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Publications (10 of 11) Show all publications
Koval, A., Tevetzidis, I. & Haluska, J. (2023). The fundamental hardware modules of an ARW. In: George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis (Ed.), Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications: (pp. 5-30). Elsevier
Open this publication in new window or tab >>The fundamental hardware modules of an ARW
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 5-30Chapter in book (Other academic)
Abstract [en]

This Chapter will present the basic hardware components of an Aerial Robotic Worker (ARW) that will include the sensory systems for flying, the propulsion systems, the frame structures, the computational units, the vision, and the localization systems. This Chapter will also present the design of the compact aerial manipulator as well as examples of ARW configurations in the form of a survey.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Vision sensors, Ranging sensors, Propulsion system, Computational units
National Category
Control Engineering Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-97397 (URN)10.1016/B978-0-12-814909-6.00008-1 (DOI)2-s2.0-85150080457 (Scopus ID)978-0-12-814909-6 (ISBN)
Available from: 2023-05-24 Created: 2023-05-24 Last updated: 2023-05-24Bibliographically approved
Patel, A., Karlsson, S., Lindqvist, B., Haluska, J., Kanellakis, C. & Nikolakopoulos, G. (2023). Towards Field Deployment of MAVs in Adaptive Exploration of GPS-denied Subterranean Environments.
Open this publication in new window or tab >>Towards Field Deployment of MAVs in Adaptive Exploration of GPS-denied Subterranean Environments
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2023 (English)In: Article in journal (Other academic) Submitted
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96665 (URN)
Available from: 2023-04-19 Created: 2023-04-19 Last updated: 2023-05-05
Lindqvist, B., Haluska, J., Kanellakis, C. & Nikolakopoulos, G. (2022). An Adaptive 3D Artificial Potential Field for Fail-safe UAV Navigation. In: 2022 30th Mediterranean Conference on Control and Automation (MED): . Paper presented at 30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, June 28 - July 1, 2022 (pp. 362-367). IEEE
Open this publication in new window or tab >>An Adaptive 3D Artificial Potential Field for Fail-safe UAV Navigation
2022 (English)In: 2022 30th Mediterranean Conference on Control and Automation (MED), IEEE, 2022, p. 362-367Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an obstacle avoidance framework for unmanned aerial vehicles (UAVs), with a focus on providing safe and stable local navigation in critical scenarios. The framework is based on enhanced artificial potential field (APF) concepts, and is paired with a nonlinear model predictive controller (NMPC) for complete local reactive navigation. This paper will consider a series of additions to the classical artificial potential field that addresses UAV-specific challenges, allows for smooth navigation in tightly constrained environments, and ensures safe human-robot interactions. The APF formulation is fundamentally based on using raw LiDAR pointcloud data as input to decouple the safe robot navigation problem from the reliance on any map or obstacle detection software, resulting in a very resilient and fail-safe framework that can be used a san additional safety layer for any 3D-LiDAR equipped UAV in any environment or mission scenario. We evaluate the scheme in both laboratory experiments and field trials, and also placea large emphasis on realistic scenarios for safe human-robot interactions.

Place, publisher, year, edition, pages
IEEE, 2022
Series
Mediterranean Conference on Control and Automation (MED), ISSN 2325-369X, E-ISSN 2473-3504
Keywords
Collision Avoidance, Unmanned Aerial Vehicles, Artificial Potential Fields, Robotics
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-92100 (URN)10.1109/MED54222.2022.9837223 (DOI)000854013700061 ()2-s2.0-85136253857 (Scopus ID)
Conference
30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, June 28 - July 1, 2022
Note

ISBN för värdpublikation: 978-1-6654-0673-4 (electronic), 978-1-6654-0674-1 (print)

Available from: 2022-07-07 Created: 2022-07-07 Last updated: 2023-05-08Bibliographically approved
Koval, A., Karlsson, S., Mansouri, S. S., Kanellakis, C., Tevetzidis, I., Haluska, J., . . . Nikolakopoulos, G. (2022). Dataset collection from a SubT environment. Robotics and Autonomous Systems, 155, Article ID 104168.
Open this publication in new window or tab >>Dataset collection from a SubT environment
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2022 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 155, article id 104168Article in journal (Refereed) Published
Abstract [en]

This article presents a dataset collected from the subterranean (SubT) environment with a current state-of-the-art sensors required for autonomous navigation. The dataset includes sensor measurements collected with RGB, RGB-D, event-based and thermal cameras, 2D and 3D lidars, inertial measurement unit (IMU), and ultra wideband (UWB) positioning systems which are mounted on the mobile robot. The overall sensor setup will be referred further in the article as a data collection platform. The dataset contains synchronized raw data measurements from all the sensors in the robot operating system (ROS) message format and video feeds collected with action and 360 cameras. A detailed description of the sensors embedded into the data collection platform and a data collection process are introduced. The collected dataset is aimed for evaluating navigation, localization and mapping algorithms in SubT environments. This article is accompanied with the public release of all collected datasets from the SubT environment. Link: Dataset (C) 2022 The Author(s). Published by Elsevier B.V.

