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AEROARMS SIGNED

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

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

AEROARMS project word cloud

Explore the words cloud of the AEROARMS project. It provides you a very rough idea of what is the project "AEROARMS" about.

maintenance grab paid telemanipulation permanently structure manipulators ndt technologies dock gas aerial excellent dangerous regulations sensors atex industrial exert haptic operation movable 23 permanent coordinated certification robotics plants forces aeroarms scenarios special light receive mobile oil installation rpas helicopter accurate operate manipulate constrained payload validation combines arm proposes inspection perform eye components perception validated robotic interactions force remote multiple successful manipulation endurance installed planning platforms fly motion trl5 2014 flight leadership dexterous camera robots 1 ict first emergence deploy arms autonomous

Project "AEROARMS" data sheet

The following table provides information about the project.

Coordinator	UNIVERSIDAD DE SEVILLA Organization address address: CALLE S. FERNANDO 4 city: SEVILLA postcode: 41004 website: www.us.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Spain [ES]
Project website	http://aeroarms-project.eu
Total cost	5˙719˙602 €
EC max contribution	4˙722˙852 € (83%)
Programme	1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
Code Call	H2020-ICT-2014-1
Funding Scheme	RIA
Starting year	2015
Duration (year-month-day)	from 2015-06-01 to 2019-08-31

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	UNIVERSIDAD DE SEVILLA UNIVERSIDAD DE SEVILLA Organization address address: CALLE S. FERNANDO 4 city: SEVILLA postcode: 41004 website: www.us.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (SEVILLA)	coordinator	699˙500.00
2	DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV Organization address address: Linder Hoehe city: KOELN postcode: 51147 website: www.dlr.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (KOELN)	participant	851˙250.00
3	FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL Organization address address: CALLE WILBUR Y ORVILLE WRIGHT NUM 17, PARQUE AEROP city: LA RINCONADA SEVILLA postcode: 41039 website: www.catec.aero contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (LA RINCONADA SEVILLA)	participant	693˙400.00
4	CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS Organization address address: RUE MICHEL ANGE 3 city: PARIS postcode: 75794 website: www.cnrs.fr contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (PARIS)	participant	583˙721.00
5	UNIVERSITAT POLITECNICA DE CATALUNYA UNIVERSITAT POLITECNICA DE CATALUNYA Organization address address: CALLE JORDI GIRONA 31 city: BARCELONA postcode: 8034 website: www.upc.edu contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (BARCELONA)	participant	563˙881.00
6	C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO Organization address address: VIA CLAUDIO 21 city: NAPOLI postcode: 80125 website: www.create.unina.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (NAPOLI)	participant	561˙500.00
7	TUV NORD SYSTEMS GMBH & CO KG TUV NORD SYSTEMS GMBH & CO KG Organization address address: GROSSE BAHNSTRASSE 31 city: Hamburg postcode: 22525 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (Hamburg)	participant	473˙375.00
8	ELEKTRA SOLAR GMBH ELEKTRA SOLAR GMBH Organization address address: GEWERBESTRASSE NORD 23 city: HURLACH postcode: 86857 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (HURLACH)	participant	296˙225.00
9	GE INSPECTION ROBOTICS AG GE INSPECTION ROBOTICS AG Organization address address: TECHNOPARKSTRASSE 1 city: ZURICH postcode: 8005 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	CH (ZURICH)	participant	0.00
10	SENSIMA INSPECTION SARL SENSIMA INSPECTION SARL Organization address address: AVE MONT BLANC 31 city: GLAND postcode: 1196 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	CH (GLAND)	participant	0.00

Map

Project objective

AEROARMS proposes the development of the first aerial robotic system with multiple arms and advanced manipulation capabilities to be applied in industrial inspection and maintenance (I&M). The objectives are:

1. R&D on aerial manipulation to perform I&M. This includes: 1.1 Based on previous partner results, developing systems which are able to grab and dock with one or more arms and perform dexterous accurate manipulation with another arm. Also develop helicopter-based aerial manipulators, with greater payload and flight endurance, and with a dexterous arm to provide advanced manipulation capabilities by means of force interactions and hand-eye coordination using a movable camera with another light arm; 1.2 New methods and technologies for platforms which can fly and manipulate with the coordinated motion of the arms addressing constrained scenarios in which it is dangerous to use the helicopter and where it is not possible to grab to perform I&M operation.

