Paolo Robuffo Giordano, Dongjun Lee, Antonio Franchi
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 25/4, 2018, Pagina/e 66-75, ISSN 1070-9932
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2018.2871344

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

Autori: Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Pubblicato in: ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference, 2017, Pagina/e 332-344
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-70836-2_28

Multirotor UAS for bridge inspection by contact using the ceiling effect

Autori: P. J. Sanchez-Cuevas, G. Heredia, A. Ollero
Pubblicato in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Pagina/e 767-774, ISBN 978-1-5090-4495-5
Editore: IEEE
DOI: 10.1109/ICUAS.2017.7991412

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

Autori: C.R. de Cos, J.A. Acosta, A. Ollero
Pubblicato in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Pagina/e 999-1005, ISBN 978-1-5090-4495-5
Editore: IEEE
DOI: 10.1109/ICUAS.2017.7991363

Anthropomorphic, compliant and lightweight dual arm system for aerial manipulation

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

Design of a High Performance Dual Arm Aerial Manipulator

Autori: Pedro Grau, Alejandro Suarez, Victor Manuel Vega, Angel Rodriguez-Castaño, Anibal Ollero
Pubblicato in: Design of a High Performance Dual Arm Aerial Manipulator, 2017, Pagina/e 730-741, ISBN 978-3-319-70832-4
Editore: 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

Autori: A. Caballero, M. Bejar, A. Rodriguez-Castano, A. Ollero
Pubblicato in: 2017 European Conference on Mobile Robots (ECMR), 2017, Pagina/e 1-7, ISBN 978-1-5386-1096-1
Editore: IEEE
DOI: 10.1109/ECMR.2017.8098716

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

Autori: P. J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Pubblicato in: ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference, 2017, Pagina/e 742-752, ISBN 978-3-319-70832-4
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_60

Lightweight and human-size dual arm aerial manipulator

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

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

Autori: J. A. Acosta, C. R. de Cos, A. Ollero
Pubblicato in: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, Pagina/e 1075-1084, ISBN 978-1-4673-9334-8
Editore: IEEE
DOI: 10.1109/ICUAS.2016.7502675

Experiments on coordinated motion of aerial robotic manipulators

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

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

Autori: Albert Pumarola, Alexander Vakhitov, Antonio Agudo, Alberto Sanfeliu, Francese Moreno-Noguer
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 4503-4508, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/ICRA.2017.7989522

Nonlinear model predictive control for aerial manipulation

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

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

Autori: Peter Lepej, Angel Santamaria-Navarro, Joan Sola
Pubblicato in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Pagina/e 1751-1756, ISBN 978-1-5090-4495-5
Editore: IEEE
DOI: 10.1109/ICUAS.2017.7991330

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

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

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

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

BASS: Boundary-Aware Superpixel Segmentation

Autori: Antonio Rubio, LongLong Yu, Edgar Simo-Serra, Francesc Moreno-Noguer
Pubblicato in: 2016 23rd International Conference on Pattern Recognition (ICPR), 2016, Pagina/e 2824-2829, ISBN 978-1-5090-4847-2
Editore: IEEE
DOI: 10.1109/ICPR.2016.7900064

Discriminative Learning of Deep Convolutional Feature Point Descriptors

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

Matchability Prediction for Full-Search Template Matching Algorithms

Autori: Adrian Penate-Sanchez, Lorenzo Porzi, Francesc Moreno-Noguer
Pubblicato in: 2015 International Conference on 3D Vision, 2015, Pagina/e 353-361, ISBN 978-1-4673-8332-5
Editore: IEEE
DOI: 10.1109/3DV.2015.47

6D physical interaction with a fully actuated aerial robot

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

Distributed cooperative object parameter estimation and manipulation without explicit communication

Autori: Alessandro Marino, Giuseppe Muscio, Francesco Pierri
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 2110-21116, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/ICRA.2017.7989243

