Autonomous Robotic Inspection and Maintenance on Ship Hulls and Storage Tanks

Project Information

BugWright2

Grant agreement ID: 871260

DOI 10.3030/871260

Project closed

EC signature date 5 December 2019

Start date 1 January 2020

End date 31 March 2024

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 9 952 745,63

EU contribution € 8 999 807,50

Coordinated by

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
France

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

Documents, reports (16)

Contribution to the evolution of norms and regulations

Content: reports on the emerging developments at the international, regional and national levels with a view to establishing the vital regulatory implications in the context of inspection, cleaning and control, enforcement and compliance under environmental, climate and shipping regulation.

Plate-Relative Autonomous Navigation

Content: report on the plate-relative navigation framework and its ability to support acoustic tomography.

Defect localization from a robot team

Content: methodology and evaluation of the multi-robot defect localisation.

Autonomous Trajectory Tracking and Obstacle Avoidance

Content: report on the online local navigation capabilities of BUGWRIGHT2’s robots on or around vessel hulls and storage tanks.

Image Processing for Visual Inspection

Content methodology and evaluation of the image processing and machine learning techniques for detecting defective situations on the inspected surfaces both above and underwater

Work analysis of task, technology and social system

Content 1 analysis of current task and person related characteristics for the HumanRobot Team HRT task 73 and task 72 2 analysis describing the future automated working environment and identifying the affective cognitive and behavioral demands and support needs of inspectors in HRT input for task 74

End-User Evaluation Report

A report on the evaluation of the system conducted by the technology end-user. This report should drive future system specification.

3D Modeling

Content: report on the choice of the 3D representation and on the 3D mapping activities. A focus of the performance assessment will be on on accuracy, reliability, and completeness of the reconstructed 3D structure both in terms of usable result for human operators as well as usage in the robotic navigation tasks.

Localisation

Content report on the objectrelative and global localisation system for all the platforms with a focus on accuracy and reliability with respect to the complexity of the strucure to be inspected Platformspecific sections of the deliverable will be under the responsibility of the lead partner defined in task 41

Simulation Environment and Middleware integration

Content: report on the middleware and communication framework decided by the consortium as well as the simulation framework setup, which will be delivered as a software package at the same time.

Use-Case Analysis and Requirements

content the usecase specification as well as the mission scenarios that will be implemented during the field testsThe report issued at Month 2 will be updated during the project at M18

Human factors related to the Digitalisation of Inspection

Content: (1) applicable guidelines and design principles to integrate task characteristics and user expectations into task 7.2 and task 7.3. (2) evaluation designs, methods and results for the UI based on multivariate data from user experiences to mental workload indicators (e.g. survey data, prefrontal activation), or out-of-loop behavior during VR. Prototypes developed at RWTH will be tested iteratively. (3) Data from the field evaluation(observations, surveys) for personnel development to ensure user attitudes and qualifications upon market introduction.

Local Mapping and Obstacle Perception

Content: report on the 3D local perception and mapping frameworks for all the platforms with a focus on accuracy and reliability. Platform-specific sections of the deliverable will be under the responsibility of the lead partner defined in task 4.2.

Defect localization by acoustic signal triangulation and tomography

Content methodology and evaluation of the defect localisation by triangulation and acoustic tomography

Analysis of the legal framework

Content review on agreements legislation and comparative study regarding regulations on robotics with a focus on autonomous operations

Simultaneous localization and geometry inference on a metal plate

Content description of the localisation and geometry inference methodology through ultrasonic reflection on plate welds and boundaries

Demonstrators, pilots, prototypes (8)

Multi-robot visual inspection and execution monitoring

Content: demonstration and report on the multi-robot visual coverage, communication and monitoring framework and its performance evaluation.

Single-Robot Planning, Coverage and Mission Execution

Content: demonstration and report on the proposed framework for navigation planning, structure coverage,and control of the mission execution.

Multi-robot acoustic tomography planning and execution control

Content: demonstration and report on the implementation and performance of the multi-robot acoustic tomography method, from simulation to field tests

User Interface for inspection Mission Planning

Content: implementation of the user interface for mission planning. A particular focus will be put on VR technologies and the evaluation of their suitability for professional use. The deliverable will consist in a demonstration and a report.

Large-scale pilot: demonstrations

Content: demonstrations of the large-scale pilot to end-users followed by a report.

Virtual Reality for Real-Time Mission Monitoring

Content: demonstration and report on the use of VR for the user-interface allowing the supervision of the robot team. A special focus will be given to the evaluation of the suitability for field deployment.

Augmented reality for assisted maintenance

Content: demonstration and report describing of the augmented reality system for assisted maintenance, its design performances and its evaluation in the field by the end-users.

Multi-crawler inspection planning and execution control

Content: demonstration and report on the multi-robot inspection planner and its performance vs. single robot inspection.

Other (1)

3D Models of the Inspection Results

Content: implementation of the 3D visualization models from the various data sources available in the project: acoustic inspection, visual inspection, cleanliness, navigation hazards.

Websites, patent fillings, videos etc. (2)

Project Website

Content: website including a public document database, operational and updated from M2 onwards.