2. Validation of 1.1 in two applications: 1) Installation and maintenance of permanent NDT sensors on remote components; 2) Deploy and maintain a mobile robotic system permanently installed on a remote structure.

To achieve the above objectives AEROARMS will develop the first aerial telemanipulation system with advanced haptic capabilities able to exert significant forces with an industrial robotic arm, as well as autonomous control, perception and planning capabilities. Special attention will be paid to the design and system development in order to receive future certification taking into account ATEX and RPAS regulations.

AEROARMS is strongly related to ICT 23–2014: Robotics enabling the emergence of aerial robots, with manipulation capabilities to operate in industrial I&M, which will be validated in in oil and gas plants to reach TRL5.

The consortium combines excellent capabilities in aerial robotics with leadership in aerial manipulation and key partners for the successful application of I&M.

Deliverables

List of deliverables.
Project final report	Documents, reports	2020-01-14 16:23:35
Integration for inspection and maintenance applications	Documents, reports	2020-01-14 16:23:38
Final Dissemination and Communication Report	Documents, reports	2020-01-14 16:23:35
Map-based 6DoF localization of aerial vehicle and crawler	Documents, reports	2020-01-14 16:41:22
Planning and reactivity validation	Documents, reports	2020-01-14 16:41:19
Final Data Management Plan	Open Research Data Pilot	2020-01-14 16:23:36
Indoor integration	Documents, reports	2020-01-14 16:41:24
Validation of control methods	Documents, reports	2020-01-14 16:41:23
Project Web site	Websites, patent fillings, videos etc.	2019-07-23 15:33:26
Reactivity methods and technologies for safe operation	Documents, reports	2019-07-23 15:33:24
Behavioural coordination of multi-arm-equipped aerial robots	Documents, reports	2019-07-23 15:33:25
Fully actuated aerial platform	Documents, reports	2019-07-23 15:33:25
Models and control of flying robots multiple arms	Documents, reports	2019-07-23 15:33:25
Precise 3D mapping using aerial robots	Documents, reports	2019-07-23 15:33:24
Precise target recognition and tracking for accurate grabbing and manipulation	Documents, reports	2019-07-23 15:33:25
Hand-eye coordination	Documents, reports	2019-07-23 15:33:25
First Dissemination and Communication Report	Documents, reports	2019-07-23 15:33:25
Force feedback aerial telemanipulation	Documents, reports	2019-07-23 15:33:25
Aerial telemanipulation simulator	Documents, reports	2019-07-23 15:33:25
Planning methods for aerial robots with manipulator arms	Documents, reports	2019-07-23 15:33:24
Validation of aerial telemanipulation	Documents, reports	2019-07-23 15:33:24
Local planning for human-in-the-loop aerial telemanipulation	Documents, reports	2019-07-23 15:33:24
First Data Management Plan	Documents, reports	2019-07-23 15:33:24

Take a look to the deliverables list in detail: detailed list of AEROARMS deliverables.

