Responsable: Jesús Iván Maza Alcañiz
Tipo de Proyecto/Ayuda: 7º Programa Marco de la U.E.
Referencia: FP7-ICT-2011-287617
Web: http://cordis.europa.eu/projects/rcn/100804_en.html
Fecha de Inicio: 28-11-2011
Fecha de Finalización: 27-11-2015

Empresa/Organismo financiador/es:

• Comisión Europea

Equipo:

• Investigadores:
  • José Ángel Acosta Rodríguez
  • Begoña C. Arrue Ullés
  • Fernando Caballero Benítez
  • Pablo Fabio Cortés Achedad
  • José Miguel Díaz Báñez
  • Joaquín Ferruz Melero
  • José Guillermo Heredia Benot
  • José Ramiro Martínez de Dios
  • Federico París Carballo
  • Felipe Ramón Fabresse
  • Ángel Rodríguez Castaño

Contratados:

• Investigadores:
  • Alberto Algaba Macías
• Técnicos/Personal Administrativo:
  • Ana Blasco Lorenzo
  • Santos Castañé Rodríguez
  • Sergio Doctor López
  • Jorge Juan Muñoz Morera
  • José Manuel Recio Lopez
  • Víctor Manuel Vega García

Becarios:

• Fundación:
  • Luis Manuel Amador Ocio
  • Ana Esther Borao Moros
  • Luis Evaristo Caraballo de la Cruz
  • José Enrique Corchado Miralles
  • Alberto de San Bernabé Clemente
  • Juan Carlos del Arco Olmedo
  • Jenifer Delgado Rich
  • Javier Domínguez Orellana
  • Carmelo Jesús Fernández-Agüera Tortosa
  • Sergio Fuentes Navarro
  • José Gómez Dugo
  • Antonio Enrique Jiménez Cano
  • Patricia López Torres
  • Francisco José Márquez Bonilla
  • Carmen Mera Prieto
  • Ismael Pelluz Jiménez
  • Cristina Pérez de Miguel
  • Ricardo Ragel De la Torre
  • Manuel Jesús Rodriguez Alonso
  • Lucas Rodríguez Díaz
  • Manuel Iván Sánchez Montaño
  • Gilberto Suárez Canón
  • Laura Torres Chico
  • Alfredo Vázquez Reyes

Resumen del proyecto:

The ARCAS project proposes the development and experimental validation of the first cooperative free-flying robot system for assembly and structure construction. The project will pave the way for a large number of applications including the building of platforms for evacuation of people or landing aircrafts, the inspection and maintenance of facilities and the construction of structures in inaccessible sites and in the space.

The detailed scientific and technological objectives are:

1. New methods for motion control of a free-flying robot with mounted manipulator in contact with a grasped object as well as for coordinated control of multiple cooperating flying robots with manipulators in contact with the same object (e.g. for precise placement or joint manipulation)
2. New flying robot perception methods to model, identify and recognize the scenario and to be used for the guidance in the assembly operation, including fast generation of 3D models, aerial 3D SLAM, 3D tracking and cooperative perception
3. New methods for the cooperative assembly planning and structure construction by means of multiple flying robots with application to inspection and maintenance activities
4. Strategies for operator assistance, including visual and force feedback, in manipulation tasks involving multiple cooperating flying robots

The above methods and technologies will be integrated in the ARCAS cooperative flying robot system that will be validated in the following scenarios:

• Indoor testbed with quadrotors,
• Outdoor scenario with helicopters,
• free-flying simulation using multiple robot arms.

The project will be implemented by a high-quality consortium whose partners have already demonstrated the cooperative transportation by aerial robots as well as high performance cooperative ground manipulation. The team has the ability to produce for the first time challenging technological demonstrations with a high potential for generation of industrial products upon project completion.