Promotional Videos

Content: promotional videos (a general video and two videos focusing on specific results) to explain the aim of the project, the scientific results, targeting end users and scientific audience. This deliverable will also include technical videos for professional educations produced by CTIM.

Open Research Data Pilot (1)

Data Management Plan

Content: comprehensive list of expected data and outline of the project data management policy.BugWright2 project will contribute to the Open Research Data Pilot, aiming at making research data findable, accessible, interoperable and reusable. The consortium will draft a Data Management Plan. It will outline BugWright2 data management policy in compliance with H2020 guidelines. The Plan will also comply with by the Consortium Agreement provisions in order to protect IP generated by the project. The Plan, issued at Month 6, will be updated during the project (M24 and 48), to cover changes and new data.

Publications

Peer reviewed articles (31)

Non-Crossing Anonymous MAPF for tethered robots

Author(s): Xiao Peng, Olivier Simonin, Christine Solnon
Published in: JAIR Journal of Artificial Intelligence Research, Issue 78 (2023), 2023, ISSN 1076-9757
Publisher: Morgan Kaufmann Publishers, Inc.
DOI: 10.1613/jair.1.14351

I vs. robot: Sociodigital self-comparisons in hybrid teams from a theoretical, empirical, and practical perspective

Author(s): Thomas Ellwart, Nathalie Schauffel, Conny H. Antoni, Ingo J. Timm
Published in: Gruppe. Interaktion. Organisation. Zeitschrift für Angewandte Organisationspsychologie (GIO), Issue 23666145, 2022, ISSN 2366-6145
Publisher: Springer
DOI: 10.1007/s11612-022-00638-5

MSC-VO: Exploiting Manhattan and Structural Constraints for Visual Odometry

Author(s): Joan P. Company-Corcoles; Emilio Garcia-Fidalgo; Alberto Ortiz
Published in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 2, 2022, Page(s) 2803 - 2810, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2111.03408

ROV-Based Autonomous Maneuvering for Ship Hull Inspection with Coverage Monitoring

Author(s): Cardaillac A., Skjetne R., Ludvigsen M.
Published in: Journal of Intelligent & Robotic Systems, Issue 110, 59, 2024, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-024-02095-2

BUGWRIGHT2 Remote Inspection Techniques in Medium and Small-Sized Scandinavian Ports: Application, Advantage & Adversity

Author(s): Aspasia Pastra, Tafsir Johansson, Herbert Francke, Dimitrios Dalaklis
Published in: Scientific Papers in Transportation, 2024, ISSN 1150-8809
Publisher: Hal Science

How does Wi-Fi 6 fare? An industrial outdoor robotic scenario

Author(s): Mina Rady, Oana Iova, Hervé Rivano, Angeliki Deligianni, Leonidas Drikos
Published in: Ad Hoc Networks, 2024, Page(s) 103418, ISSN 1570-8705
Publisher: Elsevier BV
DOI: 10.1016/j.adhoc.2024.103418

A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures

Author(s): Othmane-Latif Ouabi, Pascal Pomarede, Matthieu Geist, Nico F. Declercq, Cedric Pradalier
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 2908-2913, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3062600

Maritime Robotics and Autonomous Systems Operations: Exploring Pathways for Overcoming International Techno-Regulatory Data Barriers

Author(s): Tafsir Matin Johansson; Dimitrios Dalaklis; Aspasia Pastra
Published in: Journal of Marine Science and Engineering, Issue 3, 2021, ISSN 2077-1312
Publisher: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/jmse9060594

Immersive Analytics: The Influence of Flow, Sense of Agency, and Presence on Performance and Satisfaction

Author(s): Gründling, Jan; Weyers, Benjamin
Published in: Proceedings of the ACM on Human-computer Interaction, Issue 8, 2024, Page(s) Article 254, ISSN 2573-0142
Publisher: Association of Computing Machinery
DOI: 10.1145/3661144

UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Author(s): Francisco Bonnin-Pascual, Alberto Ortiz
Published in: Sensors, Issue 20/19, 2020, Page(s) 5613, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20195613

MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation

Author(s): Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert Mahony, Stephan Weiss
Published in: IEEE Robotics and Automation Letters, 2023, Page(s) 731 - 738, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3335775

Camera-Sonar Combination for Improved Underwater Localization and Mapping

Author(s): Cardaillac A., Ludvigsen M.
Published in: IEEE Access, Issue Volume: 11, 2023, Page(s) 123070 - 123079, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3329834

A Characterization of Strong Completeness in Fuzzy Metric Spaces

Author(s): Valentín Gregori; Juan-José Miñana; Bernardino Roig; Almanzor Sapena
Published in: Mathematics, Issue 4, 2020, Page(s) Volume 8, p861, ISSN 2227-7390
Publisher: MDPI
DOI: 10.3390/math8060861

Addressing the hazards of remote inspection techniques: a safety-net for vessel surveys

Author(s): Aspasia Pastra, Tafsir Matin Johansson,Vera Alexandropoulou, Nikoletta L. Trivyza & Klimanthia Kontaxaki
Published in: Journal of Law, Innovation and Technology, Issue Bi-annual, 2023, Page(s) 43-76, ISSN 1757-9961
Publisher: Taylor & Francis
DOI: 10.1080/17579961.2023.2287390

