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AEROARMS SIGNED

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

Total Cost €

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EC-Contrib. €

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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 ES (SEVILLA) coordinator 699˙500.00
2    DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV DE (KOELN) participant 851˙250.00
3    FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL ES (LA RINCONADA SEVILLA) participant 693˙400.00
4    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS FR (PARIS) participant 583˙721.00
5    UNIVERSITAT POLITECNICA DE CATALUNYA 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 IT (NAPOLI) participant 561˙500.00
7    TUV NORD SYSTEMS GMBH & CO KG DE (Hamburg) participant 473˙375.00
8    ELEKTRA SOLAR GMBH DE (HURLACH) participant 296˙225.00
9    GE INSPECTION ROBOTICS AG CH (ZURICH) participant 0.00
10    SENSIMA INSPECTION SARL 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

year authors and title journal last update
List of publications.
2018 Kevin Molloy, Laurent Denarie, Marc Vaisset, Thierry Siméon, Juan Cortés
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 Yüksel, Cristian Secchi, Heinrich H. Bülthoff, 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. 732–737 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, René Alquézar, Francesc Serratosa, Francesc Moreno-Noguer, Juan Andrade-Cetto, Miguel Ángel González 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-González, Jose Ramiro Martínez-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 José Martínez-de Dios, Alberto de San Bernabé, Antidio Viguria, Arturo Torres-González, 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, Anaís 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. Siméon J. Cortés
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; Yüksel, 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 Robot’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 Solà, 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 Munguía, 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, Begoña 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, Sablé, 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 Yüksel, 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-Castaño, 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, Begoña Arrue, Aleš Ude, Aníbal 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, Anaís Garrell, René Alquézar, 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 Union’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 aéreo no tripulado con capacidad avanzada de manipulación
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-González, Jose Ramiro Martinez-de 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: Force–Moment Decoupling and Fail–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-Castaño, 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 Marín, Marija Popović, 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; Cortés , 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 Alarcón, Manuel García, Ivan Maza, Antidio Viguria, Aníbal 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 Muñoz-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 Marín, Marija Popović, 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 Alarcón, Manuel García, Ivan Maza, Antidio Viguria, Aníbal 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, José Martínez-de Dios, Carlos Martín, Antidio Viguria, Aníbal 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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The information about "AEROARMS" are provided by the European Opendata Portal: CORDIS opendata.

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