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Systems, Robotics & Vision Group

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Alberto Ortiz, Francisco BonnĂ­n-Pascual, and Emilio Garcia-Fidalgo
On the Use of UAVs for Vessel Inspection Assistance
Proceedings of the I Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS), Seville (Spain), Pages 71–80, December, 2011



Vessel maintenance entails periodic visual inspections of internal and external parts of the vessel hull in order to detect the typical defective situations affecting metallic structures, such as cracks, coating breakdown, corrosion, etc. The main goal of the EU-FP7 project MINOAS is the automation of the inspection process, currently undertaken by human surveyors, by means of a fleet of robotic agents. This paper overviews a UAV to be used as part of this fleet, and succinctly describes its control architecture as well as a self-localization solution for this vehicle. Promising experimental results are discussed in the experimental results section.

Vessel Maitenance, UAV, Visual Inspection, Visual Odometry

Associated projects: