IRI - ARCAS: Aerial Robotics Cooperative Assembly System

The ARCAS project proposes the development and experimental validation of the first cooperative free-flying robot system for assembly and structure construction. The project will pave the way for a large number of applications including the building of platforms for evacuation of people or landing aircrafts, the inspection and maintenance of facilities and the construction of structures in inaccessible sites and in the space.
The detailed scientific and technological objectives are:
1)New methods for motion control of a free-flying robot with mounted manipulator in contact with a grasped object as well as for coordinated control of multiple cooperating flying robots with manipulators in contact with the same object (e.g. for precise placement or joint manipulation).
2)New flying robot perception methods to model, identify and recognize the scenario and to be used for the guidance in the assembly operation, including fast generation of 3D models, aerial 3D SLAM, 3D tracking and cooperative perception.
3)New methods for the cooperative assembly planning and structure construction by means of multiple flying robots with application to inspection and maintenance activities.
4)Strategies for operator assistance, including visual and force feedback, in manipulation tasks involving multiple cooperating flying robots.
The above methods and technologies will be integrated in the ARCAS cooperative flying robot system that will be validated in the following scenarios: a) Indoor testbed with quadrotors, b) Outdoor scenario with helicopters, c) free-flying simulation using multiple robot arms.
The project will be implemented by a high-quality consortium whose partners have already demonstrated the cooperative transportation by aerial robots as well as high performance cooperative ground manipulation. The team has the ability to produce for the first time challenging technological demonstrations with a high potential for generation of industrial products upon project completion.

Project Publications

Journal Publications

A. Goldhoorn, A. Garrell Zulueta, R. Alquézar Mancho and A. Sanfeliu. Searching and tracking people with cooperative mobile robots. Autonomous Robots, 42(4): 739-759, 2018.

Abstract Info 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.

Abstract Info PDF
A. Santamaria-Navarro, E.H. Teniente, M. Morta and J. Andrade-Cetto. Terrain classification in complex three-dimensional outdoor environments. Journal of Field Robotics, 32(1): 42-60, 2015.

Abstract Info PDF
A. Penate-Sanchez, J. Andrade-Cetto and F. Moreno-Noguer. Exhaustive linearization for robust camera pose and focal length estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 35(10): 2387-2400, 2013.

Abstract Info PDF
R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning reliable paths with Pose SLAM. IEEE Transactions on Robotics, 29(4): 1050-1059, 2013.

Abstract Info PDF
M. Villamizar, J. Andrade-Cetto, A. Sanfeliu and F. Moreno-Noguer. Bootstrapping boosted random Ferns for discriminative and efficient object classification. Pattern Recognition, 45(9): 3141-3153, 2012.

Abstract Info PDF

Conference Publications

A. Agudo and F. Moreno-Noguer. Simultaneous pose and non-rigid shape with particle dynamics, 2015 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2015, Boston, MA, USA, pp. 2179-2187.

Abstract Info PDF
A. Rubio, M. Villamizar, L. Ferraz, A. Penate-Sanchez, A. Ramisa, E. Simo-Serra, A. Sanfeliu and F. Moreno-Noguer. Efficient monocular pose estimation for complex 3D models, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 1397-1402.

Abstract Info PDF
M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Modeling robot's world with minimal effort, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 4890-4896.

Abstract Info PDF
M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Multimodal object recognition using random clustering trees, 7th Iberian Conference on Pattern Recognition and Image Analysis, 2015, Santiago de Compostela, in Pattern Recognition and Image Analysis, Vol 9117 of Lecture Notes in Computer Science, pp. 496-504, 2015, Springer.

Abstract Info PDF
E. Simo-Serra, S. Fidler, F. Moreno-Noguer and R. Urtasun. Neuroaesthetics in fashion: Modeling the perception of fashionability, 2015 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2015, Boston, MA, USA.

Abstract Info PDF
A. Santamaria-Navarro, J. Solà and J. Andrade-Cetto. High-frequency MAV state estimation using low-cost inertial and optical flow measurement units, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, Hamburg, Germany, pp. 1864-1871.

