AERIAL-CORE: AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety

H2020 ICT-10-2019-2020: Robotics Core Technology

 

The main objective of AERIAL-CORE is the development of core technology modules and an integrated aerial cognitive robotic system that will have unprecedented capabilities on the operational range and safety in the interaction with people, or Aerial Co-Workers (ACW) for applications such as the inspection and maintenance of large linear infrastructures. The system will integrate aerial robots with different characteristics and will be able to meet the requirements of:

  • Long range (Several kilometres) and local very accurate (subcentimetre) inspection of the infrastructure
  • Maintenance activities based on aerial manipulation involving force interactions
  • Aerial co-working safely and efficiently helping human workers in inspection and maintenance

 

 

 

Related Workshops

  • Some of the AERIAL-CORE outputs have been presented at the DRONUMENT Workshop hosted by the MRS Group on 12th August, 2021

 

Publications

Journals

  1. Vít Krátký, Alfonso Alcántara, Jesús Capitán, Petr Štěpán, Martin Saska and Aníbal Ollero. Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7580-7587, October 2021. PDF, DOI BibTeX

    @article{kratky2021aerialfilming,
    	author = "{Krátký}, Vít and {Alcántara}, Alfonso and {Capitán}, Jesús and {Štěpán}, Petr and {Saska}, Martin and {Ollero}, Aníbal",
    	title = "{Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles}",
    	journal = "IEEE Robotics and Automation Letters",
    	year = 2021,
    	month = "October",
    	pdf = "data/papers/aerialCinematographyRal.pdf",
    	doi = "10.1109/LRA.2021.3098811",
    	pages = "7580-7587",
    	volume = 6,
    	number = 4
    }
    
  2. František Nekovář, Jan Faigl and Martin Saska. Multi-tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection. IEEE Robotics and Automation Letters 6(4):6196-6203, October 2021. PDF, DOI BibTeX

    @article{Nekovar2021CASE,
    	author = "{Nekovář}, František and {Faigl}, Jan and {Saska}, Martin",
    	title = "{Multi-tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection}",
    	journal = "IEEE Robotics and Automation Letters",
    	pdf = "data/papers/Frantisek_RAL-CASE21.pdf",
    	year = 2021,
    	month = "October",
    	doi = "10.1109/LRA.2021.3091695",
    	pages = "6196-6203",
    	volume = 6,
    	number = 4
    }
    
  3. Dariuz Horla, Wojciech Giernacki, Tomas Baca, Vojtech Spurny and Martin Saska. AL-TUNE: In-flight tuning of an altitude controller for UAVs. Journal of Intelligent & Robotic Systems 103(5):1-16, August 2021. URL, DOI BibTeX

    @article{Horla2021AL-Tune,
    	author = "{Horla}, Dariuz and {Giernacki}, Wojciech and {Baca}, Tomas and {Spurny}, Vojtech and {Saska}, Martin",
    	month = "August",
    	title = "{AL-TUNE: In-flight tuning of an altitude controller for UAVs}",
    	year = 2021,
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	publisher = "Springer",
    	doi = "https://doi.org/10.1007/s10846-021-01441-y",
    	pages = "1-16",
    	volume = 103,
    	issue = 1,
    	number = 5,
    	url = "https://link.springer.com/article/10.1007/s10846-021-01441-y"
    }
    
  4. Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. URL PDF, DOI BibTeX

    @article{baca2021mrs,
    	author = "Baca, Tomas and Petrlik, Matej and Vrba, Matous and Spurny, Vojtech and Penicka, Robert and Hert, Daniel and Saska, Martin",
    	month = "May",
    	title = "{The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles}",
    	year = 2021,
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	publisher = "Springer",
    	volume = 102,
    	issue = 1,
    	number = 26,
    	pages = "1--28",
    	doi = "10.1007/s10846-021-01383-5",
    	pdf = "https://arxiv.org/pdf/2008.08050",
    	url = "https://link.springer.com/article/10.1007/s10846-021-01383-5"
    }
    
  5. Pavel Petráček, Viktor Walter, Tomáš Báča and Martin Saska. Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization. Bioinspiration & Biomimetics 16(2):026009, December 2020. PDF, DOI BibTeX

    @article{petracek2020swarms,
    	author = "Pavel Petr{\'{a}}{\v{c}}ek and Viktor Walter and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
    	title = "{Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization}",
    	journal = "Bioinspiration {\&} Biomimetics",
    	year = 2020,
    	month = "December",
    	publisher = "{IOP} Publishing",
    	volume = 16,
    	number = 2,
    	pages = 026009,
    	doi = "10.1088/1748-3190/abc6b3",
    	pdf = "data/papers/BB20swarm.pdf"
    }
    