Publications

List of publications.
year	authors and title	journal	last update
2018	Kevin Molloy, Laurent Denarie, Marc Vaisset, Thierry SimÃ©on, Juan CortÃ©s Simultaneous system design and path planning: A sampling-based algorithm published pages: 375-387, ISSN: 0278-3649, DOI: 10.1177/0278364918783054	The International Journal of Robotics Research 38/2-3	2019-11-07
2018	Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Quentin Delamare, Hyunsoo Yang, Domenico Prattichizzo, Paolo Robuffo Giordano, Dongjun Lee, Antonio Franchi The Tele-MAGMaS: An Aerial-Ground Comanipulator System published pages: 66-75, ISSN: 1070-9932, DOI: 10.1109/mra.2018.2871344	IEEE Robotics & Automation Magazine 25/4	2019-11-07
2018	Victor Manuel Arellano-Quintana, Emmanuel Alejandro Merchan-Cruz, Antonio Franchi A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors published pages: 68155-68168, ISSN: 2169-3536, DOI: 10.1109/access.2018.2879636	IEEE Access 6	2019-11-07
2018	Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, Antoni Grau Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach published pages: 4243, ISSN: 1424-8220, DOI: 10.3390/s18124243	Sensors 18/12	2019-10-29
2020	Enrica Rossi, Marco Tognon, Ruggero Carli, Luca Schenato, Juan Cortes, Antonio Franchi Cooperative Aerial Load Transportation via Sampled Communication published pages: 277-282, ISSN: 2475-1456, DOI: 10.1109/LCSYS.2019.2924413	IEEE Control Systems Letters 4/2	2019-10-29
2018	Burak YÃ¼ksel, Cristian Secchi, Heinrich H. BÃ¼lthoff, Antonio Franchi Aerial physical interaction via IDA-PBC published pages: 403-421, ISSN: 0278-3649, DOI: 10.1177/0278364919835605	The International Journal of Robotics Research 38/4	2019-10-29
2018	Rebekka Leisinger Applications and risk analysis of drones assisting in inspections of industrial facilities published pages: , ISSN: , DOI:		2019-08-05
2018	Francesco Pierri, Giuseppe Muscio, Fabrizio Caccavale An adaptive hierarchical control for aerial manipulators published pages: 1527-1550, ISSN: 0263-5747, DOI: 10.1017/S0263574718000553	Robotica 36/10	2019-07-23
2018	Marco Tognon, Antonio Franchi Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control published pages: 2277-2282, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2802544	IEEE Robotics and Automation Letters 3/3	2019-07-23
2016	M. Tognon, S. S. Dash, and A. Franchi Observer-based control of posi- tion and tension for an aerial robot tethered to a moving platform published pages: , ISSN: 2377-3766, DOI:	IEEE Robotics and Automation Letters vol. 1, no. 2, pp. 732â€“737	2019-07-23
2018	Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity published pages: 2577-2583, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2803811	IEEE Robotics and Automation Letters 3/3	2019-07-23
2016	Gerard Sanroma, Adrian Penate-Sanchez, RenÃ© AlquÃ©zar, Francesc Serratosa, Francesc Moreno-Noguer, Juan Andrade-Cetto, Miguel Ãngel GonzÃ¡lez Ballester MSClique: Multiple Structure Discovery through the Maximum Weighted Clique Problem published pages: e0145846, ISSN: 1932-6203, DOI: 10.1371/journal.pone.0145846	PLOS ONE 11/1	2019-07-23
2018	Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force published pages: 534-541, ISSN: 1552-3098, DOI: 10.1109/TRO.2017.2786734	IEEE Transactions on Robotics 34/2	2019-07-23
2017	Arturo Torres-GonzÃ¡lez, Jose Ramiro MartÃnez-de Dios, Anibal Ollero Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation published pages: 903, ISSN: 1424-8220, DOI: 10.3390/s17040903	Sensors 17/4	2019-07-23
2017	C. Nainer, M. Furci, A. Seuret, L. Zaccarian, A. Franchi 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. published pages: 12698-12703, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.2260	IFAC-PapersOnLine 50/1	2019-07-23
2018	G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments published pages: 1406-1413, ISSN: 1063-6536, DOI: 10.1109/tcst.2017.2716905	IEEE Transactions on Control Systems Technology 26/4	2019-07-23
2017	JosÃ© MartÃnez-de Dios, Alberto de San BernabÃ©, Antidio Viguria, Arturo Torres-GonzÃ¡lez, Anibal Ollero Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation published pages: 336, ISSN: 2072-4292, DOI: 10.3390/rs9040336	Remote Sensing 9/4	2019-07-23