Place, publisher, year, edition, pages
Elsevier, 2022
Keywords
Dataset, SubT, RGB, RGB-D, Event-based and thermal cameras, 2D and 3D lidars
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-92577 (URN)10.1016/j.robot.2022.104168 (DOI)000833416900009 ()2-s2.0-85132735325 (Scopus ID)
Funder
EU, Horizon Europe, 869379 illuMINEation
Note

Validerad;2022;Nivå 2;2022-08-19 (hanlid)

Available from: 2022-08-19 Created: 2022-08-19 Last updated: 2022-08-19Bibliographically approved
Lindqvist, B., Karlsson, S., Koval, A., Tevetzidis, I., Haluska, J., Kanellakis, C., . . . Nikolakopoulos, G. (2022). Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue. Robotics and Autonomous Systems, 154, Article ID 104134.
Open this publication in new window or tab >>Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue
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2022 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 154, article id 104134Article in journal (Refereed) Published
Abstract [en]

This work presents a field-hardened autonomous multimodal legged-aerial robotic system for subterranean exploration, extending a legged robot to be the carrier of an aerial platform capable of a rapid deployment in search-and-rescue scenarios. The driving force for developing such robotic configurations are the requirements for large-scale and long-term missions, where the payload capacity and long battery life of the legged robot is combined and integrated with the agile motion of the aerial agent. The multimodal robot is structured around the quadruped Boston Dynamics Spot, enhanced with a custom configured autonomy sensor payload as well as a UAV carrier platform, while the aerial agent is a custom built quadcopter. This work presents the novel design and hardware implementation as well as the onboard sensor suites. Moreover it establishes the overall autonomy architecture in a unified supervision approach while respecting each locomotion modality, including guidance, navigation, perception, state estimation, and control capabilities with a focus on rapid deployment and efficient exploration. The robotic system complete architecture is evaluated in real subterranean tunnel areas, in multiple fully autonomous search-and-rescue missions with the goal of identifying and locating objects of interest within the subterranean environment.

Place, publisher, year, edition, pages
Elsevier, 2022
Keywords
Field robotics, Search-and-rescue robotics, Unmanned aerial vehicles, Quadruped robots, Multimodality robots, Subterranean exploration
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-90608 (URN)10.1016/j.robot.2022.104134 (DOI)000810432800009 ()2-s2.0-85130338725 (Scopus ID)
Funder
EU, Horizon 2020, 869379 illuMINEation; 101003591 NEXGEN-SIMSInterreg Nord, ROBOSOL NYPS 20202891
Note

Validerad;2022;Nivå 2;2022-06-01 (johcin)

Available from: 2022-05-11 Created: 2022-05-11 Last updated: 2023-01-20Bibliographically approved
Banerjee, A., Satpute, S., Kanellakis, C., Tevetzidis, I., Haluska, J., Bodin, P. & Nikolakopoulos, G. (2022). On the Design, Modeling and Experimental Verification of a Floating Satellite Platform. IEEE Robotics and Automation Letters, 7(2), 1364-1371
Open this publication in new window or tab >>On the Design, Modeling and Experimental Verification of a Floating Satellite Platform
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2022 (English)In: IEEE Robotics and Automation Letters, E-ISSN 2377-3766, Vol. 7, no 2, p. 1364-1371Article in journal (Refereed) Published
Abstract [en]

In this letter, a floating robotic emulation platform is presented with an autonomous maneuverability for a virtual demonstration of a satellite motion. Such a robotic platform design is characterized by its friction-less, levitating, yet planar motion over a hyper-smooth surface. The design of the robotic platform, integrated with the sensor and actuator units, is briefly described, including the related component specification along with the mathematical model, describing its dynamic motion. Additionally, the article establishes a nonlinear optimal control architecture consisting of a unified model predictive approach for the overall manoeuvre tracking. The efficacy of the proposed modeling and control scheme is demonstrated in multiple experimental studies, where it is depicted that the proposed controller has the potential to address a precise point-to-point manoeuvre with terminal objectives, as well as an excellent path following capability. The proposed design is validated with extensive experimental studies, and it is supported with related results.

