Inspection operations using an aerial robot powered-over-tether by a ground vehicle

Lida Zikou, Christos Papachristos, Kostas Alexis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAdvances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
EditorsMark Elendt, Richard Boyle, Eric Ragan, Bahram Parvin, Rogerio Feris, Tim McGraw, Ioannis Pavlidis, Regis Kopper, George Bebis, Darko Koracin, Zhao Ye, Gunther Weber
PublisherSpringer Verlag
Pages455-465
Number of pages11
ISBN (Print)9783319278568
DOIs
StatePublished - 2015
Event11th International Symposium on Advances in Visual Computing, ISVC 2015 - Las Vegas, United States
Duration: Dec 14 2015Dec 16 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9474
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other11th International Symposium on Advances in Visual Computing, ISVC 2015
CountryUnited States
CityLas Vegas
Period12/14/1512/16/15

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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