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Collaborative Aerial Robotic Workers

Total Cost €


EC-Contrib. €






 AEROWORKS project word cloud

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

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Project "AEROWORKS" data sheet

The following table provides information about the project.


Organization address
city: LULEA
postcode: 971 87

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 Sweden [SE]
 Project website
 Total cost 5˙906˙642 €
 EC max contribution 3˙671˙935 € (62%)
 Programme 1. H2020-EU. (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 2015-01-01   to  2017-12-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    LULEA TEKNISKA UNIVERSITET SE (LULEA) coordinator 1˙081˙294.00
2    INTEL DEUTSCHLAND GMBH DE (NEUBIBERG) participant 677˙187.00
4    UNIVERSITEIT TWENTE NL (ENSCHEDE) participant 652˙102.00
5    PANEPISTIMIO PATRON EL (RIO PATRAS) participant 410˙878.00
6    SKELLEFTEA KRAFT AB SE (SKELLEFTEA) participant 191˙250.00
8    ASCENDING TECHNOLOGIES GMBH DE (Karilling) participant 0.00
10    GE INSPECTION ROBOTICS AG CH (ZURICH) participant 0.00
11    Skybotix AG CH (ZURICH) participant 0.00


 Project objective

With aging infrastructure in developing-and-developed countries, and with the gradual expansion of distributed installations, the costs of inspection and repair tasks have been growing vastly and incessantly. To address this reality, a major paradigm shift is required, in order to procure the highly automated, efficient, and reliable solutions that will not only reduce costs, but will also minimize risks to personnel and asset safety. AEROWORKS envisions a novel aerial robotic team that possesses the capability to autonomously conduct infrastructure inspection and maintenance tasks, while additionally providing intuitive and user-friendly interfaces to human-operators.

The AEROWORKS robotic team will consist of multiple heterogeneous “collaborative Aerial Robotic Workers”, a new class of Unmanned Aerial Vehicles equipped with dexterous manipulators, novel physical interaction and co-manipulation control strategies, perception systems, and planning intelligence. This new generation of worker-robots will be capable of autonomously executing infrastructure inspection and maintenance works. The AEROWORKS multi-robot team will operate in a decentralized fashion, and will be characterized by unprecedented levels of reconfigurability, mission dependability, mapping fidelity, and manipulation dexterity, integrated in robust and reliable systems that are rapidly deployable and ready-to-use as an integral part of infrastructure service operations.

As the project aims for direct exploitation in the infrastructure services market, its results will be demonstrated and evaluated in realistic and real infrastructure environments, with a clear focus on increased Technology Readiness Levels. The accomplishment of the envisaged scenarios will boost the European infrastructure sector, contribute to the goal of retaining Europe’s competitiveness, and particularly impact our service and industrial robotics sector, drastically changing the landscape of how robots are utilized.