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

Autori: A. Suarez, A. M. Giordano, K. Kondak, G. Heredia, A. Ollero
Pubblicato in: 2018 IEEE International Conference on Soft Robotics (RoboSoft), 2018, Pagina/e 406-411, ISBN 978-1-5386-4516-1
Editore: IEEE
DOI: 10.1109/ROBOSOFT.2018.8404953

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

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

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

Autori: Marco De Stefano, Jordi Artigas, Cristian Secchi
Pubblicato in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Pagina/e 2806-2812, ISBN 978-1-5386-2682-5
Editore: IEEE
DOI: 10.1109/IROS.2017.8206111

Towards robotic MAGMaS: Multiple aerial-ground manipulator systems

Autori: Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 1307-1312, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/ICRA.2017.7989154

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

Autori: Antonio Franchi, Anthony Mallet
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 5203-5208, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/ICRA.2017.7989610

Dynamic decentralized control for protocentric aerial manipulators

Autori: Marco Tognon, Burak Yuksel, Gabriele Buondonno, Antonio Franchi
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 6375-6380, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/ICRA.2017.7989753

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

Autori: Giulia Michieletto, Markus Ryll, Antonio Franchi
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 2747-2752, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/ICRA.2017.7989320

Towards a Flying Companion Paradigm: the OTHex

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

Sistema aéreo no tripulado con capacidad avanzada de manipulación

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

Autori: Adrian Amor-Martinez, Angel Santamaria-Navarro, Fernando Herrero, Alberto Ruiz, Alberto Sanfeliu
Pubblicato in: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, Pagina/e 15-20, ISBN 978-1-5090-4349-1
Editore: 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

Autori: Ignacio Alzugaray, Alberto Sanfeliu
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Pagina/e 1589-1594, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/IROS.2016.7759257

Lightweight compliant arm with compliant finger for aerial manipulation and inspection

Autori: Alejandro Suarez, Guillermo Heredia, Anibal Ollero
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Pagina/e 4449-4454, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/IROS.2016.7759655

Impedance Control of an aerial-manipulator: Preliminary results

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

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

Autori: Signe Moe, Andrew R. Teel, Gianluca Antonelli, Kristin Y. Pettersen
Pubblicato in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Pagina/e 171-178, ISBN 978-1-4799-7886-1
Editore: IEEE
DOI: 10.1109/CDC.2015.7402104

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

Autori: Signe Moe, Gianluca Antonelli, Kristin Y. Pettersen, Johannes Schrimpf
Pubblicato in: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015, Pagina/e 1233-1239, ISBN 978-1-4673-9675-2
Editore: 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

Autori: Yüksel, Burak; Buondonno, Gabriele; Franchi, Antonio
Pubblicato in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea, Numero 4, 2016
Editore: IEEE

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

Autori: Notarstefano, Giuseppe; Franchi, Antonio; Spedicato, Sara
Pubblicato in: 2016 IEEE Int. Conf. on Robotics & Automation (ICRA), Numero 9, 2016
Editore: IEEE

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

Autori: Bicego, Davide; Ryll, Markus; Franchi, Antonio
Pubblicato in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon. 2016, Numero 5, 2016
Editore: IEEE

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

Autori: Franchi, Antonio; Staub, Nicolas; Yüksel, Burak
Pubblicato in: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, Numero 5, 2016
Editore: IEEE

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

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

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

Autori: M. Tognon and A. Franchi
Pubblicato in: 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, 2015
Editore: IEEE

Combining System Design and Path Planning

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

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

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

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

Autori: J.L. Paneque, J.R. Martinez-Dedios, A. Ollero
Pubblicato in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Pagina/e 3130-3136, ISBN 978-1-5386-8094-0
Editore: IEEE
DOI: 10.1109/iros.2018.8593680

Multi-modal joint embedding for fashion product retrieval

Autori: A. Rubio, LongLong Yu, E. Simo-Serra, F. Moreno-Noguer
Pubblicato in: 2017 IEEE International Conference on Image Processing (ICIP), 2017, Pagina/e 400-404, ISBN 978-1-5090-2175-8
Editore: IEEE
DOI: 10.1109/ICIP.2017.8296311

