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

Associated assignment proposals