2016	Tognon, Marco; Rossi, Enrica; Franchi, Antonio; Testa, Andrea Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot published pages: , ISSN: , DOI:	2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea 3	2019-07-23
2018	Michael Villamizar Vergel, Juan Andrade-Cetto, Alberto Sanfeliu, Francesc Moreno-Noguer Boosted Random Ferns for Object Detection published pages: 272-288, ISSN: 0162-8828, DOI: 10.1109/TPAMI.2017.2676778	IEEE Transactions on Pattern Analysis and Machine Intelligence 40/2	2019-07-23
2017	A. De San Bernabe, J.R. Martinez-de Dios, A. Ollero Efficient integration of RSSI for tracking using Wireless Camera Networks published pages: 296-312, ISSN: 1566-2535, DOI: 10.1016/j.inffus.2016.11.001	Information Fusion 36	2019-07-23
2016	Michael Villamizar, AnaÃs Garrell, Alberto Sanfeliu, Francesc Moreno-Noguer Interactive multiple object learning with scanty human supervision published pages: 51-64, ISSN: 1077-3142, DOI: 10.1016/j.cviu.2016.03.010	Computer Vision and Image Understanding 149	2019-07-23
2016	K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero Behavioral control of unmanned aerial vehicle manipulator systems published pages: 1203-1220, ISSN: 0929-5593, DOI: 10.1007/s10514-016-9590-0	Autonomous Robots	2019-07-23
2016	L. Denarie K. Molloy, M. Vaisset T. SimÃ©on J. CortÃ©s Combining System Design and Path Planning published pages: , ISSN: , DOI:	Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec 2016, San Francisco, United States.	2019-07-23
2016	Franchi, Antonio; Staub, Nicolas; YÃ¼ksel, Burak Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments published pages: , ISSN: , DOI:	2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea 5	2019-07-23
2016	Vincenzo Lippiello, Jonathan Cacace, Angel Santamaria-Navarro, Juan Andrade-Cetto, Miguel Angel Trujillo, Yamnia Rodriguez Esteves, Antidio Viguria Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation published pages: 259-266, ISSN: 2377-3766, DOI: 10.1109/LRA.2015.2510749	IEEE Robotics and Automation Letters 1/1	2019-07-23
2019	E. Cataldi; F. Real; A. Suarez; P.A. Di Lillo; F. Pierri; G. Antonelli; F. Caccavale; G. Heredia; A. Ollero Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator published pages: , ISSN: , DOI: 10.5281/zenodo.2608974	2019 IEEE International Conference on Robotics and Automation	2019-07-23
2017	Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction published pages: 13144-13149, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.2168	IFAC-PapersOnLine 50/1	2019-07-23
2017	Roberto Rossi, Angel Santamaria-Navarro, Juan Andrade-Cetto, Paolo Rocco Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming published pages: 389-396, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2633625	IEEE Robotics and Automation Letters 2/2	2019-07-23
2017	A. Garrell, M. Villamizar, F. Moreno-Noguer, A. Sanfeliu Teaching Robotâ€™s Proactive Behavior Using Human Assistance published pages: 231-249, ISSN: 1875-4791, DOI: 10.1007/s12369-016-0389-0	International Journal of Social Robotics 9/2	2019-07-23
2018	Angel Santamaria-Navarro, Giuseppe Loianno, Joan SolÃ , Vijay Kumar, Juan Andrade-Cetto Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors published pages: , ISSN: 0929-5593, DOI: 10.1007/s10514-017-9690-5	Autonomous Robots	2019-07-23
2016	Rodrigo MunguÃa, Sarquis Urzua, Yolanda Bolea, Antoni Grau Vision-Based SLAM System for Unmanned Aerial Vehicles published pages: 372, ISSN: 1424-8220, DOI: 10.3390/s16030372	Sensors 16/3	2019-07-23
2018	Matthias Faessler, Antonio Franchi, Davide Scaramuzza Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories published pages: 620-626, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2776353	IEEE Robotics and Automation Letters 3/2	2019-07-23
2017	Lorenzo Porzi, Samuel Rota Bulo, Adrian Penate-Sanchez, Elisa Ricci, Francesc Moreno-Noguer Learning Depth-Aware Deep Representations for Robotic Perception published pages: 468-475, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2637444	IEEE Robotics and Automation Letters 2/2	2019-07-23
2017	Pablo Ramon Soria, BegoÃ±a Arrue, Anibal Ollero Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments published pages: 103, ISSN: 1424-8220, DOI: 10.3390/s17010103	Sensors 17/1	2019-07-23
