Research Project

AEROARMS: AErial RObotics System integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance

Type

European Project

Start Date

01/06/2015

End Date

31/08/2019

Project Code

H2020-ICT-2014-1-644271

Project illustration

Staff

Project Description

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.

Project web page

Project Publications

Journal Publications

  • A. Pumarola, A. Agudo, A.M. Martinez, A. Sanfeliu and F. Moreno-Noguer. GANimation: One-shot anatomically consistent facial animation. International Journal of Computer Vision, 128: 698-713, 2020.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Ollero, G. Heredia, A. Franchi, G. Antonelli, K. Kondak, A. Sanfeliu, A. Viguria, J.R. Martínez de Dios, F. Pierri, J. Cortés, A. Santamaria-Navarro, M.A. Trujillo, R. Balachandran, J. Andrade-Cetto and A. Rodríguez. The AEROARMS project: Aerial robots with advanced manipulation capabilities for inspection and maintenance. IEEE Robotics and Automation Magazine, 25(4): 12-23, 2018.

    Open/Close abstract Abstract Info Info pdf PDF

  • M. Villamizar, J. Andrade-Cetto, A. Sanfeliu and F. Moreno-Noguer. Boosted random ferns for object detection. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(2): 272-288, 2018.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Santamaria-Navarro, G. Loianno, J. Solà, V. Kumar and J. Andrade-Cetto. Autonomous navigation of micro aerial vehicles: State estimation using fast and low-cost sensors. Autonomous Robots, 42(6): 1263-1280, 2018.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Garrell Zulueta, M. Villamizar, F. Moreno-Noguer and A. Sanfeliu. Teaching robot’s proactive behavior using human assistance. International Journal of Social Robotics, 9(2): 231-249, 2017.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Santamaria-Navarro, P. Grosch, V. Lippiello, J. Solà and J. Andrade-Cetto. Uncalibrated visual servo for unmanned aerial manipulation. IEEE/ASME Transactions on Mechatronics, 22(4): 1610-1621, 2017.

    Open/Close abstract Abstract Info Info pdf PDF

  • L. Porzi, S. Rota-Bulò, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Learning depth-aware deep representations for robotic perception. IEEE Robotics and Automation Letters, 2(2): 468-475, 2017.

    Open/Close abstract Abstract Info Info pdf PDF

  • M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Random clustering ferns for multimodal object recognition. Neural Computing and Applications, 28(9): 2445-2460, 2017.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Goldhoorn, A. Garrell Zulueta, R. Alquézar Mancho and A. Sanfeliu. Searching and tracking people in urban environments with static and dynamic obstacles. Robotics and Autonomous Systems, 98: 147-157, 2017.

    Open/Close abstract Abstract Info Info pdf PDF

  • R. Rossi, A. Santamaria-Navarro, J. Andrade-Cetto and P. Rocco. Trajectory generation for unmanned aerial manipulators through quadratic programming. IEEE Robotics and Automation Letters, 2(2): 389-396, 2017.

    Open/Close abstract Abstract Info Info pdf PDF

  • G. Sanromà, A. Penate-Sanchez, R. Alquézar Mancho, F. Serratosa, F. Moreno-Noguer, J. Andrade-Cetto and M.A. González. MSClique: Multiple structure discovery through the maximum weighted clique problem. PLOS One, 11(1): e0145846, 2016.

    Open/Close abstract Abstract Info Info pdf PDF

  • V. Lippiello, J. Cacace, A. Santamaria-Navarro, J. Andrade-Cetto, M.A. Trujillo, Y. Rodriguez and A. Viguria. Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robotics and Automation Letters, 1(1): 259-266, 2016.

    Open/Close abstract Abstract Info Info pdf PDF

  • M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Interactive multiple object learning with scanty human supervision. Computer Vision and Image Understanding, 149: 51-64, 2016.

    Open/Close abstract Abstract Info Info pdf PDF

Conference Publications

  • A. Grau, E. Guerra, Y. Bolea, A.M. Puig-Pey and A. Sanfeliu. Aerial robotics in building inspection and maintenance, 2018 International Conference on Smart, Sustainable and Sensuous Settlements Transformation, 2018, Munich, Germany, pp. 193-198.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Pumarola, A. Agudo, L. Porzi, A. Sanfeliu, V. Lepetit and F. Moreno-Noguer. Geometry-aware network for non-rigid shape prediction from a single view, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Salt Lake City, UT, USA, pp. 4681-4690.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Pumarola, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. Unsupervised person image synthesis in arbitrary poses, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2018, Salt Lake City, UT, USA, pp. 8620-8628.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Pumarola, A. Agudo, A.M. Martinez, A. Sanfeliu and F. Moreno-Noguer. GANimation: Anatomically-aware facial animation from a single image, 15th European Conference on Computer Vision, 2018, Munich, Germany, in Computer Vision - ECCV 2018, Vol 11214 of Lecture Notes in Computer Science, pp. 835-851, 2018.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Pumarola, A. Vakhitov, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. PL-SLAM: Real-time monocular visual SLAM with points and lines, 2017 IEEE International Conference on Robotics and Automation, 2017, Singapore, pp. 4503-4508.

