A High Payload Aerial Platform for Infrastructure Repair and Manufacturing

Lachlan Orr; Brett Stephens; Basaran Bahadir Kocer; Mirko Kovac

doi:10.1109/AIRPHARO52252.2021.9571052

A High Payload Aerial Platform for Infrastructure Repair and Manufacturing

Lachlan Orr, Brett Stephens, Basaran Bahadir Kocer, Mirko Kovac

Department of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

8 Citations (Scopus)

Abstract

The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10-34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces.

Original language	English
Title of host publication	AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
ISBN (Electronic)	978-1-6654-3389-1
ISBN (Print)	978-1-6654-3390-7
DOIs	https://doi.org/10.1109/AIRPHARO52252.2021.9571052
Publication status	Published - Oct 2021
Event	1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021 - Biograd na Moru, Croatia Duration: 4 Oct 2021 → 5 Oct 2021

Publication series

Name	AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment

Conference

Conference	1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021
Country/Territory	Croatia
City	Biograd na Moru
Period	4/10/21 → 5/10/21

Bibliographical note

Funding Information:
This work was supported by funding from EPSRC (award no. EP/N018494/1, EP/R026173/1, EP/R009953/1, EP/S031464/1, EP/W001136/1), NERC (award no. NE/R012229/1) and the EU H2020 AeroTwin project (grant ID 810321). Mirko Kovac is supported by the Royal Society Wolfson fellowship (RSWF/R1/18003).

Publisher Copyright:
© 2021 IEEE.

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Orr, L., Stephens, B., Kocer, B. B., & Kovac, M. (2021). A High Payload Aerial Platform for Infrastructure Repair and Manufacturing. In AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/AIRPHARO52252.2021.9571052

Orr, Lachlan ; Stephens, Brett ; Kocer, Basaran Bahadir et al. / A High Payload Aerial Platform for Infrastructure Repair and Manufacturing. AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment. Institute of Electrical and Electronics Engineers (IEEE), 2021. (AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment).

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abstract = "The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10-34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces.",

author = "Lachlan Orr and Brett Stephens and Kocer, {Basaran Bahadir} and Mirko Kovac",

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Orr, L, Stephens, B, Kocer, BB & Kovac, M 2021, A High Payload Aerial Platform for Infrastructure Repair and Manufacturing. in AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment. AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Institute of Electrical and Electronics Engineers (IEEE), 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021, Biograd na Moru, Croatia, 4/10/21. https://doi.org/10.1109/AIRPHARO52252.2021.9571052

A High Payload Aerial Platform for Infrastructure Repair and Manufacturing. / Orr, Lachlan; Stephens, Brett; Kocer, Basaran Bahadir et al.
AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment. Institute of Electrical and Electronics Engineers (IEEE), 2021. (AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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Orr L, Stephens B, Kocer BB, Kovac M. A High Payload Aerial Platform for Infrastructure Repair and Manufacturing. In AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment. Institute of Electrical and Electronics Engineers (IEEE). 2021. (AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment). doi: 10.1109/AIRPHARO52252.2021.9571052

A High Payload Aerial Platform for Infrastructure Repair and Manufacturing

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