2015	M. Tognon and A. Franchi Nonlinear observer for the control of bi- tethered multi aerial robots published pages: , ISSN: , DOI:	2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg	2019-07-23
2018	Staub, N, Bicego, D, SablÃ©, Q, Arellano-Quintana, V, Mishra, S, Franchi, A Towards a Flying Companion Paradigm: the OTHex published pages: , ISSN: , DOI:	2018 IEEE Int. Conf. on Robotics and Automation	2019-07-23
2017	Angel Santamaria-Navarro, Patrick Grosch, Vincenzo Lippiello, Joan Sola, Juan Andrade-Cetto Uncalibrated Visual Servo for Unmanned Aerial Manipulation published pages: 1610-1621, ISSN: 1083-4435, DOI: 10.1109/TMECH.2017.2682283	IEEE/ASME Transactions on Mechatronics 22/4	2019-07-23
2016	YÃ¼ksel, Burak; Buondonno, Gabriele; Franchi, Antonio Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints published pages: , ISSN: , DOI:	2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea 4	2019-07-23
2017	Alejandro Suarez, Guillermo Heredia, Anibal Ollero Vision-Based Deflection Estimation in an Anthropomorphic, Compliant and Lightweight Dual Arm published pages: 332-344, ISSN: , DOI: 10.1007/978-3-319-70836-2_28	ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference	2019-07-23
2016	Bicego, Davide; Ryll, Markus; Franchi, Antonio Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor published pages: , ISSN: , DOI:	2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon. 2016 5	2019-07-23
2018	Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortes, Antonio Franchi Control-Aware Motion Planning for Task-Constrained Aerial Manipulation published pages: 2478-2484, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2803206	IEEE Robotics and Automation Letters 3/3	2019-07-23
2018	Alejandro Suarez, Antonio Enrique Jimenez-Cano, Victor Manuel Vega, Guillermo Heredia, Angel Rodriguez-CastaÃ±o, Anibal Ollero Design of a lightweight dual arm system for aerial manipulation published pages: 30-44, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2018.01.005	Mechatronics 50	2019-07-23
2016	Pablo Ramon Soria, Robert Bevec, BegoÃ±a Arrue, AleÅ¡ Ude, AnÃbal Ollero Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors published pages: 700, ISSN: 1424-8220, DOI: 10.3390/s16050700	Sensors 16/5	2019-07-23
2016	Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results published pages: Frontiers in Rob, ISSN: 2296-9144, DOI: 10.3389/frobt.2016.00016	Frontiers in Robotics and AI 3	2019-07-23
2017	Pedro Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control published pages: 1-17, ISSN: 1687-5966, DOI: 10.1155/2017/1823056	International Journal of Aerospace Engineering 2017	2019-07-23
2017	Alex Goldhoorn, AnaÃs Garrell, RenÃ© AlquÃ©zar, Alberto Sanfeliu Searching and tracking people in urban environments with static and dynamic obstacles published pages: 147-157, ISSN: 0921-8890, DOI: 10.1016/j.robot.2017.06.005	Robotics and Autonomous Systems 98	2019-07-23
2017	Marco Tognon, Antonio Franchi Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform * *This work has been partially funded by the European Unionâ€™s Horizon 2020 research and innovation programme under grant agreement No 644271 AEROARMS. published pages: 1069-1074, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.242	IFAC-PapersOnLine 50/1	2019-07-23
2016	Rodrigo Munguia, Sarquis Urzua, Antoni Grau Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles published pages: e0167197, ISSN: 1932-6203, DOI: 10.1371/journal.pone.0167197	PLOS ONE 11/12	2019-07-23
2016	M.A. Trujillo, A. Viguria, R. Cano and A. Ollero Sistema aÃ©reo no tripulado con capacidad avanzada de manipulaciÃ³n published pages: , ISSN: , DOI: 10.5281/zenodo.2630573	IV Congreso Nacional de I+D en Defensa y Seguridad	2019-07-23
2016	M. Villamizar, A. Garrell, A. Sanfeliu, F. Moreno-Noguer Random clustering ferns for multimodal object recognition published pages: , ISSN: 0941-0643, DOI: 10.1007/s00521-016-2284-x	Neural Computing and Applications	2019-07-23
2016	Notarstefano, Giuseppe; Franchi, Antonio; Spedicato, Sara From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots published pages: , ISSN: , DOI:	2016 IEEE Int. Conf. on Robotics & Automation (ICRA) 9	2019-07-23