A Magnetic Crawler System for Autonomous Long-Range Inspection and Maintenance on Large Structures

Author(s): Chahine, G.; Schroepfer, P.; Ouabi, O.-L.; Pradalier, C.
Published in: Sensors 2022, 2022, Page(s) 3235, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22093235

Multi-Robot Task Allocation Methods: A Fuzzy Optimization Approach

Author(s): Oscar VALERO, Javier ANTICH, Antonio TAULER-ROSSELLO, Jose GUERRERO, Juan Jose MINANA, Alberto ORTIZ
Published in: Information Sciences, Issue vol. 648, article number 119508, 2023, ISSN 0020-0255
Publisher: Elsevier BV
DOI: 10.1016/j.ins.2023.119508

Maritime remote inspection technology in hull survey & inspection: A synopsis of liability issues from a European Union context

Author(s): Vera Alexandropoulou, Tafsir Johansson, Klimanthia Kontaxaki, Aspasia Pastra & Dimitrios Dalaklis
Published in: Journal of International Maritime Safety, Environmental Affairs, and Shipping, Issue Volume 5, 2021 - Issue 4, 2021, Page(s) Pages 184-195, ISSN 2572-5084
Publisher: Taylor & Francis
DOI: 10.1080/25725084.2021.2006463

On Matthews’ Relationship Between Quasi-Metrics and Partial Metrics: An Aggregation Perspective

Author(s): Juan-José Miñana, Oscar Valero
Published in: Results in Mathematics, Issue 75/2, 2020, ISSN 1422-6383
Publisher: Springer Verlag
DOI: 10.1007/s00025-020-1173-x

Learning the propagation properties of rectangular metal plates for Lamb wave-based mapping

Author(s): Othmane-Latif Ouabi; Pascal Pomarede; Nico F. Declercq; Neil Zeghidour; Matthieu Geist; Cédric Pradalier
Published in: Ultrasonics, Issue Volume 123, 2022, ISSN 0041-624X
Publisher: Elsevier BV
DOI: 10.1016/j.ultras.2022.106705

Aggregation of Indistinguishability Fuzzy Relations Revisited

Author(s): Juan-De-Dios González-Hedström, Juan-José Miñana, Oscar Valero
Published in: Mathematics, Issue 9/12, 2021, Page(s) 1441, ISSN 2227-7390
Publisher: MDPI
DOI: 10.3390/math9121441

Semantic Segmentation in Underwater Ship Inspections: Benchmark and Data Set

Author(s): Waszak, Maryna, Alexandre Cardaillac, Brian Elvesæter, Frode Rødølen, and Martin Ludvigsen.
Published in: IEEE Journal of Oceanic Engineering, 2022, Page(s) 1-12, ISSN 0364-9059
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/joe.2022.3219129

A DCNN-based arbitrarily-oriented object detector with application to quality control and inspection

Author(s): Kai Yao; Alberto Ortiz; Francisco Bonnin-Pascual
Published in: Computers in Industry, Issue 01663615, 2022, Page(s) article nr. 103737, ISSN 0166-3615
Publisher: Elsevier BV
DOI: 10.1016/j.compind.2022.103737

Ocean Robotics in Motion: Applying BUGWRIGHT2 Top-down Regulatory-model to the Aquaculture Sector

Author(s): Johansson, Tafsir & Pastra, Aspasia & Dimitrios, Dalaklis
Published in: Journal of Ocean Technology, Issue bi-annual, 2023, ISSN 1718-3200
Publisher: Fisheries and Marine Institute of Memorial University of Newfoundland

Inspecting Ships Autonomously under Port State Jurisdiction: Towards Sustainability and Biodiversity in the EU

Author(s): Ríán Derrig
Published in: The International Journal of Marine and Coastal Law, 2022, Page(s) 1–23, ISSN 0927-3522
Publisher: Martinus Nijhoff Publishers
DOI: 10.1163/15718085-bja10097

CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications

Author(s): M. Scheiber et al.
Published in: EEE Robotics and Automation Letters, Issue vol. 7, no. 4, 2022, Page(s) pp. 11283-11290, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3196117

LiODOM: Adaptive local mapping for robust LiDAR-only odometry

Author(s): Emilio Garcia-Fidalgo; Joan P. Company-Corcoles; Francisco Bonnin-Pascual; Alberto Ortiz
Published in: Robotics and Autonomous Systems, Issue 09218890, 2022, Page(s) article nr. 104226, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2022.104226

Building a trust ecosystem for remote inspection technologies in ship hull inspections

Author(s): Aspasia Pastra, Nathalie Schauffel, Thomas Ellwart & Tafsir Johansson
Published in: Law, Innovation and Technology, Issue Volume 14, Issue 2, 2022, Page(s) pp. 474-497, ISSN 1757-9961
Publisher: Taylor & Francis
DOI: 10.1080/17579961.2022.2113666

MUSSOL: A Micro-Uas to Survey Ship Cargo hOLds

Author(s): Francisco Bonnin-Pascual, Emilio Garcia-Fidalgo, Joan P. Company-Corcoles, Alberto Ortiz
Published in: Remote Sensing, Issue 13/17, 2021, Page(s) 3419, ISSN 2072-4292
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/rs13173419