List of deliverables.
Summer School Documents, reports 2019-07-23 09:18:06
Single Autonomous ARW-Maintainer Documents, reports 2019-07-23 09:18:06
Report on the Aerial Robotic Worker model and release of the open-source simulator Documents, reports 2019-07-23 09:18:05
Integrated software for collaborative ARWs for Inspection and Maintenance Operations Documents, reports 2019-07-23 09:18:06
Report on Single-ARW Inspection Planning methods and performance analysis Documents, reports 2019-07-23 09:18:05
Project website and overall online presence Documents, reports 2019-07-23 09:18:05
Methodology & Results on real-time vision-based SLAM for each ARW Documents, reports 2019-07-23 09:18:05
Methodology & Results on collaborative ARW Sensing and Mapping Documents, reports 2019-07-23 09:18:06
AEROWORKS Association on Autonomous UAVs Documents, reports 2019-07-23 09:18:06
Analysis and design of the Hardware for collaboration Documents, reports 2019-07-23 09:18:06
Data Management Plan Documents, reports 2019-07-23 09:18:05
Project identity and dissemination material schedule Documents, reports 2019-07-23 09:18:05
Benchmark specifications and related performance measures Documents, reports 2019-07-23 09:18:05
Single Autonomous ARW-Inspector Documents, reports 2019-07-23 09:18:06
Platform and overall operation specifications Documents, reports 2019-07-23 09:18:05
Report on application scenarios, end-user requirements, and regulations Documents, reports 2019-07-23 09:18:06
Version 1.0 of dexterous manipulator and sensor fusion Documents, reports 2019-07-23 09:18:06
Report on Heterogeneous multi-robot path-planning and control Documents, reports 2019-07-23 09:18:06
Aerial Robotic Worker integrated with AEROWORKS sensing and processing unit Documents, reports 2019-07-23 09:18:06
Report on the development of the experimental platform for collaborative planning and control of ARWs Documents, reports 2019-07-23 09:18:06
Report, Publications list and Videos on the control synthesis of the aerial robotic workers Documents, reports 2019-07-23 09:18:06
Final Dissemination workshop in major Conference Documents, reports 2019-07-23 09:18:06
Final validation scenario definition Documents, reports 2019-07-23 09:18:06
Manipulator and Interfacing electronics module Documents, reports 2019-07-23 09:18:06
Report on Decentralized Task Assignment and collaborative reconfiguration methods Documents, reports 2019-07-23 09:18:06
Methodology & Results on real-time dense reconstruction from an ARW Documents, reports 2019-07-23 09:18:06
Report/records on performance evaluation of the collaborative ARWs Documents, reports 2019-07-23 09:18:06
Report on Multi-ARW Inspection Planning and Manipulation Algorithms Documents, reports 2019-07-23 09:18:06
Version 2.0 of the collaborative robot and cognitive control implementation Documents, reports 2019-07-23 09:18:06
Maintenance Operators Training Event Documents, reports 2019-07-23 09:18:06
Summary Report on Live Demos and Videos with results Open Research Data Pilot 2019-07-23 09:18:06
Report and publications list on vision-based perception for the team of collaborative aerial robotic workers as well as release of open-source software Documents, reports 2019-07-23 09:18:06
Demonstration of UWB localization for ARWs Documents, reports 2019-07-23 09:18:06
Final Project Report Documents, reports 2019-07-23 09:18:06
Assembled and thoroughly tested ARWs Documents, reports 2019-07-23 09:18:05

