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

Lida Zikou, Christos Papachristos, Kostas Alexis, Antonios 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
    PublisherSpringer-Verlag
    Pages455-465
    Number of pages11
    ISBN (Print)9783319278568
    DOIs
    StatePublished - Jan 1 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

    Fingerprint

    Ground vehicles
    Inspection
    Robot
    Robots
    Antennas
    Infrastructure
    Autonomous Robots
    3D Reconstruction
    Cable
    Experimental Study
    Controller
    Cables
    Motion
    Controllers

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

    Cite this

    Zikou, L., Papachristos, C., Alexis, K., & Tzes, A. (2015). Inspection operations using an aerial robot powered-over-tether by a ground vehicle. In Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings (pp. 455-465). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474). Springer-Verlag. https://doi.org/10.1007/978-3-319-27857-5_41

    Inspection operations using an aerial robot powered-over-tether by a ground vehicle. / Zikou, Lida; Papachristos, Christos; Alexis, Kostas; Tzes, Antonios.

    Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer-Verlag, 2015. p. 455-465 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474).

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

    Zikou, L, Papachristos, C, Alexis, K & Tzes, A 2015, Inspection operations using an aerial robot powered-over-tether by a ground vehicle. in Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9474, Springer-Verlag, pp. 455-465, 11th International Symposium on Advances in Visual Computing, ISVC 2015, Las Vegas, United States, 12/14/15. https://doi.org/10.1007/978-3-319-27857-5_41
    Zikou L, Papachristos C, Alexis K, Tzes A. Inspection operations using an aerial robot powered-over-tether by a ground vehicle. In Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer-Verlag. 2015. p. 455-465. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-27857-5_41
    Zikou, Lida ; Papachristos, Christos ; Alexis, Kostas ; Tzes, Antonios. / Inspection operations using an aerial robot powered-over-tether by a ground vehicle. Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer-Verlag, 2015. pp. 455-465 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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