Appearance-based loop closure detection combining lines and learned points for low-textured environments

Author(s): Joan P. COMPANY-CORCOLES, Emilio GARCIA-FIDALGO, Alberto ORTIZ
Published in: Autonomous Robots, Issue not available yet, 2022, Page(s) not available yet, ISSN 1573-7527
Publisher: Springer
DOI: 10.1007/s10514-021-10032-7

A Weakly-Supervised Semantic Segmentation Approach Based on the Centroid Loss: Application to Quality Control and Inspection

Author(s): Kai YAO, Alberto ORTIZ, Francisco BONNIN-PASCUAL
Published in: IEEE Access, Issue vol. 9, 2021, Page(s) 69010-69026, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3077847

Indistinguishability Operators via Yager t-norms and Their Applications to Swarm Multi-Agent Task Allocation

Author(s): Maria-del-Mar Bibiloni-Femenias, José Guerrero, Juan-José Miñana, Oscar Valero
Published in: Mathematics, Issue 9/2, 2021, Page(s) 190, ISSN 2227-7390
Publisher: MDPI
DOI: 10.3390/math9020190

Thesis and dissertations (12)

Novel Deep Learning-based Identification Methods for Accurate, Orientation-aware Visual Detection with Application to Inspection and Quality Control

Author(s): Kai YAO
Published in: Doctoral Programme in Information and Communications Technology, University of the Balearic Islands, 2022, Page(s) 197 pp.
Publisher: TDX

CNN-based Detection of Bio-Fouling in Vessel Hulls (Spanish: Detección de bio-incrustaciones en cascos de barcos mediante redes convolucionales)

Author(s): Miquel SERRA-PERELLO
Published in: Master's Degree in Intelligent Systems, University of the Balearic Islands, Issue Supervisor: Alberto ORTIZ, 2021
Publisher: UIB

An Approach for the Exploration of Unknown Environments: Multi-platform Validation and Integration on a Dog-like Robot

Author(s): Antonio TAULER-ROSSELLO
Published in: Master’s Degree in Intelligent Systems, University of the Balearic Islands, Issue Supervisors: Alberto ORTIZ, Emilio GARCIA-FIDALGO, 2023, Page(s) 20 pg
Publisher: UIB

Application of convolutional neural networks to visual scene recognition (Spanish: Aplicación de redes neuronales convolucionales al reconocimiento visual de escenas)

Author(s): Nazarie CERLAT
Published in: Master’s Degree in Intelligent Systems, University of the Balearic Islands, Issue Supervisors: Emilio GARCIA-FIDALGO, Alberto ORTIZ, 2023, Page(s) 20 pg
Publisher: UIB

Towards Robust Visual SLAM in Low-Textured Environments

Author(s): Juan Jose COMPANY-CORCOLES
Published in: Doctoral Programme in Information and Communication Technologies, University of the Balearic Islands, Issue Supervisors: Alberto ORTIZ, Emilio GARCIA-FIDALGO, 2023
Publisher: UIB

Planning Problems in a Multi-Tethered-Robot System

Author(s): Xiao Peng
Published in: Doctoral Programme in Computer Sciences, Issue Supervisors: Olivier Simonin, Christine Solnon, 2024
Publisher: INSA Lyon

Whole-body Manipulation using Reinforcement Learning

Author(s): Minahil RAZA
Published in: Master’s Degree in Intelligent Systems, University of the Balearic Islands, Issue Supervisor: Alberto ORTIZ, 2023, Page(s) 20 pg
Publisher: University of Helsinki

Control of trajectory for mobile robots within the ROS framework (Spanish: Control de trayectoria para robots móviles en entorno ROS)

Author(s): Javier COVAS-LLOMPART
Published in: Degree project, Degree in Eng. Industrial Electronics and Automation, University of the Balearic Islands, Issue Supervisors: Francisco BONNIN-PASCUAL, Alberto ORTIZ, 2022, Page(s) -
Publisher: UIB

Experimental evaluation of various superpixel algorithms for visual scene recognition (Spanish: Evaluación experimental de diversos algoritmos de superpíxeles para el reconocimiento visual de escenas)

Author(s): Juan Jose NOVO-ARBONA
Published in: Master's Degree in Industrial Engineering, University of the Balearic Islands, Issue Supervisors: Emilio GARCIA-FIDALGO, Alberto ORTIZ, 2021, Page(s) 81 pg
Publisher: UIB

A Comparative Study of YOLOv5 and YOLOv7 Modifications for Keypoint Detection on a Custom Dataset

Author(s): Amarachi CHETACHI ANYIM
Published in: Master’s Degree in Intelligent Systems, University of the Balearic Islands, Issue Supervisor: Alberto ORTIZ, 2023, Page(s) 20 pg
Publisher: University of Helsinki

Towards autonomous underwater navigation and perception for end-to-end ship hull inspection

Author(s): Cardaillac, Alexandre
Published in: 2024, ISBN 978-82-326-7617-0
Publisher: NTNU