2018	Arturo Torres-GonzÃ¡lez, Jose Ramiro Martinez-deÂ Dios, Anibal Ollero Range-only SLAM for robot-sensor network cooperation published pages: 649-663, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9663-8	Autonomous Robots 42/3	2019-07-23
2018	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 The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance published pages: 12-23, ISSN: 1070-9932, DOI: 10.1109/mra.2018.2852789	IEEE Robotics & Automation Magazine 25/4	2019-07-23
2018	Vincenzo Lippiello, Giuseppe Andrea Fontanelli, Fabio Ruggiero Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator published pages: 1856-1863, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2806091	IEEE Robotics and Automation Letters 3/3	2019-07-23
2018	Giulia Michieletto, Markus Ryll, Antonio Franchi Fundamental Actuation Properties of Multirotors: Forceâ€“Moment Decoupling and Failâ€“Safe Robustness published pages: 702-715, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2821155	IEEE Transactions on Robotics 34/3	2019-07-23
2017	Jose Luis Sanchez-Lopez, Victor Arellano-Quintana, Marco Tognon, Pascual Campoy, Antonio Franchi 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 research and innovation programme under grant agreement No 644271 AEROARMS published pages: 16003-16008, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.1911	IFAC-PapersOnLine 50/1	2019-07-23
2018	Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi Toward Aerial Physical Locomotion: The Contact-Fly-Contact Problem published pages: 1514-1521, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2800798	IEEE Robotics and Automation Letters 3/3	2019-07-23
2018	Alvaro Caballero, Manuel Bejar, Angel Rodriguez-CastaÃ±o, Anibal Ollero Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms published pages: 172988141877052, ISSN: 1729-8814, DOI: 10.1177/1729881418770525	International Journal of Advanced Robotic Systems 15/3	2019-07-23
2018	Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schaeffer Non-Linear Local Force Feedback Control for Haptic Interfaces published pages: 486-492, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2018.11.587	IFAC-PapersOnLine 51/22	2019-07-23
2017	Tognon , Marco; Franchi , Antonio Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform published pages: , ISSN: , DOI:	20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017 12	2019-07-23
2018	Morbidi , Fabio; Bicego , Davide; Ryll , Markus; Franchi , Antonio Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers published pages: , ISSN: , DOI:	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) 7	2019-07-23
2018	Alejandro Suarez, Guillermo Heredia, Anibal Ollero Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation published pages: 29173-29189, ISSN: 2169-3536, DOI: 10.1109/access.2018.2833160	IEEE Access 6	2019-07-23
2019	Yuri S Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak Development of SAM: cable-Suspended Aerial Manipulator published pages: , ISSN: , DOI:	IEEE International Conference on Robotics and Automation (ICRA) 2019	2019-07-23
2018	Carlo Masone, Mostafa Mohammadi, Paolo Robuffo Giordano, Antonio Franchi Shared planning and control for mobile robots with integral haptic feedback published pages: 1395-1420, ISSN: 0278-3649, DOI: 10.1177/0278364918802006	The International Journal of Robotics Research 37/11	2019-07-23
2019	Pablo Ramon Soria, B.C. Arrue, Anibal Ollero A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications published pages: 44-53, ISSN: 1070-9932, DOI: 10.1109/mra.2018.2884744	IEEE Robotics & Automation Magazine 26/1	2019-07-23
2019	Margarida Faria, Ricardo MarÃn, Marija PopoviÄ‡, Ivan Maza, Antidio Viguria *Efficient Lazy Theta Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV** published pages: 174, ISSN: 1424-8220, DOI: 10.3390/s19010174	Sensors 19/1	2019-07-23
2019	Marco Tognon, Hermes A. Tello Chavez, Enrico Gasparin, Quentin Sable, Davide Bicego, Anthony Mallet, Marc Lany, Gilles Santi, Bernard Revaz, Juan Cortes, Antonio Franchi A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants published pages: 1846-1851, ISSN: 2377-3766, DOI: 10.1109/LRA.2019.2895880	IEEE Robotics and Automation Letters 4/2	2019-07-23
