Design and implementation of multirotor aerial-underwater vehicles with experimental results

Maia, Marco M.; Mercado, Diego; Díez, F. J.

doi:10.1109/iros.2017.8202261

Cited by 57 publications

(34 citation statements)

References 5 publications

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“…Most of the studies presented in the literature are using commercial UAVs for the aerial manipulation research. However, researchers have also proposed, novel platforms [47], [27], [44], modification to existing platforms [40], [48], [49], whereas [46] presented a technique of designing a new aerial platform based on application. Various new trends are being observed, one of them is exploring the possibility of hybrid aerial vehicles which can move on various mediums such as water and ground along with flight capabilities [42], [3], [49] and the other trend is creating re-configurable vertical take-off and landing aircrafts (VTOLs), which do not have fixed shapes [45], [44].…”

Section: Novel Aerial Platformsmentioning

confidence: 99%

“…Researchers [42], [3], [49] have also tried to create a hybrid platform, which can not only fly but travel through another medium. One example [42] is shown in Figure 2(d) in which the aircraft can not only fly and hover in the air but also travel on the ground, after going through a transformation, where it folds its arms and forms a two-wheel vehicle.…”

Section: Novel Aerial Platformsmentioning

confidence: 99%

“…This kind of hybridization, can increase the reach of aerial platform further and also save energy by traveling through the ground when flying is not necessary. Another example is [49] where the aerial platform can not only hover and travel underwater, but it is also capable of flying in the air, during the same flight. In above two cases, the prospects of attaching a manipulator are yet to be explored, and integration of a manipulator to such platforms would require considerations, regarding the travel through another medium based on the requirements of the other medium.…”

Section: Novel Aerial Platformsmentioning

confidence: 99%

See 2 more Smart Citations

A Survey of Single and Multi-UAV Aerial Manipulation

Mohiuddin

Taha²,

Zweiri

et al. 2020

Un. Sys.

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Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue. It can be used to pick and place objects and hence can be used for transportation of goods. Aerial manipulation can be used to perform operations in environments inaccessible or unsafe for human workers. This paper is a survey of recent research in aerial manipulation. The aerial manipulation research has diverse aspects, which include the designing of aerial manipulation platforms, manipulators, grippers, the control of aerial platform and manipulators, the interaction of aerial manipulator with the environment, through forces and torque. In particular, the review paper presents the survey of the airborne platforms that can be used for aerial manipulation including the new aerial platforms with aerial manipulation capability. We also classified the aerial grippers and aerial manipulators based on their designs and characteristics. The recent contributions regarding the control of the aerial manipulator platform is also discussed. The environment interaction of aerial manipulators is also surveyed which includes, different strategies used for end-effectors interaction with the environment, application of force, application of torque and visual servoing. A recent and growing interest of researchers about the multi-UAV collaborative aerial manipulation was also noticed and hence different strategies for collaborative aerial manipulation are also surveyed, discussed and critically analyzed. Some key challenges regarding outdoor aerial manipulation and energy constraints in aerial manipulation are also discussed.

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Section: Novel Aerial Platformsmentioning

confidence: 99%

Section: Novel Aerial Platformsmentioning

confidence: 99%

Section: Novel Aerial Platformsmentioning

confidence: 99%

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A Survey of Single and Multi-UAV Aerial Manipulation

Mohiuddin

Taha²,

Zweiri

et al. 2020

Un. Sys.

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“…Recently, a number of quadrotors have achieved aquatic take-off [8], [9]. The Looncopter [8], for example, shows underwater locomotion with the same propellers as for flight, as well as water-air transitioning, making it applicable for short, fast and flexible missions.…”

Section: Introductionmentioning

confidence: 99%

SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot

Zufferey

Ancel

Raposo

et al. 2019

IEEE Robot. Autom. Lett.

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Despite significant research progress on smallscale aerial-aquatic robots, most existing prototypes are still constrained by short operation times and limited performance in different fluids. The main challenge is to design a vehicle that satisfies the partially conflicting design requirements for aerial and aquatic operation. In this paper we present a new class of aerial-aquatic robot, the Sailing Micro Air Vehicle, 'SailMAV'. Thanks to a three-part folding wing design, the SailMAV is capable of both flying and sailing. The robot design permits long and targeted missions at the water interface by leveraging the wind as movement vector. It simultaneously offers the flexibility of flight for rapidly reaching a designated area, overcoming obstacles and moving from one body of water to another, which can be very useful for water sampling in areas with many obstacles. With a total wingspan of 0.96 m, the SailMAV employs the same wing and actuation surfaces for sailing as for flying. It is capable of water surface locomotion as well as takeoff and flight at a cruising speed of 10.8 ms −1. The main contributions of this paper are (i) new solutions to the challenges of combined aerial and aquatic locomotion, (ii) the design of a novel hybrid concept, (iii) the development of the required control laws, and (iv) the demonstration of the vehicle successfully sailing and taking off from the water. The presented work can inform the design of hybrid vehicles that adapt their morphology to move effectively.

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“…Due to their vertical take-off and landing capability, they can land on water and sink, without requiring added design features. Several multirotors have achieved a degree of aerial-aquatic mobility [11], [12], [13], however these vehicles have a short flight time and range when compared to fixed-wing solutions. While underwater propulsion can be achieved using the same propellers as for flight, this comes at a performance cost and does not always lead to effective locomotion.…”

mentioning

confidence: 99%

MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition

Debruyn

Zufferey

Armanini

et al. 2020

IEEE Robot. Autom. Lett.

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Aerial-aquatic robots possess the unique ability of operating in both air and water. However, this capability comes with tremendous challenges, such as communication incompatibility, increased airborne mass, potentially inefficient operation in each of the environments and manufacturing difficulties. Such robots, therefore, typically have small payloads and a limited operational envelope, often making their field usage impractical. We propose a novel robotic water sampling approach that combines the robust technologies of multirotors and underwater micro-vehicles into a single integrated tool usable for field operations. The proposed solution encompasses a multirotor capable of landing and floating on the water, and a tethered mobile underwater pod that can be deployed to depths of several meters. The pod is controlled remotely in three dimensions and transmits video feed and sensor data via the floating multirotor back to the user. The 'dual-robot' approach considerably simplifies robotic underwater monitoring, while also taking advantage of the fact that multirotors can travel long distances, fly over obstacles, carry payloads and manoeuvre through difficult terrain, while submersible robots are ideal for underwater sampling or manipulation. The presented system can perform challenging tasks which would otherwise require boats or submarines. The ability to collect aquatic images, samples and metrics will be invaluable for ecology and aquatic research, supporting our understanding of local climate in difficult-to-access environments [Video attachment: https://youtu.be/v4xWmEHUSM4].

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Design and implementation of multirotor aerial-underwater vehicles with experimental results

Cited by 57 publications

References 5 publications

A Survey of Single and Multi-UAV Aerial Manipulation

A Survey of Single and Multi-UAV Aerial Manipulation

SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot

MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition

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