  6. P Štibinger, G Broughton, F Majer, Z Rozsypálek, A Wang, K Jindal, A Zhou, D Thakur, G Loianno, T Krajník and M Saska. Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment. IEEE Robotics and Automation Letters 6(2):2595–2602, April 2021. PDF, DOI BibTeX

    @article{stibinger2021ral,
    	author = "\v{S}tibinger, P. and Broughton, G. and Majer, F. and Rozsyp\'{a}lek, Z and Wang, A. and Jindal, K and Zhou, A. and Thakur, D. and Loianno, G. and Krajn\'{i}k, T. and Saska, M.",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "{Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment}",
    	year = 2021,
    	volume = 6,
    	number = 2,
    	pages = "2595--2602",
    	doi = "10.1109/LRA.2021.3061377",
    	month = "April",
    	pdf = "data/papers/stibinger2021ral_preview.pdf"
    }
    
  7. Edmond Nurellari, Daniel Bonilla Licea, Mounir Ghogho and Mario Eduardo Rivero-Angeles. On Trajectory Design for Intruder Detection in Wireless Mobile Sensor Networks. IEEE Transactions on Signal and Information Processing over Networks 7:236–248, March 2021. PDF, DOI BibTeX

    @article{Nurellari2021TSIPN,
    	author = "Edmond {Nurellari} and Daniel {Bonilla Licea} and Mounir {Ghogho} and Mario Eduardo {Rivero-Angeles}",
    	journal = "IEEE Transactions on Signal and Information Processing over Networks",
    	title = "{On Trajectory Design for Intruder Detection in Wireless Mobile Sensor Networks}",
    	year = 2021,
    	volume = 7,
    	pages = "236--248",
    	month = "March",
    	pdf = "data/papers/bonilla2021TSIPN.pdf",
    	doi = "10.1109/TSIPN.2021.3067305"
    }
    
  8. Giuseppe Silano, Tomas Baca, Robert Penicka, Davide Liuzza and Martin Saska. Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications. IEEE Robotics and Automation Letters 6(2):4169–4176, April 2021. PDF, DOI BibTeX

    @article{Silano2021RAL,
    	author = "{Silano}, Giuseppe and {Baca}, Tomas and {Penicka}, Robert and {Liuzza}, Davide and {Saska}, Martin",
    	title = "{Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications}",
    	journal = "IEEE Robotics and Automation Letters",
    	year = 2021,
    	pages = "4169--4176",
    	volume = 6,
    	number = 2,
    	month = "April",
    	doi = "10.1109/LRA.2021.3068114",
    	pdf = "data/papers/Silano2021RAL.pdf"
    }
    
  9. Giuseppe Silano and Luigi Iannelli. MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects. IEEE Access 9:39333–39343, March 2021. PDF, DOI BibTeX

    @article{Silano2019MATFly,
    	author = "{Silano}, Giuseppe and {Iannelli}, Luigi",
    	title = "{MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects}",
    	year = 2021,
    	journal = "IEEE Access",
    	pages = "39333--39343",
    	volume = 9,
    	month = "March",
    	doi = "10.1109/ACCESS.2021.3064758",
    	pdf = "data/papers/silano-MAT-Fly.pdf"
    }
    
  10. Hamidreza Heidari and Martin Saska. Collision-free trajectory planning of multi-rotor UAVs in a wind condition based on modified potential field. Mechanism and Machine Theory 156(2):104140, February 2021. PDF, DOI BibTeX

    @article{heidari2021pathPlanner,
    	author = "Hamidreza {Heidari} and Martin {Saska}",
    	title = "{Collision-free trajectory planning of multi-rotor UAVs in a wind condition based on modified potential field}",
    	journal = "Mechanism and Machine Theory",
    	year = 2021,
    	month = "feb",
    	publisher = "ElSevier",
    	volume = 156,
    	number = 2,
    	pages = 104140,
    	doi = "https://doi.org/10.1016/j.mechmachtheory.2020.104140",
    	pdf = "data/papers/Heidari21pathPlanning.pdf"
    }
    
  11. Vojetech Spurny, Vaclav Pritzl, Viktor Walter, Matej Petrlik, Tomas Baca, Petr Stepan, David Zaitlik and Martin Saska. Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle. IEEE Access 9:15872-15890, January 2021. PDF, DOI BibTeX