Joint coarse-and-fine reasoning for deep optical flow

Autori: Victor Vaquero, German Ros, Francese Moreno-Noguer, Antonio M. Lopez, Alberto Sanfeliu
Pubblicato in: 2017 IEEE International Conference on Image Processing (ICIP), 2017, Pagina/e 2558-2562, ISBN 978-1-5090-2175-8
Editore: IEEE
DOI: 10.1109/ICIP.2017.8296744

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

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

Development of SAM: cable-Suspended Aerial Manipulator

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

Passive compliance control of aerial manipulators

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

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

Autori: Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
Pubblicato in: IFAC Symposium on Robot Control (SYROCO), 2018
Editore: IFAC

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

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

Passivity-based stability in explicit force control of robots

Autori: Ribin Balachandran, Mikael Jorda, Jordi Artigas, Jee-Hwan Ryu, Oussama Khatib
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 386-393, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/icra.2017.7989050

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

Autori: Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak
Pubblicato in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Pagina/e 5525-5532, ISBN 978-1-5386-8094-0
Editore: 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

Autori: Marco De Stefano, Jordi Artigas, Cristian Secchi
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Pagina/e 5419-5426, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/iros.2016.7759797

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

Autori: Marco De Stefano, Ribin Balachandran, Jordi Artigas, Cristian Secchi
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Pagina/e 5899-5906, ISBN 978-1-5090-4633-1
Editore: IEEE
DOI: 10.1109/icra.2017.7989694

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

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

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

Autori: Tognon , Marco; Franchi , Antonio
Pubblicato in: 20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017, Numero 12, 2017
Editore: IFAC

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

Autori: Tognon , Marco; Franchi , Antonio
Pubblicato in: 9th International Micro Air Vehicles Conference , Sep 2017, Toulouse, France. pp.97-102, 2017, Numero 6, 2017
Editore: IMAV

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

Autori: Morbidi , Fabio; Bicego , Davide; Ryll , Markus; Franchi , Antonio
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Numero 7, 2018
Editore: IEEE

Multi-Robot Path Planning with Maintenance of Generalized Connectivity

Autori: Solana , Yoann; Furci , Michele; Cortés , Juan; Franchi , Antonio
Pubblicato in: 2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems, Numero 10, 2017
Editore: IEEE

Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations

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

Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

Autori: A. Suarez, G. Heredia, A. Ollero
Pubblicato in: Jornadas de Automática, 2017, ISBN 978-84-16664-74-0
Editore: 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

Autori: A. Caballero, M. Bejar, A. Ollero
Pubblicato in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Pagina/e 1125-1133, ISBN 978-1-5386-1354-2
Editore: IEEE
DOI: 10.1109/icuas.2018.8453392

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

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

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

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

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

Autori: Nigro, Michelangelo; Pierri, Francesco; Caccavale, Fabrizio
Pubblicato in: Proceedings of 2019 International Conference on Unmanned Aircraft Systems, 2019, Pagina/e 1108-1116, ISBN 978-1-7281-0332-7
Editore: IEEE
DOI: 10.5281/zenodo.3241519

Unsupervised Person Image Synthesis in Arbitrary Poses

Autori: Albert Pumarola, Antonio Agudo, Alberto Sanfeliu, Francesc Moreno-Noguer
Pubblicato in: 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Pagina/e 8620-8628, ISBN 978-1-5386-6420-9
Editore: IEEE
DOI: 10.1109/CVPR.2018.00899

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

Autori: Hyunsoo Yang, Nicolas Staub, Antonio Franchi, Dongjun Lee
Pubblicato in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Pagina/e 1-8, ISBN 978-1-5386-8094-0
Editore: IEEE
DOI: 10.1109/IROS.2018.8593834

Development of SAM: cable-Suspended Aerial Manipulator *

Autori: Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
Pubblicato in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Pagina/e 5323-5329, ISBN 978-1-5386-6027-0
Editore: 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

Autori: Tognon, Marco; Franchi, Antonio
Pubblicato in: 9th International Micro Air Vehicles Conference, Numero 1, 2017
Editore: International Micro Air Vehicles

