IEEE Robotics & Automation Magazine - December 2018 - 22

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The previously mentioned perturbations have a significant
impact on navigation and manipulation, generating devi-
ations from trajectories planned with conventional meth-
ods. The use of a controller inside the planner is helpful for
predicting the dynamic behavior of the closed-loop system.
Moreover, reactivity methods are needed for dynamic envi-
ronments or incremental map building.
For time-delayed teleoperation, task-dependent shared-
control algorithms might be helpful 1) to track the master
position accurately by the slave manipulator in spite of the
base movement and 2) to hide the dynamics of the aerial
base from the operator so that he or she perceives a fixed-
base teleoperation.
Sensor data fusion methods should be applied to compen-
sate for the limitation of individual sensors, such as the loss
of GPS, lighting changes, and electromagnetic disturbances.

Conclusions
AEROARMS has demonstrated the application of aerial robots
to contact inspection of industrial pipes while flying, showing
the ability to perform ultrasonic measurements for determining
the thickness of pipe walls. The results presented here demon-
strate the suitability of aerial robotic manipulation for these
outdoor applications. Significant advances with respect to the
state of the art were necessary in the areas of design, perception,
teleoperation, and motion planning and control.
Most of the proposed methods and technologies were dem-
onstrated outdoors, which is a significant departure from other
published works on aerial robotic manipulation. Multidirec-
tional thrusters and compliance in the end effectors were note-
worthy technologies applied. This work received the Overall
Innovation Radar Prize 2017 of the European Commission in
the Information and Communication Technologies event [37].
Factory implementation of the flying-based contact measure-
ment and the deployment of the crawler are in preparation.
Acknowledgments
The AEROARMS Consortium consists of ten European part-
ners (https://aeroarms-project.eu/) led by the University of
Seville, Spain. The funding of the European Commission
under the Horizon 2020 contract 644271 is acknowledged.
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https://www.aeroarms-project.eu/
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