Abstract Info PDF
A. Santamaria-Navarro and J. Andrade-Cetto. Hierarchical task control for aerial inspection, euRathlon-ARCAS Workshop and Summer School on Field Robotics, 2014, Seville.

Abstract Info PDF
E. Trulls Fortuny, S. Tsogkas, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Segmentation-aware deformable part models, 2014 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2014, Columbus, OH, USA, pp. 168-175.

Abstract Info PDF
A. Santamaria-Navarro, V. Lippiello and J. Andrade-Cetto. Task priority control for aerial manipulation, 2014 IEEE International Symposium on Safety, Security and Rescue Robotics, 2014, Toyako-cho, Hokkaido, Japan, pp. 1-6.

Abstract Info PDF
L. Ferraz, X. Binefa and F. Moreno-Noguer. Very fast solution to the PnP problem with algebraic outlier rejection, 2014 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2014, Columbus, OH, USA, pp. 501-508.

Abstract Info PDF
M. Villamizar, A. Sanfeliu and F. Moreno-Noguer. Fast online learning and detection of natural landmarks for autonomous aerial robots, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, China, pp. 4996-5003.

Abstract Info PDF
A. Rubio, M. Villamizar, L. Ferraz, A. Penate-Sanchez, A. Sanfeliu and F. Moreno-Noguer. Estimación monocular y eficiente de la pose usando modelos 3D complejos, XXXV Jornadas de Automática, 2014, Valencia, Spain.

Abstract Info PDF
L. Ferraz, X. Binefa and F. Moreno-Noguer. Leveraging feature uncertainty in the PnP problem, 2014 British Machine Vision Conference, 2014, Nottingham, UK.

Abstract Info PDF
A. Penate-Sanchez, F. Moreno-Noguer, J. Andrade-Cetto and F. Fleuret. LETHA: Learning from high quality inputs for 3D pose estimation in low quality images, 2nd International Conference on 3D Vision, 2014, Tokyo, pp. 517-524.

Abstract Info PDF
M. Manubens, D. Devaurs, L. Ros and J. Cortés. A motion planning approach to 6-D manipulation with aerial towed-cable systems, 2013 International Micro Air Vehicle Conference and Flight Competition, 2013, Toulouse, France.

Abstract Info PDF
M. Manubens, D. Devaurs, J. Cortés and L. Ros. 6-D manipulation with aerial towed-cable system, 2013 RSS Workshop on Aerial Mobile Manipulation, 2013, Berlin, Germany.

Abstract Info PDF
A. Santamaria-Navarro and J. Andrade-Cetto. Uncalibrated image-based visual servoing, 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, Germany, pp. 5247-5252.

Abstract Info PDF
M.G. Jadidi, J. Valls Miró, R. Valencia, J. Andrade-Cetto and G. Dissanayake. Exploration in information distribution maps, 2013 RSS Workshop on Robotic Exploration, Monitoring, and Information Collection, 2013, Berlin, Germany, pp. 1-8.

Abstract Info PDF
J. Vallvé and J. Andrade-Cetto. Mobile robot exploration with potential information fields, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 222-227.

Abstract Info PDF
A.A. Ortega, R. Galego, R. Ferreira, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Estimation of camera calibration uncertainty using LIDAR data, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 361-366.

Abstract Info PDF
E.H. Teniente and J. Andrade-Cetto. HRA*: Hybrid randomized path planning for complex 3D environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan, pp. 1766-1771.

Abstract Info PDF
A. Penate-Sanchez, E. Serradell, J. Andrade-Cetto and F. Moreno-Noguer. Simultaneous pose, focal length and 2D-to-3D correspondences from noisy observations, 2013 British Machine Vision Conference, 2013, Bristol, UK, pp. 82.1-82.11.

Abstract Info PDF
M.G. Jadidi, J. Valls Miró, R. Valencia, J. Andrade-Cetto and G. Dissanayake. Exploration using an information-based reaction-diffusion process, 2013 Australasian Conference on Robotics and Automation, 2013, Sydney, pp. 1-10.

Abstract Info PDF
E. Trulls Fortuny, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Dense segmentation-aware descriptors, 2013 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2013, Portland, OR, USA, pp. 2890-2897.