3DPeople: Modeling the Geometry of Dressed Humans

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

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

Autori: A. Pumarola, A. Agudo, L. Porzi, A. Sanfeliu, V. Lepetit, F. Moreno-Noguer
Pubblicato in: 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Pagina/e 4681-4690, ISBN 978-1-5386-6420-9
Editore: IEEE
DOI: 10.1109/CVPR.2018.00492

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

Autori: Markus Ryll, Davide Bicego, Antonio Franchi
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Pagina/e 1689-1694, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/iros.2016.7759271

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

Autori: Tognon , Marco; Testa , Andrea; Rossi , Enrica; Franchi , Antonio
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Numero 3, 2016
Editore: IEEE/RSJ International Conference on Intelligent Robots and Systems

Task-space Tracking Control for Underactuated Aerial Manipulators

Autori: Gianluca Garofalo, Fabian Beck, Christian Ott
Pubblicato in: 2018 European Control Conference (ECC), 2018, Pagina/e 628-634, ISBN 978-3-9524-2698-2
Editore: IEEE
DOI: 10.23919/ecc.2018.8550248

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

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

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

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

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

Autori: Michelangelo Nigro, Francesco Pierri, Fabrizio Caccavale
Pubblicato in: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), 2019, Pagina/e 1108-1116, ISBN 978-1-7281-0333-4
Editore: IEEE
DOI: 10.1109/icuas.2019.8798092

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

Autori: Carlos R. de Cos, José Ángel Acosta, Anibal Ollero
Pubblicato in: ROBOT 2017: Third Iberian Robotics Conference, Numero 693, 2018, Pagina/e 817-828, ISBN 978-3-319-70832-4
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_66

A Montecarlo Reactive Navigation Algorithm for a Dual Arm Aerial Robot

Autori: Fran Real, Ángel R. Castaño, Jesús Capitán
Pubblicato in: ROBOT 2017: Third Iberian Robotics Conference, Numero 693, 2018, Pagina/e 780-790, ISBN 978-3-319-70832-4
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_63

GANimation: Anatomically-Aware Facial Animation from a Single Image

Autori: Albert Pumarola, Antonio Agudo, Aleix M. Martinez, Alberto Sanfeliu, Francesc Moreno-Noguer
Pubblicato in: Computer Vision – ECCV 2018 - 15th European Conference, Munich, Germany, September 8-14, 2018, Proceedings, Part X, Numero 11214, 2018, Pagina/e 835-851, ISBN 978-3-030-01248-9
Editore: 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

Autori: Pablo Ramon Soria, Fouad Sukkar, Wolfram Martens, B. C. Arrue, Robert Fitch
Pubblicato in: ROBOT 2017: Third Iberian Robotics Conference, Numero 694, 2018, Pagina/e 320-331, ISBN 978-3-319-70835-5
Editore: 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

Autori: Xavier Cortés, Donatello Conte, Hubert Cardot, Francesc Serratosa
Pubblicato in: Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshop, S+SSPR 2018, Beijing, China, August 17–19, 2018, Proceedings, Numero 11004, 2018, Pagina/e 326-336, ISBN 978-3-319-97784-3
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-97785-0_31

Platforms with Multi-directional Total Thrust

Autori: Antonio Franchi
Pubblicato in: Aerial Robotic Manipulation - Research, Development and Applications, Numero 129, 2019, Pagina/e 53-65, ISBN 978-3-030-12944-6
Editore: Springer International Publishing
DOI: 10.1007/978-3-030-12945-3_4

Visual Guidance of Unmanned Aerial Manipulators

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

Simulation study on control concepts for a floating platform manipulation

Autori: Jianjie Lin
Pubblicato in: 2017
Editore: Technical University of Munich

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

Autori: Rebekka Leisinger
Pubblicato in: 2018, Pagina/e "Chapter ""01 Digitalisierung und"", article ""04_AEROARMS – Drohnen im Einsatz zur Inspektion von Rohrleitungen_Nelke_Perner_Keuchel_Trujillo"""
Editore: Hamburg University of Applied Sciences

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