Aerial-CORE

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

The Aerial-CORE project aims at developing novel aerial manipulating robotics technologies for the inspection and maintenance of infrastructures in strict collaboration with human workers.

The goal of the project is to design new aerial manipulators from the mechatronics, control, and motion planning point for views. Such aerial robots will be able to operate both autonomously and  in physical collaboration with humans while respecting the following paradigms:

  • human safety
  • privacy preservation
  • ergonomics
  • effectiveness
  • energy efficiency

The aerial robots will have the following main characteristics: 

  • force-controlled aerial manipulators
  • full actuation and omnidirectionality
  • adapting morphology

For more information about the developed technologies please consult the publication and video list here

If you are a student at UT and you want to contribute to this exciting project please contact the Principal Investigator of the project (Antonio Franchi) whose contact details can be found on this page.

Selected publications:

  • D. Horla and M. Hamandi and M. Giernacki and A. Franchi
    Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force
    IEEE Robotics and Automation letters, 2021
  • E. Baskaya and M. Hamandi and M. Bronz and A. Franchi,
    A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure
    IEEE Robotics and Automation letters, 2021
  • M. Jacquet and A. Franchi},
    Motor and Perception Constrained {NMPC} for Torque-controlled Generic Aerial Vehicles
    IEEE Robotics and Automation letters, 2021, 6-2, p518-525 10.1109/LRA.2020.3045654
  • D. Bicego and J. Mazzetto and M. Farina and R. Carli and A. Franchi,
    Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs
    Journal of Intelligent Roboitcs Systems, Springer, 2020, 100 ,p1213-1247, 10.1007/s10846-020-01250-9

Dissemination and Media:

 

 

Associated assignments

A study on the effect of admittance control on human safety during collisions with a redundant aerial manipulator Tom Roossink
Design and optimization of impedance based safety metrics for redundant aerial manipulators in human-robot collision Scenarios Annelies Klaassen
Multirotors Embedding Elastic Sensors to Measure Arm Deflection: System Modeling and Control Salma Bahaa El Din Hassan Abdelhalim
Fully-actuated Multirotors Embedding Elastic Sensors to Measure Arm Deflection: System Modeling and Control Idse Kuijper
Control of redundant mechanical systems in the presence of external disturbances Ahmed Tamer Salah Abdo Ali
Bayesian learning-based impedance control of an aerial robot for writing Yashwanth Avvari
Human-aware motion control in Aerial Human-Robot Handovers Bastiaan Bekooij
Exploiting Non-Linear Model Predictive Control in Contact-based Aerial Physical Interaction Ayham Alharbat
Achieving full autonomy in aerial and physical human-robot interaction control via onboard perception algorithms relying on computer vision Miguel Alonso Calderon
Design, modeling, and control of a novel multirotor UAV with embedded 3D-printed thrust force sensor Bernard Prakken
Software Integration of Electronic Speed Controller (ESC) for an Unmanned Aerial Robot Hussein Osama Hussein Abdelrahman
Hardware integration of electronic speed controllers on an Unmanned Aerial Vehicle. Mechanical design and prototyping Matthijn Brink
Heterogeneous Cooperative Target Tracking using Nonlinear Model Predictive Control Max Kivits
Control methods and architectures for aerial manipulators in physical interaction with humans Mark van Holland
Role of Accelerometers in the Control of a Fully Actuated UAV’s Bhanu Chidura
Design and Implementation of a Nonlinear Model Predictive Controller for Preliminary Aerial Physical Interaction Applications Bogdan Ganea

Associated assignment proposals