Abstract Info PDF
A. Garrell Zulueta, M. Villamizar, F. Moreno-Noguer and A. Sanfeliu. Proactive behavior of an autonomous mobile robot for human-assisted learning, 22nd IEEE International Symposium on Robot and Human Interactive Communication, 2013, Gyeongju, Korea, pp. 107-113.

Abstract Info PDF
R. Valencia, J. Valls Miró, G. Dissanayake and J. Andrade-Cetto. Active Pose SLAM, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, Vilamoura, Portugal, pp. 1885-1891, IEEE.

Abstract Info PDF
M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Online human-assisted learning using random ferns, 21st International Conference on Pattern Recognition, 2012, Tsukuba, Japan, pp. 2821-2824, IEEE Computer Society.

Abstract Info PDF
E. Trulls Fortuny, A. Sanfeliu and F. Moreno-Noguer. Spatiotemporal descriptor for wide-baseline stereo reconstruction of non-rigid and ambiguous scenes, 12th European Conference on Computer Vision, 2012, Florence, Italy, in Computer Vision, Vol 7574 of Lecture Notes in Computer Science, pp. 441-454, 2012, Springer.

Abstract Info 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.

Abstract Info
R. Valencia and J. Andrade-Cetto. Mapping, Planning and Exploration with Pose SLAM. Volume 119 of Springer Tracts in Advanced Robotics. Springer, 2018.

Abstract Info

Institut de Robòtica i Informàtica Industrial, CSIC-UPC
C/ Llorens i Artigas 4-6, 08028, Barcelona, Spain

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Research Project

ARCAS: Aerial Robotics Cooperative Assembly System

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Project Publications

Journal Publications

A. Goldhoorn, A. Garrell Zulueta, R. Alquézar Mancho and A. Sanfeliu. Searching and tracking people with cooperative mobile robots. Autonomous Robots, 42(4): 739-759, 2018.

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.

A. Santamaria-Navarro, E.H. Teniente, M. Morta and J. Andrade-Cetto. Terrain classification in complex three-dimensional outdoor environments. Journal of Field Robotics, 32(1): 42-60, 2015.

A. Penate-Sanchez, J. Andrade-Cetto and F. Moreno-Noguer. Exhaustive linearization for robust camera pose and focal length estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 35(10): 2387-2400, 2013.

R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning reliable paths with Pose SLAM. IEEE Transactions on Robotics, 29(4): 1050-1059, 2013.

M. Villamizar, J. Andrade-Cetto, A. Sanfeliu and F. Moreno-Noguer. Bootstrapping boosted random Ferns for discriminative and efficient object classification. Pattern Recognition, 45(9): 3141-3153, 2012.

Conference Publications

A. Agudo and F. Moreno-Noguer. Simultaneous pose and non-rigid shape with particle dynamics, 2015 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2015, Boston, MA, USA, pp. 2179-2187.

A. Rubio, M. Villamizar, L. Ferraz, A. Penate-Sanchez, A. Ramisa, E. Simo-Serra, A. Sanfeliu and F. Moreno-Noguer. Efficient monocular pose estimation for complex 3D models, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 1397-1402.

M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Modeling robot's world with minimal effort, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 4890-4896.

E. Simo-Serra, S. Fidler, F. Moreno-Noguer and R. Urtasun. Neuroaesthetics in fashion: Modeling the perception of fashionability, 2015 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2015, Boston, MA, USA.

A. Santamaria-Navarro, J. Solà and J. Andrade-Cetto. High-frequency MAV state estimation using low-cost inertial and optical flow measurement units, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, Hamburg, Germany, pp. 1864-1871.

A. Santamaria-Navarro and J. Andrade-Cetto. Hierarchical task control for aerial inspection, euRathlon-ARCAS Workshop and Summer School on Field Robotics, 2014, Seville.

E. Trulls Fortuny, S. Tsogkas, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Segmentation-aware deformable part models, 2014 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2014, Columbus, OH, USA, pp. 168-175.