Incorporation of Fuzzy Metrics in the RANSAC Algorithm: Implementation and Performance Analysis (Spanish: Incorporación de Métricas Difusas en el Algoritmo RANSAC: Implementación y Análisis de Comportamiento)

Author(s): Esau ORTIZ-TORIBIO
Published in: Master’s Degree in Industrial Engineering, University of the Baleric Islands, Issue Supervisors: Alberto ORTIZ, Oscar VALERO, Juan Jose MIÑANA, 2021, Page(s) -
Publisher: -

Conference proceedings (46)

UWB Nodes Auto-Calibration through a Bias-Aware Two-Stage Methodology

Author(s): Alberto ORTIZ, Miquel SERRA-PERELLO, Antoni TAULER-ROSSELLO, Francisco BONNIN-PASCUAL, Emilio GARCIA-FIDALGO
Published in: IEEE Symposium on Sensor Data Fusion / International Conference on Multisensor Fusion and Integration, Issue annual, 2023, ISBN 979-8-3503-8259-4
Publisher: IEEE
DOI: 10.1109/sdf-mfi59545.2023.10361341

Why There is No Definition of Trust: A Systems Approach With a Metamodel Representation

Author(s): P. Schroepfer and C. Pradalier,
Published in: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023, Page(s) 1245-1251, ISBN 979-8-3503-3670-2
Publisher: IEEE
DOI: 10.1109/ro-man57019.2023.10309503

Path Following for Underwater Inspection Allowing Manoeuvring Constraints.

Author(s): Cardaillac, A., Ludvigsen, M.
Published in: IAS 2022 (Internation Conference on Intelligent Autonomous Systems): Intelligent Autonomous Systems 17, Issue Lecture Notes in Networks and Systems, vol 577, 2023, Page(s) pp 867–880, ISBN 978-3-031-22216-0
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-22216-0_58

Centroid Loss for Weakly-Supervised Semantic Segmentation in a Quality-Control Application

Author(s): Kai Yao, Alberto Ortiz, Francisco Bonnin-Pascual
Published in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Issue annual, 2020, Page(s) 1239-1242, ISBN 978-1-7281-8956-7
Publisher: IEEE
DOI: 10.1109/etfa46521.2020.9212160

Towards Robust Loop Closure Detection in Weakly Textured Environments using Points and Lines

Author(s): Joan P. Company-Corcoles, Emilio Garcia-Fidalgo, Alberto Ortiz
Published in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Issue annual, 2020, Page(s) 1313-1316, ISBN 978-1-7281-8956-7
Publisher: IEEE
DOI: 10.1109/etfa46521.2020.9212133

Solving the Non-Crossing MAPF with CP

Author(s): X. Peng, C. Solnon, O. Simonin
Published in: 27th International Conference on Principles and Practice of Constraint Programming (CP2021), 2021, Page(s) 45:1--45:16, ISBN 978-3-95977-211-2
Publisher: Schloss Dagstuhl -- Leibniz-Zentrum
DOI: 10.4230/lipics.cp.2021.45

Example Process for Designing a Hybrid User Interface for a Multi-Robot System

Author(s): Gründling, Jan P.; Schauffel, Nathalie; Oehrl, Simon; Pape, Sebastian; Kuhlen, Torsten W.; Ellwart, Thomas; Weyers, Benjamin
Published in: 2023 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), 2023
Publisher: IEEE
DOI: 10.1109/vrw58643.2023.00124

Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations

Author(s): M. Scheiber, A. Cardaillac, C. Brommer, S. Weiss and M. Ludvigsen
Published in: OCEANS 2022, Hampton Roads, Issue annual, 2022, Page(s) pp1-5, ISBN 978-1-6654-6810-7
Publisher: IEEE
DOI: 10.1109/oceans47191.2022.9977298

"Trust and Acceptance of Multi-Robot Systems ""in the Wild"". A Roadmap exemplified within the EU-Project BugWright2"

Author(s): Schroepfer, Pete; Schauffel, Nathalie; Gründling, Jan; Ellwart, Thomas; Weyers, Benjamin; Pradalier, Cédric
Published in: SCRITA 2023 Workshop Proceedings, 32nd IEEE International Conference on Robot & Human Interactive Communication, Issue SCRITA/2023/02, 2023
Publisher: SCRITA
DOI: 10.48550/arxiv.2312.08047

Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points

Author(s): Julian Blueml; Alessandro Fornasier; Stephan Weiss
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561455

Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective

Author(s): Roland Jung; Stephan Weiss
Published in: IEEE Robotics and Automation Letters, Issue Volume: 6, Issue: 4, 2021, Page(s) Pages: 6891 - 6898, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3096165

Multi-Robot Weighted Coverage Path Planning: a Solution based on the DARP Algorithm

Author(s): Olivier Idir; Alessandro Renzaglia
Published in: 2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV), Issue yearly, 2022, Page(s) pp 98-104, ISBN 978-1-6654-7687-4
Publisher: IEEE
DOI: 10.1109/icarcv57592.2022.10004273