    @article{spurny2021autonomous,
    	author = "Vojetech {Spurny} and Vaclav {Pritzl} and Viktor {Walter} and Matej {Petrlik} and Tomas {Baca} and Petr {Stepan} and David {Zaitlik} and Martin {Saska}",
    	journal = "IEEE Access",
    	title = "{Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle}",
    	year = 2021,
    	volume = 9,
    	month = "January",
    	pages = "15872-15890",
    	doi = "10.1109/ACCESS.2021.3052967",
    	pdf = "data/papers/spurny2021autonomous.pdf"
    }
    

 

Conferences

  1. Lyubomyr Demkiv, Massimiliano Ruffo, Giuseppe Silano, Jan Bednar and Martin Saska. An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs. In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). October 2021. PDF BibTeX

    @inproceedings{Silano2021AIRPHARO,
    	author = "{Demkiv}, Lyubomyr and {Ruffo}, Massimiliano and {Silano}, Giuseppe and {Bednar}, Jan and {Saska}, Martin",
    	booktitle = "2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)",
    	title = "{An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs}",
    	year = 2021,
    	month = "October",
    	pdf = "data/papers/airpharo_2021_Silano.pdf",
    	organization = "IEEE"
    }
    
  2. Jiri Horyna, Tomas Baca and Martin Saska. Autonomous Collaborative Transport of a Beam-Type Payload by a Pair of Multi-rotor Helicopters. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 1139–1147. PDF, DOI BibTeX

    @inproceedings{Horyna2021ICUAS,
    	author = "{Horyna}, Jiri and {Baca}, Tomas and {Saska}, Martin",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Autonomous Collaborative Transport of a Beam-Type Payload by a Pair of Multi-rotor Helicopters}",
    	year = 2021,
    	month = "June",
    	pdf = "data/papers/ICUAS_2021_Jiri.pdf",
    	pages = "1139--1147",
    	organization = "IEEE",
    	doi = "10.1109/ICUAS51884.2021.9476789"
    }
    
  3. Viktor Walter, Vojtěch Spurný, Matěj Petrlík, Tomáš Báča, David Žaitlík and Martin Saska. Extinguishing of Ground Fires by Fully Autonomous UAVs Motivated by the MBZIRC 2020 Competition. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 787–793. PDF, DOI BibTeX

    @inproceedings{Viktor2021ICUAS,
    	author = "{Walter}, Viktor and {Spurný}, Vojtěch and {Petrlík}, Matěj and {Báča}, Tomáš and {Žaitlík}, David and {Saska}, Martin",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Extinguishing of Ground Fires by Fully Autonomous UAVs Motivated by the MBZIRC 2020 Competition}",
    	year = 2021,
    	doi = "10.1109/ICUAS51884.2021.9476723",
    	month = "June",
    	pdf = "data/papers/ICUAS_2021_Viktor.pdf",
    	pages = "787--793",
    	organization = "IEEE"
    }
    
  4. Matej Petrlik, Tomas Krajnik and Martin Saska. LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 243–251. PDF, DOI BibTeX

    @inproceedings{Petrlik2021ICUAS,
    	author = "{Petrlik}, Matej and {Krajnik}, Tomas and {Saska}, Martin",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments}",
    	doi = "10.1109/ICUAS51884.2021.9476837",
    	year = 2021,
    	month = "June",
    	pdf = "data/papers/ICUAS_2021_Matej.pdf",
    	pages = "243--251",
    	organization = "IEEE"
    }
    
  5. Mario Terlizzi, Giuseppe Silano, Luigi Russo, Muhammad Aatif, Amin Basiri, Valerio Mariani, Luigi Iannelli and Luigi Glielmo. A Vision-Based Algorithm for a Path Following Problem . In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 1630–1635. PDF, DOI BibTeX

    @inproceedings{Silano2021ICUAS-II,
    	author = "{Terlizzi}, Mario and {Silano}, Giuseppe and {Russo}, Luigi and {Aatif}, Muhammad and {Basiri}, Amin and {Mariani}, Valerio and {Iannelli}, Luigi and {Glielmo}, Luigi",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{A Vision-Based Algorithm for a Path Following Problem }",
    	doi = "10.1109/ICUAS51884.2021.9476777",
    	year = 2021,
    	month = "June",
    	pdf = "data/papers/ICUAS21_Silano_II.pdf",
    	pages = "1630--1635",
    	organization = "IEEE"
    }
    
  6. Daniel Bonilla Licea, Giuseppe Silano, Ghogho Mounir and Martin Saska. Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations. In 29th European Signal Processing Conference (EUSIPCO). September 2021. PDF BibTeX

