Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator

Salua Hamaza; Ioannis Georgilas; Manuel Fernandez; Pedro Sanchez-Cuevas; Thomas Richardson; Guillermo Heredia; Anibal Ollero

doi:10.1109/LRA.2019.2918448

Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator

Salua Hamaza, Ioannis Georgilas, Manuel Fernandez, Pedro Sanchez-Cuevas , Thomas Richardson, Guillermo Heredia, Anibal Ollero

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

62 Citations (SciVal)

141 Downloads (Pure)

Abstract

A wide range of applications for which unmanned aerial vehicles (UAVs) are ideally suited rely on the development of manipulators capable of exchanging forces with the environment. One such application is the installation and retrieval of intelligent sensors for monitoring wide-spread areas and locations that are difficult to access by any other means. Within this letter, we report on both indoor and outdoor flights tests of a novel force controlled lightweight compliant manipulator that allows a UAV to carry out this type of task. Installation and retrieval are both demonstrated with different scenarios, indoors and outdoors. Key results include interaction forces up to 22 N exerted by a small-sized multirotor, placement and retrieval operations carried out on flat as well as cylindrical surfaces, and an analysis of the overall system. The results of multiple flight experiments clearly demonstrate the potential of this approach for the deployment of sensors and other force-related tasks.

Original language	English
Article number	8719995
Pages (from-to)	2793-2800
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	4
Issue number	3
DOIs	https://doi.org/10.1109/LRA.2019.2918448
Publication status	Published - 1 Jul 2019

Keywords

Aerial systems
aerial systems
applications
mechanics and control
mechanism design

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2019.2918448

RAL_2019_SaluaHamaza.PDF
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Accepted author manuscript, 2.8 MB

Cite this

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abstract = "A wide range of applications for which unmanned aerial vehicles (UAVs) are ideally suited rely on the development of manipulators capable of exchanging forces with the environment. One such application is the installation and retrieval of intelligent sensors for monitoring wide-spread areas and locations that are difficult to access by any other means. Within this letter, we report on both indoor and outdoor flights tests of a novel force controlled lightweight compliant manipulator that allows a UAV to carry out this type of task. Installation and retrieval are both demonstrated with different scenarios, indoors and outdoors. Key results include interaction forces up to 22 N exerted by a small-sized multirotor, placement and retrieval operations carried out on flat as well as cylindrical surfaces, and an analysis of the overall system. The results of multiple flight experiments clearly demonstrate the potential of this approach for the deployment of sensors and other force-related tasks.",

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AU - Richardson, Thomas

AU - Heredia, Guillermo

AU - Ollero, Anibal

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Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator

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Ioannis Georgilas

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Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator

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Ioannis Georgilas

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