AEROARMS

Period: 

June 2015 - May 2019 (4 years)

My role: 

Principal Investigator for LAAS-CNRS

Website of the project: 

Long description: 

The goal of the AeRoArms project is developing an aerial robotic system with multiple arms and advanced manipulation capabilities for application in industrial inspection and maintenance.

Main Objectives

The AEROARMS project poses complex mechatronics, control, telemanipulation perception and planning problems. Particularly, new mechatronic designs and control methods are needed to implement the aerial robots with several arms for grabbing and flying operations. Advanced control strategies with force and vision feedback are also required for manipulation. Also new coordinated control strategies of the multiple arms and the aerial platforms are needed. Moreover, new perception methods, with ability to adapt to changing illumination conditions, are required for accurate local mapping and localization in denied GPS industrial environment, grabbing and manipulation, and integration of sensory data to help the operation of the crawler. On the other hand, planning is required to compute the required motions of the aerial robot for efficient and safe grabbing and manipulation taking into account the constraints imposed by the aerial robot and the environment, including motion planning for torque compensation, and for cooperation with the ground mobile robot. Moreover, reactive behaviors to increase safety, avoiding collisions with objects in the environment will be also implemented.

LAAS team

  • Antonio Franchi (PI, Researcher)
  • Juan Cortés (Researcher)
  • Simon Lacroix (Researcher)
  • Anthony Mallet (Research Engineer)
  • Markus Ryll (Postdoc)
  • Marco Tognon (PhD)
  • Davide Bicego (PhD)
  • Hermes Tello (Engineer)

My Results in the Project

This is partial list of our scientific publications related to the AeRoArms project:


References

  1. Ryll M, Bicego D, Franchi A. Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor. In: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1689-1694.
  2. Rajappa S, Ryll M, Bülthoff HH, Franchi A. Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers. In: 2015 IEEE Int. Conf. on Robotics and Automation. 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 4006-4013.
  3. Ryll M, Muscio G, Pierri F, Cataldi E, Antonelli G, Caccavale F, Franchi A. 6D Physical Interaction with a Fully Actuated Aerial Robot. In: 2017 IEEE Int. Conf. on Robotics and Automation. 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. pp. 5190-5195.
  4. Nainer C, Furci M, Seuret A, Zaccarian L, Franchi A. Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation. In: 20th IFAC World Congress. 20th IFAC World Congress. Toulouse, France; 2017.
  5. Staub N, Bicego D, Sablé Q, Arellano-Quintana V, Mishra S, Franchi A. Towards a Flying Assistant Paradigm: the OTHex. In: 2018 IEEE Int. Conf. on Robotics and Automation. 2018 IEEE Int. Conf. on Robotics and Automation. Brisbane, Australia; 2018.
  6. Franchi A, Carli R, Bicego D, Ryll M. Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force. IEEE Trans. on Robotics. 2018 ;34(2):534-541.
  7. Tognon M, Franchi A. Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control. IEEE Robotics and Automation Letters. 2018 ;3(3):2277-2282.
  8. Yüksel B, Buondonno G, Franchi A. Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints. In: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 561-566.
  9. Yüksel B, Staub N, Franchi A. Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. In: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1667-1672.
  10. Yüksel B, Mahboubi S, Secchi C, Bülthoff HH, Franchi A. Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction. In: 2015 IEEE Int. Conf. on Robotics and Automation. 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 870-876.
  11. Staub N, Mohammadi M, Bicego D, Prattichizzo D, Franchi A. Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems. In: 2017 IEEE Int. Conf. on Robotics and Automation. 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. pp. 1307-1312.
  12. Tognon M, Yüksel B, Buondonno G, Franchi A. Dynamic Decentralized Control for Protocentric Aerial Manipulators. In: 2017 IEEE Int. Conf. on Robotics and Automation. 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017.
  13. Delamare Q, Robuffo Giordano P, Franchi A. Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018 ;3:1514-1521.
  14. Tognon M, Cataldi E, Tello Chavez H, Antonelli G, Cortés J, Franchi A. Control-Aware Motion Planning for Task-Constrained Aerial Manipulation. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018 ;3(3):2478-2484.
  15. Tognon M, Gabellieri C, Pallottino L, Franchi A. Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018 ;3(3):2577-2583.
  16. Tognon M, Testa A, Rossi E, Franchi A. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. In: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Daejeon, South Korea; 2016. pp. 1702-1707.
  17. Tognon M, Dash SS, Franchi A. Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics and Automation Letters. 2016 ;1(2):732-737.
  18. Tognon M, Franchi A. Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots. In: 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Hamburg, Germany; 2015. pp. 1852-1857.
  19. Tognon M, Franchi A. Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements. In: 2015 IEEE Int. Conf. on Robotics and Automation. 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 3994-3999.
  20. Tognon M, Franchi A. Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform. In: 20th IFAC World Congress. 20th IFAC World Congress. Toulouse, France; 2017.
  21. Tognon M, Franchi A. Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination. In: 2017 International Micro Air Vehicle Conference. 2017 International Micro Air Vehicle Conference. Toulouse, France; 2017. pp. 97-102.
  22. Tognon M, Franchi A. Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Transaction on Robotics. 2017 ;33(4):834-845.
  23. Mohammadi M, Franchi A, Barcelli D, Prattichizzo D. Cooperative Aerial Tele-Manipulation with Haptic Feedback. In: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 5092-5098.
  24. Gioioso G, Mohammadi M, Franchi A, Prattichizzo D. A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment. In: 2015 IEEE Int. Conf. on Robotics and Automation. 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 318-324.
  25. Spedicato S, Franchi A, Notarstefano G. From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. In: 2016 IEEE Int. Conf. on Robotics and Automation. 2016 IEEE Int. Conf. on Robotics and Automation. Stockholm, Sweden; 2016. pp. 2965-2970.
  26. Franchi A, Mallet A. Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles. In: 2017 IEEE Int. Conf. on Robotics and Automation. 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017.
  27. Michieletto G, Ryll M, Franchi A. Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors. In: 2017 IEEE Int. Conf. on Robotics and Automation. 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017.
  28. Michieletto G, Cenedese A, Zaccarian L, Franchi A. Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction. In: 20th IFAC World Congress. 20th IFAC World Congress. Toulouse, France; 2017.
  29. Solana Y, Furci M, Cortés J, Franchi A. Multi-Robot Path Planning with Maintenance of Generalized Connectivity. In: The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems. The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems. Los Angeles, CA; 2017.
  30. Michieletto G, Ryll M, Franchi A. Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness. IEEE Trans. on Robotics. 2018 ;34(3).
  31. Faessler M, Franchi A, Scaramuzza D. Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics and Automation Letters. 2018 ;3(2):620-626.
  32. Sanchez-Lopez J-L-L, Arellano-Quintana V, Tognon M, Campoy P, Franchi A. Visual Marker based Multi-Sensor Fusion State Estimation. In: 20th IFAC World Congress. 20th IFAC World Congress. Toulouse, France; 2017.