    @inproceedings{Silano2021EUSIPCO,
    	author = "{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Mounir}, Ghogho and {Saska}, Martin",
    	booktitle = "29th European Signal Processing Conference (EUSIPCO)",
    	title = "{Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations}",
    	year = 2021,
    	month = "September",
    	pdf = "data/papers/EUSIPCO_2021.pdf"
    }
    
  7. Giuseppe Silano, Jan Bednar, Tiago Nascimento, Jesus Capitan, Martin Saska and Anibal Ollero. A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 1624–1629. PDF, DOI BibTeX

    @inproceedings{Silano2021ICUAS-I,
    	author = "{Silano}, Giuseppe and {Bednar}, Jan and {Nascimento}, Tiago and {Capitan}, Jesus and {Saska}, Martin and {Ollero}, Anibal",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks}",
    	doi = "10.1109/ICUAS51884.2021.9476813",
    	year = 2021,
    	month = "June",
    	pdf = "data/papers/ICUAS21_Silano_I.pdf",
    	pages = "1624--1629",
    	organization = "IEEE"
    }
    
  8. Vaclav Pritzl, Petr Stepan and Martin Saska. Autonomous Flying into Buildings in a Firefighting Scenario. In 2021 IEEE International Conference on Robotics and Automation (ICRA). June 2021. PDF BibTeX

    @inproceedings{pritzl2021icra,
    	author = "Vaclav {Pritzl} and Petr {Stepan} and Martin {Saska}",
    	booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
    	title = "{Autonomous Flying into Buildings in a Firefighting Scenario}",
    	year = 2021,
    	month = "June",
    	pdf = "data/papers/pritzl2021icra.pdf"
    }
    
  9. Giuseppe Silano, Davide Liuzza, Luigi Iannelli and Martin Saska. A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications. In SIDRA (Italian Society of Automatic Control), National Meeting. September 2020. URL PDF BibTeX

    @inproceedings{Silano2020SIDRA,
    	title = "{A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications}",
    	author = "Giuseppe {Silano} and Davide {Liuzza} and Luigi {Iannelli} and Martin {Saska}",
    	booktitle = "SIDRA (Italian Society of Automatic Control), National Meeting",
    	year = 2020,
    	month = "September",
    	pdf = "data/papers/Silano2020Automatica.pdf",
    	url = "https://arxiv.org/abs/2103.02999"
    }
    
  10. Timur Uzakov, Tiago Pereira Nascimento and Martin Saska. UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines. In 2020 International Conference on Unmanned Aircraft Systems (ICUAS). September 2020, 1301-1308. PDF, DOI BibTeX

    @inproceedings{TimurICUAS2020,
    	title = "{UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines}",
    	author = "Timur {Uzakov} and Tiago Pereira {Nascimento} and Martin {Saska}",
    	doi = "10.1109/ICUAS48674.2020.9213967",
    	booktitle = "2020 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	pages = "1301-1308",
    	year = 2020,
    	organization = "IEEE",
    	month = "September",
    	pdf = "data/papers/TimurICUAS2020.pdf"
    }
    
  11. Tiago Pereira Nascimento and Martin Saska. Fast Nonlinear Model Predictive Control for Very-Small Aerial Vehicles. In 2020 International Conference on Unmanned Aircraft Systems (ICUAS). September 2020, 523-528. PDF, DOI BibTeX

    @inproceedings{TiagoICUAS2020,
    	title = "Fast Nonlinear Model Predictive Control for Very-Small Aerial Vehicles",
    	author = "Tiago Pereira {Nascimento} and Martin {Saska}",
    	doi = "10.1109/ICUAS48674.2020.9213924",
    	booktitle = "2020 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	pages = "523-528",
    	year = 2020,
    	organization = "IEEE",
    	month = "September",
    	pdf = "data/papers/TiagoICUAS2020.pdf"
    }
    

 

Videos

 

Partners

Universidad de Sevilla, Spain

École polytechnique fédérale de Lausanne (EPFL), Switzerland

Centre national de la recherche scientifique (CNRS), France

Consorzio di Ricerca per l'Energia l'Automazione e le Tecnologie dell'Elettromagnetismo (CREATE), Italy

Fundacion Andaluza para el Desarrollo Aeroespacial (FADA), Spain

University of Zurich (UZH), Switzerland

University of Zagreb, Faculty of Electrical Engineering and Computing (UZA), Croatia

Aristotle University of Thessaloniki (AUTH), Greece

Terabee (TER), France

senseFly SA (SENS), Switzerland

Donecle (DON), France

University of Southern Denmark (SDU), Denmark

Endesa Distribucion Eletrica (EDE), Spain

Vertical Engineering Solutions (VES), Spain