Towards a Harmonized Framework for Vessel Inspection via Remote Techniques

Author(s): Pastra, Aspasia & Johansson, Tafsir
Published in: 32nd European Safety and Reliability Conference (ESREL 2022), 2022
Publisher: Research Publishing
DOI: 10.3850/978-981-18-5183-4_j03-07-636-c

On the standard fuzzy metric: generalizations and application to model estimation

Author(s): Juan Jose MIÑANA, Alberto ORTIZ, Esau ORTIZ, Óscar VALERO
Published in: Proceedings of the Conference of the Spanish Association for Artificial Intelligence (CAEPIA 2021), 2021, Page(s) 311-316, ISBN 978-84-09-30514-8
Publisher: AEPIA
DOI: 10.5281/zenodo.4964782

Accurate Gaussian-Process-Based Distance Fields With Applications to Echolocation and Mapping

Author(s): C. Le Gentil, O. -L. Ouabi, L. Wu, C. Pradalier and T. Vidal-Calleja
Published in: IEEE Robotics and Automation Letters, Issue vol. 9, no. 2, 2024, Page(s) 1365-1372
Publisher: IEEE
DOI: 10.1109/lra.2023.3346759

Revisiting multi-GNSS Navigation for UAVs -- An Equivariant Filtering Approach

Author(s): Scheiber, Martin; Fornasier, Alessandro; Brommer, Christian; Weiss, Stephan
Published in: 2023 21st International Conference on Advanced Rbotics (ICAR), 2024, Page(s) 134-141, ISBN 979-8-3503-4229-1
Publisher: IEEE
DOI: 10.1109/icar58858.2023.10406552

LiPo-LCD: Combining Lines and Points for Appearance-based Loop Closure Detection

Author(s): Joan P. COMPANY, Emilio GARCIA-FIDALGO, Alberto ORTIZ
Published in: British Machine Vision Conference (BMVC), 2020
Publisher: British Machine Vision Conference (BMVC)
DOI: 10.5281/zenodo.4262960

Marine Snow Detection for Real Time Applications,

Author(s): A. Cardaillac and M. Ludvigsen
Published in: 2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2022, Page(s) pp. 1-6, ISBN 978-1-6654-1689-4
Publisher: IEEE
DOI: 10.1109/auv53081.2022.9965895

Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases

Author(s): Alessandro Fornasier, Yonhon Ng, Robert Mahony, Stephan Weiss
Published in: International Conference on Robotics and Automation, 2022, Issue vol.7, no.4,, 2022, Page(s) pp.12118-12125, ISBN 978-1-7281-9681-7
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811778

Evaluation of a Skill-based Control Architecture for a Visual Inspection-oriented Aerial Platform

Author(s): Emilio Garcia-Fidalgo, Francisco Bonnin-Pascual, Joan P. Company-Corcoles, Alberto Ortiz
Published in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Issue annual, 2020, Page(s) 1503-1510, ISBN 978-1-7281-8956-7
Publisher: IEEE
DOI: 10.1109/etfa46521.2020.9212103

Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements

Author(s): Eren Allak; Alessandro Fornasier; Stephan Weiss
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9340833

Filter-Based Online System-Parameter Estimation for Multicopter UAVs

Author(s): Christoph Böhm, Martin Scheiber, Stephan Weiss
Published in: International Conference on Robots: Science and Systems, Issue RSS 2021 XVII 087, 2021
Publisher: INPROCEEDINGS Bohm
DOI: 10.15607/rss.2021.xvii.087

Mensch, Softwareagenten und Roboter in hybriden Teams: Auswirkungen auf Arbeit, Sicherheit und Gesundheit.

Author(s): Ellwart, Thomas
Published in: 21. Workshop Psychologie der Arbeitssicherheit: Gewalt in der Arbeit verhüten und die Zukunft gesundheitsförderlich gestalten!, 2020, Page(s) 25–40, ISBN 978-3-89334-640-0
Publisher: Asanger Verlag GmbH Kröning

Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration

Author(s): A. Fornasier, Y. Ng, C. Brommer, C. Böhm, R. Mahony and S. Weiss
Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 4, 2022, Page(s) pp. 12118-12125, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3210867

Application of Maneuvering Based Control for Autonomous Inspection of Aquaculture Net Pens

Author(s): Cardaillac A., Amundsen H. B., Kelasidi E., Ludvigsen M.
Published in: 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), Issue 44-51, 2023, ISBN 979-8-3503-0285-1
Publisher: IEEE
DOI: 10.1109/acirs58671.2023.10239708

Demo: In-flight Localisation of Micro-UAVs using Ultra-Wide Band

Author(s): D'Alu, Stéphane; Iova, Oana; Simonin, Olivier; Rivano, Hervé
Published in: EWSN 2020 - International Conference on Embedded Wireless Systems and Networks, Feb 2020, Lyon, France, Issue 3, 2020, Page(s) Pages 186–188
Publisher: EWSN

Inspection of Ship Hulls with Multiple UAVs: Exploiting Prior Information for Online Path Planning

Author(s): Pasquale Grippa, Alessandro Renzaglia, Antoine Rochebois, Melanie Schranz and Olivier Simonin
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Page(s) 13777-13784, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981357

Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection

Author(s): Bryan Starbuck; Alessandro Fornasier; Stephan Weiss; Cédric Pradalier
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2020
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561837

