TY - GEN
T1 - Inspection operations using an aerial robot powered-over-tether by a ground vehicle
AU - Zikou, Lida
AU - Papachristos, Christos
AU - Alexis, Kostas
AU - Tzes, Anthony
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - Within this paper, the utilization of an aerial robot that is powered-over-tether by a ground robot in order to execute longendurance infrastructure inspection operations is described. Details on the key-concept of the Power-over-Tether system with the power bank of the aerial robot now being located on the ground vehicle are provided. To allow smooth flight of the aerial vehicle, a long power cable is wound onto a custom-developed base which is capable of releasing and retracting in a controlled manner. This design is exploited via a special controller that handles the coordinated motion of the two robots. Finally, a structural inspection planner is integrated into the system and benefitting by the on-board perception and mapping capabilities of the aerial robot autonomous 3D reconstruction of the desired objects is achieved. The overall framework is evaluated using experimental studies relevant to infrastructure inspection operations.
AB - Within this paper, the utilization of an aerial robot that is powered-over-tether by a ground robot in order to execute longendurance infrastructure inspection operations is described. Details on the key-concept of the Power-over-Tether system with the power bank of the aerial robot now being located on the ground vehicle are provided. To allow smooth flight of the aerial vehicle, a long power cable is wound onto a custom-developed base which is capable of releasing and retracting in a controlled manner. This design is exploited via a special controller that handles the coordinated motion of the two robots. Finally, a structural inspection planner is integrated into the system and benefitting by the on-board perception and mapping capabilities of the aerial robot autonomous 3D reconstruction of the desired objects is achieved. The overall framework is evaluated using experimental studies relevant to infrastructure inspection operations.
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U2 - 10.1007/978-3-319-27857-5_41
DO - 10.1007/978-3-319-27857-5_41
M3 - Conference contribution
AN - SCOPUS:84952673835
SN - 9783319278568
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 455
EP - 465
BT - Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
A2 - Elendt, Mark
A2 - Boyle, Richard
A2 - Ragan, Eric
A2 - Parvin, Bahram
A2 - Feris, Rogerio
A2 - McGraw, Tim
A2 - Pavlidis, Ioannis
A2 - Kopper, Regis
A2 - Bebis, George
A2 - Koracin, Darko
A2 - Ye, Zhao
A2 - Weber, Gunther
PB - Springer Verlag
T2 - 11th International Symposium on Advances in Visual Computing, ISVC 2015
Y2 - 14 December 2015 through 16 December 2015
ER -