2019	Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, Cristian Secchi Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy published pages: 1319-1326, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2895420	IEEE Robotics and Automation Letters 4/2	2019-07-23
2018	Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott Passive compliance control of aerial manipulators published pages: , ISSN: , DOI:	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018	2019-07-23
2017	Tognon , Marco; Franchi , Antonio Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination published pages: , ISSN: , DOI:	9th International Micro Air Vehicles Conference , Sep 2017, Toulouse, France. pp.97-102, 2017 6	2019-07-23
2017	Marco Tognon, Antonio Franchi Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars published pages: 834-845, ISSN: 1552-3098, DOI: 10.1109/TRO.2017.2677915	IEEE Transactions on Robotics 33/4	2019-07-23
2017	Solana , Yoann; Furci , Michele; CortÃ©s , Juan; Franchi , Antonio Multi-Robot Path Planning with Maintenance of Generalized Connectivity published pages: , ISSN: , DOI:	2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems 10	2019-07-23
2017	Jianjie Lin Simulation study on control concepts for a floating platform manipulation published pages: , ISSN: , DOI:		2019-07-23
2019	Margarida Faria, Ivan Maza, Antidio Viguria *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** published pages: 113-133, ISSN: 0921-0296, DOI: 10.1007/s10846-018-0798-4	Journal of Intelligent & Robotic Systems 93/1-2	2019-07-23
2019	Francisco AlarcÃ³n, Manuel GarcÃa, Ivan Maza, Antidio Viguria, AnÃbal Ollero A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs published pages: 886, ISSN: 1424-8220, DOI: 10.3390/s19040886	Sensors 19/4	2019-07-23
2016	Tognon , Marco; Testa , Andrea; Rossi , Enrica; Franchi , Antonio Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot published pages: , ISSN: , DOI:	2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. 2016 12	2019-07-23
2018	Jorge MuÃ±oz-Morera, Francisco Alarcon, Ivan Maza, Anibal Ollero Combining a hierarchical task network planner with a constraint satisfaction solver for assembly operations involving routing problems in a multi-robot context published pages: 172988141878208, ISSN: 1729-8814, DOI: 10.1177/1729881418782088	International Journal of Advanced Robotic Systems 15/3	2019-07-23
2018	Francesco Pierri, Giuseppe Muscio, Fabrizio Caccavale An adaptive hierarchical control for aerial manipulators published pages: 1527-1550, ISSN: 0263-5747, DOI: 10.1017/S0263574718000553	Robotica 36/10	2019-07-23
2019	Margarida Faria, Ricardo MarÃn, Marija PopoviÄ‡, Ivan Maza, Antidio Viguria *Efficient Lazy Theta Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV** published pages: 174, ISSN: 1424-8220, DOI: 10.3390/s19010174	Sensors 19/1	2019-07-23
2017	Marco Tognon, Antonio Franchi Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars published pages: 834-845, ISSN: 1552-3098, DOI: 10.1109/TRO.2017.2677915	IEEE Transactions on Robotics 33/4	2019-07-23
2018	G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments published pages: 1406-1413, ISSN: 1063-6536, DOI: 10.1109/tcst.2017.2716905	IEEE Transactions on Control Systems Technology 26/4	2019-07-23
2019	Margarida Faria, Ivan Maza, Antidio Viguria *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** published pages: 113-133, ISSN: 0921-0296, DOI: 10.1007/s10846-018-0798-4	Journal of Intelligent & Robotic Systems 93/1-2	2019-07-23
2019	Francisco AlarcÃ³n, Manuel GarcÃa, Ivan Maza, Antidio Viguria, AnÃbal Ollero A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs published pages: 886, ISSN: 1424-8220, DOI: 10.3390/s19040886	Sensors 19/4	2019-07-23
2019	Miguel Trujillo, JosÃ© MartÃnez-de Dios, Carlos MartÃn, Antidio Viguria, AnÃbal Ollero Novel Aerial Manipulator for Accurate and Robust Industrial NDT Contact Inspection: A New Tool for the Oil and Gas Inspection Industry published pages: 1305, ISSN: 1424-8220, DOI: 10.3390/s19061305	Sensors 19/6	2019-07-23
2018	Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott Oscillation damping control of pendulum-like manipulation platform using moving masses published pages: , ISSN: , DOI:	IFAC Symposium on Robot Control (SYROCO)	2019-07-23

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