A. Santamaria-Navarro, V. Lippiello and J. Andrade-Cetto. Task priority control for aerial manipulation, 2014 IEEE International Symposium on Safety, Security and Rescue Robotics, 2014, Toyako-cho, Hokkaido, Japan, pp. 1-6.

L. Ferraz, X. Binefa and F. Moreno-Noguer. Very fast solution to the PnP problem with algebraic outlier rejection, 2014 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2014, Columbus, OH, USA, pp. 501-508.

M. Villamizar, A. Sanfeliu and F. Moreno-Noguer. Fast online learning and detection of natural landmarks for autonomous aerial robots, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, China, pp. 4996-5003.

A. Rubio, M. Villamizar, L. Ferraz, A. Penate-Sanchez, A. Sanfeliu and F. Moreno-Noguer. Estimación monocular y eficiente de la pose usando modelos 3D complejos, XXXV Jornadas de Automática, 2014, Valencia, Spain.

L. Ferraz, X. Binefa and F. Moreno-Noguer. Leveraging feature uncertainty in the PnP problem, 2014 British Machine Vision Conference, 2014, Nottingham, UK.

A. Penate-Sanchez, F. Moreno-Noguer, J. Andrade-Cetto and F. Fleuret. LETHA: Learning from high quality inputs for 3D pose estimation in low quality images, 2nd International Conference on 3D Vision, 2014, Tokyo, pp. 517-524.

M. Manubens, D. Devaurs, L. Ros and J. Cortés. A motion planning approach to 6-D manipulation with aerial towed-cable systems, 2013 International Micro Air Vehicle Conference and Flight Competition, 2013, Toulouse, France.

M. Manubens, D. Devaurs, J. Cortés and L. Ros. 6-D manipulation with aerial towed-cable system, 2013 RSS Workshop on Aerial Mobile Manipulation, 2013, Berlin, Germany.

A. Santamaria-Navarro and J. Andrade-Cetto. Uncalibrated image-based visual servoing, 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, Germany, pp. 5247-5252.

M.G. Jadidi, J. Valls Miró, R. Valencia, J. Andrade-Cetto and G. Dissanayake. Exploration in information distribution maps, 2013 RSS Workshop on Robotic Exploration, Monitoring, and Information Collection, 2013, Berlin, Germany, pp. 1-8.

J. Vallvé and J. Andrade-Cetto. Mobile robot exploration with potential information fields, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 222-227.

A.A. Ortega, R. Galego, R. Ferreira, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Estimation of camera calibration uncertainty using LIDAR data, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 361-366.

E.H. Teniente and J. Andrade-Cetto. HRA*: Hybrid randomized path planning for complex 3D environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan, pp. 1766-1771.

A. Penate-Sanchez, E. Serradell, J. Andrade-Cetto and F. Moreno-Noguer. Simultaneous pose, focal length and 2D-to-3D correspondences from noisy observations, 2013 British Machine Vision Conference, 2013, Bristol, UK, pp. 82.1-82.11.

M.G. Jadidi, J. Valls Miró, R. Valencia, J. Andrade-Cetto and G. Dissanayake. Exploration using an information-based reaction-diffusion process, 2013 Australasian Conference on Robotics and Automation, 2013, Sydney, pp. 1-10.

E. Trulls Fortuny, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Dense segmentation-aware descriptors, 2013 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2013, Portland, OR, USA, pp. 2890-2897.

A. Garrell Zulueta, M. Villamizar, F. Moreno-Noguer and A. Sanfeliu. Proactive behavior of an autonomous mobile robot for human-assisted learning, 22nd IEEE International Symposium on Robot and Human Interactive Communication, 2013, Gyeongju, Korea, pp. 107-113.

R. Valencia, J. Valls Miró, G. Dissanayake and J. Andrade-Cetto. Active Pose SLAM, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, Vilamoura, Portugal, pp. 1885-1891, IEEE.

M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Online human-assisted learning using random ferns, 21st International Conference on Pattern Recognition, 2012, Tsukuba, Japan, pp. 2821-2824, IEEE Computer Society.

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.

R. Valencia and J. Andrade-Cetto. Mapping, Planning and Exploration with Pose SLAM. Volume 119 of Springer Tracts in Advanced Robotics. Springer, 2018.