On the Use of Modular Indistinguishability Operators in RBFNN-like Models

Author(s): Alberto ORTIZ, Oscar VALERO, Juan Jose MINANA
Published in: International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems (IPMU), Issue in press, to be publlished in Lecture Notes in Networks and Systems, 2021
Publisher: Springer

Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes

Author(s): Paul Ladinig; Bernhard Rinner; Stephan Weiss
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561702

Combined Grid and Feature-based Mapping of Metal Structures with Ultrasonic Guided Waves

Author(s): Ouabi, Othmane-Latif; POMAREDE, Pascal; Zeghidour, Neil; Geist, Matthieu; Ridani, Ayoub; Declercq, Nico,; Pradalier, Cédric
Published in: 2022 International Conference on Robotics and Automation (ICRA), Issue yearly, 2022, ISBN 978-1-7281-9681-7
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811581

Scalable and Modular Ultra-Wideband Aided Inertial Navigation

Author(s): Roland Jung, Stephan Weiss
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue yearly, 2022, Page(s) 2423-2430, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981937

On the standard fuzzy metric: generalizations and application to model estimation

Author(s): Juan José Miñana; Alberto Ortiz; Esaú Ortiz; Óscar Valero
Published in: Spanish Congress on Fuzzy Logic and Technologies (ESTYLF), Issue 4, 2021, Page(s) 311-316, ISBN 978-84-09-30514-8
Publisher: Los autores
DOI: 10.5281/zenodo.4964783

Polygonal Shapes Reconstruction from Acoustic Echoes Using a Mobile Sensor and Beamforming

Author(s): Ouabi, Othmane-Latif; Yi, Jiawei; Zeghidour, Neil; Declercq, Nico; Geist, Matthieu; Pradalier, Cédric
Published in: 2022 30th European Signal Processing Conference (EUSIPCO), 2022, Page(s) pp. 1507-1511, ISBN 978-90-827970-9-1
Publisher: IEEE
DOI: 10.23919/eusipco55093.2022.9909951

An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System

Author(s): Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Martin Scheiber, Andrew Tridgell, Robert Mahony, Stephan Weiss
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE

VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms

Author(s): Alessandro Fornasier; Martin Scheiber; Alexander Hardt-Stremayr; Roland Jung; Stephan Weiss
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561382

Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation

Author(s): Roland Jung; Stephan Weiss
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561203

Ruled Path Planning Framework for Safe and Dynamic Navigation

Author(s): Alexandre Cardaillac; Martin Ludvigsen
Published in: Proceedings: OCEANS 2021: San Diego – Porto, 2021
Publisher: IEEE
DOI: 10.23919/oceans44145.2021.9705699

Early User Feedback on a VR Interface Draft for Interaction with a Multi-Robot System in Ship Hull Inspection

Author(s): Jan Philipp Gründling; Benjamin Weyers
Published in: VRST 2023, Issue 29, 2023, Page(s) 1-2, ISBN 9798400703287
Publisher: The Association for Computing Machinery
DOI: 10.1145/3611659.3617228

Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles

Author(s): Martin Scheiber; Jeff Delaune; Stephan Weiss; Roland Brockers
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2020, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560913

Navigating Real-World Complexity: A Multi-Medium System for Heterogeneous Robot Teams and Multi-Stakeholder Human-Robot Interaction

Author(s): Pete Schroepfer, Jan P. Gründling, Nathalie Schauffel, Simon Oehrl, Sebastian Pape, Torsten W. Kuhlen, Benjamin Weyers, Thomas Ellwart, and Cédric Pradalier
Published in: 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI '24), 2024, Page(s) 630–638
Publisher: Association for Computing Machinery
DOI: 10.1145/3610977.3634932

Hypothesis Scoring and Model Refinement Strategies for FM-based RANSAC

Author(s): Alberto Ortiz; Esaú Ortiz; Juan José Miñana; Óscar Valero
Published in: Spanish Congress on Fuzzy Logic and Technologies (ESTYLF), Issue 4, 2021, Page(s) 304, ISBN 978-84-09-30514-8
Publisher: Los autores
DOI: 10.5281/zenodo.4964749

Addressing Multi-class Classification Tasks by means of RBFNN-like Models using Modular Indistinguishability Operators

Author(s): Alberto ORTIZ, Oscar VALERO
Published in: International Conference on Intelligent and Fuzzy Systems (INFUS), Issue in press, to be published in Lecture Notes in Networks and Systems, 2022
Publisher: Springer

Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots

Author(s): E. Allak, A. Barrau, R. Jung, J. Steinbrener and S. Weiss
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue yearly, 2022, Page(s) 8544-8551, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9982117

A Communication Interface for Multilayer Cloud Computing Architecture for Low Cost Underwater Vehicles

Author(s): AlexandreCardaillac MartinLudvigsen
Published in: Proceedings: 11th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2022., 2022, Page(s) vol. 55, no. 14, pp. 77–82
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2022.07.586

On-plate localization and mapping for an inspection robot using ultrasonic guided waves: a proof of concept