    Open/Close abstract Abstract Info Info pdf PDF

  • D. Lunni, A. Santamaria-Navarro, R. Rossi, P. Rocco, L. Bascetta and J. Andrade-Cetto. Nonlinear model predictive control for aerial manipulation, 2017 International Conference on Unmanned Aircraft Systems, 2017, Miami, pp. 87-93.

    Open/Close abstract Abstract Info Info pdf PDF

  • P. Lepej, A. Santamaria-Navarro and J. Solà. A flexible hardware-in-the-loop architecture for UAVs, 2017 International Conference on Unmanned Aircraft Systems, 2017, Miami, pp. 1751-1756.

    Open/Close abstract Abstract Info Info pdf PDF

  • V. Vaquero, G. Ros, F. Moreno-Noguer, A. M. and A. Sanfeliu. Joint coarse-and-fine reasoning for deep optical flow, 24th IEEE International Conference on Image Processing, 2017, Beijing, pp. 2558-2562.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Rubio, L. Yu, E. Simo-Serra and F. Moreno-Noguer. Multi-modal joint embedding for fashion product retrieval, 24th IEEE International Conference on Image Processing, 2017, Beijing, pp. 400-404.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Garrell Zulueta, L.A. Garza, M. Villamizar, F. Herrero and A. Sanfeliu. Aerial social force model: A new framework to accompany people using autonomous flying robots, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 7011-7017.

    Open/Close abstract Abstract Info Info pdf PDF

  • L. Porzi, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Depth-aware convolutional neural networks for accurate 3D pose estimation in RGB-D images, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 5777-5783.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Amor, A. Santamaria-Navarro, F. Herrero, A. Ruiz and A. Sanfeliu. Planar P∅P: feature-less pose estimation with applications in UAV localization, 2016 IEEE International Symposium on Safety, Security and Rescue Robotics, 2016, Lausanne, pp. 15-20.

    Open/Close abstract Abstract Info Info pdf PDF

  • I. Alzugaray and A. Sanfeliu. Learning the hidden human knowledge of UAV pilots when navigating in a cluttered environment for improving path planning, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, Daejeon, Korea, pp. 1589-1594.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Rubio, L. Yu, E. Simo-Serra and F. Moreno-Noguer. BASS: Boundary-aware superpixel segmentation, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 2824-2829.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Penate-Sanchez, L. Porzi and F. Moreno-Noguer. Matchability prediction for full-search template matching algorithms, 2015 International Conference on 3D Vision, 2015, Lyon, pp. 353-361.

    Open/Close abstract Abstract Info Info pdf PDF

Other Publications

  • A. Santamaria-Navarro, J. Solà and J. Andrade-Cetto. Visual Guidance of Unmanned Aerial Manipulators. Volume 125 of Springer Tracts in Advanced Robotics. Springer International Publishing, 2019.

    Open/Close abstract Abstract Info Info

  • A. Santamaria-Navarro, J. Solà and J. Andrade-Cetto. Odometry estimation for aerial manipulation. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 219-228. Springer, 2019.

    Open/Close abstract Abstract Info Info pdf PDF

  • E. Guerra, A. Pumarola, A. Grau and A. Sanfeliu. Perception for detection and grasping. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 275-283. Springer, 2019.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Amor, A. Ruiz, F. Moreno-Noguer and A. Sanfeliu. Precise localization for aerial inspection using augmented reality markers. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 249-259. Springer, 2019.

    Open/Close abstract Abstract Info Info pdf PDF

  • A. Pumarola, A. Vakhitov, A. Agudo, F. Moreno-Noguer and A. Sanfeliu. Relative localization for aerial manipulation with PL-SLAM. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 239-248. Springer, 2019.

    Open/Close abstract Abstract Info Info pdf PDF

  • M. Villamizar and A. Sanfeliu. Robust perception for aerial inspection: Adaptive and on-line techniques. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 261-273. Springer, 2019.

    Open/Close abstract Abstract Info Info pdf PDF