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


year authors and title journal last update
List of publications.
2018 Sina Sharif Mansouri, Christoforos Kanellakis, Emil Fresk, Dariusz Kominiak, George Nikolakopoulos
UAVs as a tool for Aerial Inspection of the Aging Infrastructure.”
published pages: 177-189, ISSN: , DOI: 10.1007/978-3-319-67361-5_12
2017 Mina Kamel, Thomas Stastny, Kostas Alexis, Roland Siegwart
Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System
published pages: 3-39, ISSN: , DOI: 10.1007/978-3-319-54927-9_1
IROS 2019-07-23
2018 Pierre-Jean Meyer, Dimos V. Dimarogonas
Compositional abstraction refinement for control synthesis
published pages: 437-451, ISSN: 1751-570X, DOI: 10.1016/j.nahs.2017.10.006
Nonlinear Analysis: Hybrid Systems 27 2019-07-23
2016 Christos Papachristos, Kostas Alexis, Anthony Tzes
Dual–Authority Thrust–Vectoring of a Tri–TiltRotor employing Model Predictive Control
published pages: 471-504, ISSN: 0921-0296, DOI: 10.1007/s10846-015-0231-1
Journal of Intelligent & Robotic Systems 81/3-4 2019-07-23
2017 Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
Robust Quaternion-based Cooperative Manipulation without Force/Torque Information * *This work was supported by the H2020 ERC Starting Grand BU-COPHSYS, the Swedish Research Council (VR), the Knut och Alice Wallenberg Foundation and the European Union’s Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128 (AEROWORKS).
published pages: 1754-1759, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.526
IFAC-PapersOnLine 50/1 2019-07-23
2017 Christos K. Verginis, Dimos V. Dimarogonas
Multi-Agent Motion Planning and Object Transportation under High Level Goals * *This work was supported by the H2020 ERC Starting Grand BU-COPHSYS, the Swedish Research Council (VR), the Knut och Alice Wallenberg Foundation and the European Union’s Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128 (AEROWORKS)
published pages: 15816-15821, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.2325
IFAC-PapersOnLine 50/1 2019-07-23
2017 Mina Kamel, Michael Burri, Roland Siegwart
Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles
published pages: 3463-3469, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.849
IFAC-PapersOnLine 50/1 2019-07-23
2017 Lucas Teixeira, Ignacio Alzugaray, Margarita Chli
Autonomous Aerial Inspection using visual-inertial robust localization and mapping
published pages: 191-204, ISSN: , DOI: 10.1007/978-3-319-67361-5_13
Conference on Field and Service Robotics 2019-07-23
2016 Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes
Robust Model Predictive Flight Control of Unmanned Rotorcrafts
published pages: 443-469, ISSN: 0921-0296, DOI: 10.1007/s10846-015-0238-7
Journal of Intelligent & Robotic Systems 81/3-4 2019-07-23
2017 Sotiris Papatheodorou, Anthony Tzes, Yiannis Stergiopoulos
Collaborative visual area coverage
published pages: 126-138, ISSN: 0921-8890, DOI: 10.1016/j.robot.2017.03.005
Robotics and Autonomous Systems 92 2019-07-23
2017 Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas
Using progress sets on non-deterministic transition systems for multiple UAV motion planning * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation
published pages: 15977-15982, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.1752
IFAC-PapersOnLine 50/1 2019-07-23
2017 Pierre-Jean Meyer, Dimos V. Dimarogonas
Abstraction refinement and plan revision for control synthesis under high level specifications * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation
published pages: 9254-9259, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.1292
IFAC-PapersOnLine 50/1 2019-07-23
2017 Dimitris Tsitsipis, Anthony Tzes, Stavros Koubias
CHAT: Clustered hierarchical key management for wireless sensor networks using network topology
published pages: 155014771774157, ISSN: 1550-1477, DOI: 10.1177/1550147717741570
International Journal of Distributed Sensor Networks 13/11 2019-07-23
2016 Emil Fresk, George Nikolakopoulos, Thomas Gustafsson
A Generalized Reduced-Complexity Inertial Navigation System for Unmanned Aerial Vehicles
published pages: 1-16, ISSN: 1063-6536, DOI: 10.1109/TCST.2016.2542022
IEEE Transactions on Control Systems Technology 2019-07-23
2017 Emil Fresk, Kristoffer Ödmark, George Nikolakopoulos
Ultra WideBand enabled Inertial Odometry for Generic Localization
published pages: 11465-11472, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.1820
IFAC-PapersOnLine 50/1 2019-07-23
2018 Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart
Receding horizon path planning for 3D exploration and surface inspection
published pages: 291-306, ISSN: 0929-5593, DOI: 10.1007/s10514-016-9610-0
Autonomous Robots 42/2 2019-07-23
2017 Antonio Adaldo, Dimos V. Dimarogonas, Karl H. Johansson
Hybrid coverage and inspection control for anisotropic mobile sensor teams
published pages: 613-618, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.098
IFAC-PapersOnLine 50/1 2019-07-23
2017 David Wuthier, Dariusz Kominiak, Emil Fresk, George Nikolakopoulos
A Geometric Pulling Force Controller for Aerial Robotic Workers * *This work has received funding from the European Unions Horizon 2020 Research and Innovation Program under the Grant Agreement No 644128 AEROWORKS
published pages: 10287-10292, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.1487
IFAC-PapersOnLine 50/1 2019-07-23
2017 Pedro O. Pereira, Dimos V. Dimarogonas
Family of controllers for attitude synchronization on the sphere
published pages: 271-281, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2016.09.033
Automatica 75 2019-07-23
2017 Ioannis Arvanitakis, Anthony Tzes, Konstantinos Giannousakis
Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments * *This work has received funding from the European Union Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128, AEROWORKS.
published pages: 12710-12714, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.2267
IFAC-PapersOnLine 50/1 2019-07-23
2016 T. Bartelds, A. Capra, S. Hamaza, S. Stramigioli, M. Fumagalli
Compliant Aerial Manipulators: Toward a New Generation of Aerial Robotic Workers
published pages: 477-483, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2519948
IEEE Robotics and Automation Letters 1/1 2019-07-23
2017 Christoforos Kanellakis, George Nikolakopoulos
Survey on Computer Vision for UAVs: Current Developments and Trends
published pages: 141-168, ISSN: 0921-0296, DOI: 10.1007/s10846-017-0483-z
Journal of Intelligent & Robotic Systems 87/1 2019-07-23

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