Author(s): Pradalier, Cedric; Ouabi, Othmane-Latif; POMAREDE, Pascal; Steckel, Jan
Published in: IROS 2020, Oct 2020, Las-Vegas (Virtual), United States, Issue 1, 2020
Publisher: IEEE Institute of Electronical and Electronics Engineers
DOI: 10.1109/IROS45743.2020.9340936

Other (6)

Humans, software agents, and robots in hybrid teams. Effects on work, safety, and health

Author(s): Thomas Ellwart, Nathalie Schauffel
Published in: PsychArchives, 2021
Publisher: PsychArchives
DOI: 10.23668/psycharchives.5310

BUGWRIGHT2 project

Author(s): Alberto ORTIZ
Published in: 2020
Publisher: UIB

Human-Robot Teams. Spotlight on Psychological Acceptance Factors exemplified within the BUGWRIGHT2 Project

Author(s): Nathalie Schauffel, Jan Gründling, Benjamin Ewerz, Benjamin Weyers, Thomas Ellwart
Published in: PsychArchives, 2022
Publisher: PsychArchives
DOI: 10.23668/psycharchives.5584

Dissemination video on the activities of the UIB team related with the ROBINS project (in Catalan)

Author(s): UIB communication services
Published in: UIB Youtube Channel (https://www.youtube.com/playlist?list=PLnXFIHWLWQXGeqISIwHp3jgQU5pG8TIKH), 2021
Publisher: UIB

INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators

Author(s): Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Weiss
Published in: arXiv.org Robotics, 2022
Publisher: Cornell University
DOI: 10.48550/arxiv.2210.09114

Smart Ports and Robotic Systems: Navigating the Waves of Techno-Regulation and Governance

Author(s): Tafsir Matin Johansson, Dimitrios Dalaklis, Jonatan Echebarria Fernández, Aspasia Pastra, Mitchell Lennan
Published in: Smart Ports and Robotic Systems, 2023, ISBN 978-3-031-25296-9
Publisher: Palgrave Macmillan Cham
DOI: 10.1007/978-3-031-25296-9

Book chapters (6)

Towards an International Guideline for RIT End-Users: Spearing Through Vessel Inspection and Hull Cleaning Techno-Regulatory Elements.

Author(s): Pastra, A. et al.
Published in: Johansson, T.M., Dalaklis, D., Fernández, J.E., Pastra, A., Lennan, M. (eds) Smart Ports and Robotic Systems ., Issue Studies in National Governance and Emerging Technologies, 2023, Page(s) pp 387–413, ISBN 978-3-031-25296-9
Publisher: Palgrave Macmillan, Cham
DOI: 10.1007/978-3-031-25296-9_20

On the Use of Fuzzy Metrics for Robust Model Estimation: A RANSAC-Based Approach

Author(s): Alberto Ortiz, Esaú Ortiz, Juan José Miñana, Óscar Valero
Published in: Advances in Computational Intelligence - 16th International Work-Conference on Artificial Neural Networks, IWANN 2021, Virtual Event, June 16–18, 2021, Proceedings, Part I, Issue 12861, 2021, Page(s) 165-177, ISBN 978-3-030-85029-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-85030-2_14

Hypothesis Scoring and Model Refinement Strategies for FM-Based RANSAC

Author(s): Alberto Ortiz, Esaú Ortiz, Juan José Miñana, Óscar Valero
Published in: Advances in Artificial Intelligence - 19th Conference of the Spanish Association for Artificial Intelligence, CAEPIA 2020/2021, Málaga, Spain, September 22–24, 2021, Proceedings, Issue 12882, 2021, Page(s) 96-105, ISBN 978-3-030-85712-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-85713-4_10

Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves

Author(s): Othmane-Latif Ouabi, Pascal Pomarede, Matthieu Geist, Nico F. Declercq, Cédric Pradalier
Published in: Experimental Robotics - The 17th International Symposium, Issue 19, 2021, Page(s) 345-353, ISBN 978-3-030-71150-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-71151-1_31

Lessons Learned from Maritime Nations Leading Autonomous Operations and Remote Inspection Techniques.

Author(s): Pastra, A. et al.
Published in: Johansson, T.M., Dalaklis, D., Fernández, J.E., Pastra, A., Lennan, M. (eds) Smart Ports and Robotic Systems ., 2023, Page(s) pp 363–386, ISBN 978-3-031-25296-9
Publisher: Palgrave Macmillan, Cham
DOI: 10.1007/978-3-031-25296-9_19

Navigation for Inspection

Author(s): Alberto Ortiz, Javier Antich, Francisco Bonnin-Pascual
Published in: Encyclopedia of Robotics, 2020, Page(s) 1-16, ISBN 978-3-642-41610-1
Publisher: Springer Berlin Heidelberg
DOI: 10.1007/978-3-642-41610-1_87-1

Monographic books (1)

Smart Ports and Robotic Systems: Navigating the Waves of Techno-Regulation and Governance

Author(s): Tafsir Matin Johansson, Dimitrios Dalaklis, Jonatan Echebarria Fernández, Aspasia Pastra, Mitchell Lennan
Published in: Smart Ports and Robotic Systems, Issue 4, 2023
Publisher: Palgrave Macmillan