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

 

 

 

Publications

  1. 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, 2021. PDF 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,
    	pdf = "data/papers/Silano2021RAL.pdf"
    }
    
  2. G Silano, D Liuzza, L Iannelli and M Saska. A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications. In Automatica.it 2020. September 2020. URL PDF BibTeX

    @inproceedings{Silano2020Automatica.it,
    	title = "{A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications}",
    	author = "G. {Silano} and D. {Liuzza} and L. {Iannelli} and M. {Saska}",
    	booktitle = "Automatica.it 2020",
    	year = 2020,
    	month = "September",
    	pdf = "data/papers/Silano2020Automatica.pdf",
    	url = "https://arxiv.org/abs/2103.02999"
    }
    
  3. 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"
    }
    
  4. V Spurny, V Pritzl, V Walter, M Petrlik, T Baca, P Stepan, D Zaitlik and M Saska. Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle. IEEE Access 9:15872-15890, 2021. PDF, DOI BibTeX

    @article{spurny2021autonomous,
    	author = "V. Spurny and V. Pritzl and V. Walter and M. Petrlik and T. Baca and P. Stepan and D. Zaitlik and M. Saska",
    	journal = "IEEE Access",
    	title = "{Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle}",
    	year = 2021,
    	volume = 9,
    	pages = "15872-15890",
    	doi = "10.1109/ACCESS.2021.3052967",
    	pdf = "data/papers/spurny2021autonomous.pdf"
    }
    
  5. T Uzakov, T P Nascimento and M Saska. UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines. In 2020 International Conference on Unmanned Aircraft Systems (ICUAS). 2020, 1301-1308. PDF, DOI BibTeX

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

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

Videos

 

 

IEEE International Conference on Unmanned Aerial Vehicles (ICUAS) 2020

 

IEEE Access

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