Place, publisher, year, edition, pages
IEEE, 2022
Keywords
Friction-less floating platform, Nonlinear model predictive control, Optimization and optimal control, Satellite simulator, Space robotics and automation
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-88926 (URN)10.1109/LRA.2021.3140134 (DOI)000742180000011 ()2-s2.0-85122592381 (Scopus ID)
Note

Validerad;2022;Nivå 2;2022-01-27 (johcin)

Available from: 2022-01-27 Created: 2022-01-27 Last updated: 2024-01-17Bibliographically approved
Haluska, J., Koval, A. & Nikolakopoulos, G. (2022). On the Unification of Legged and Aerial Robots for Planetary Exploration Missions. Applied Sciences, 12(8), Article ID 3983.
Open this publication in new window or tab >>On the Unification of Legged and Aerial Robots for Planetary Exploration Missions
2022 (English)In: Applied Sciences, E-ISSN 2076-3417, Vol. 12, no 8, article id 3983Article in journal (Refereed) Published
Abstract [en]

In this article, we address the task of developing a unified solution that incorporates quadruped and aerial robots for planetary exploration missions. The designing process takes recommendations provided by Boston Dynamics for building custom payloads for the Spot robot, as well as its kinematic constraints. The unification task itself encompasses design of a passive drone landing platform as a hardware link between the Spot robot and the drone, which has active locking and unlocking capabilities required to securely keep the drone on the Spot independently whether it is standing or moving. Thus, in the designed unification solution, the landing platform does not impact the overall robot mobility and has no interference with the robot’s legs. The initial solution design was extensively evaluated in a series of tests at the laboratory, which demonstrated its viability.

Place, publisher, year, edition, pages
MDPI, 2022
Keywords
landing platform, Spot, drone, robot unification, take-off
National Category
Robotics Computer Sciences
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-90368 (URN)10.3390/app12083983 (DOI)000786229000001 ()2-s2.0-85128842489 (Scopus ID)
Projects
illuMINEation
Funder
EU, Horizon 2020, 869379
Note

Validerad;2022;Nivå 2;2022-05-09 (johcin)

Available from: 2022-04-22 Created: 2022-04-22 Last updated: 2022-08-02Bibliographically approved
Lindqvist, B., Mansouri, S. S., Haluška, J. & Nikolakopoulos, G. (2022). Reactive Navigation of an Unmanned Aerial Vehicle With Perception-Based Obstacle Avoidance Constraints. IEEE Transactions on Control Systems Technology, 30(5), 1847-1862
Open this publication in new window or tab >>Reactive Navigation of an Unmanned Aerial Vehicle With Perception-Based Obstacle Avoidance Constraints
2022 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 30, no 5, p. 1847-1862Article in journal (Refereed) Published
Abstract [en]

In this article, we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an unmanned aerial vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is based on a nonlinear model predictive controller (NMPC) and utilizes an onboard 2-D LiDAR to detect obstacles and translate online the key geometric information of the environment into parametric constraints for the NMPC that constrain the available position space for the UAV. This article focuses also on the real-world implementation and experimental validation of the proposed reactive navigation scheme, and it is applied in multiple challenging laboratory experiments, where we also conduct comparisons with relevant methods of reactive obstacle avoidance. The solver utilized in the proposed approach is the optimization engine (OpEn) and the proximal averaged Newton for optimal control (PANOC) algorithm, where a penalty method is applied to properly consider obstacles and input constraints during the navigation task. The proposed novel scheme allows for fast solutions while using limited onboard computational power, which is a required feature for the overall closed-loop performance of a UAV and is applied in multiple real-time scenarios. The combination of built-in obstacle avoidance and real-time applicability makes the proposed reactive constrained navigation scheme an elegant framework for UAVs that is able to perform fast nonlinear control, local path planning, and obstacle avoidance, all embedded in the control layer.

Place, publisher, year, edition, pages
IEEE, 2022
Keywords
Model predictive control (MPC), obstacle avoidance, path planning, reactive navigation, unmanned aerial vehicles (UAVs)
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-88019 (URN)10.1109/tcst.2021.3124820 (DOI)000730036500001 ()2-s2.0-85137811221 (Scopus ID)
Funder
EU, Horizon 2020, 869379
Note

Validerad;2022;Nivå 2;2022-09-26 (hanlid)

Available from: 2021-11-25 Created: 2021-11-25 Last updated: 2022-09-26Bibliographically approved
Haluska, J., Västanälv, J., Papadimitriou, A. & Nikolakopoulos, G. (2022). Soft Pneumatic Actuated Morphing Quadrotor: Design and Development. In: 2022 30th Mediterranean Conference on Control and Automation (MED): . Paper presented at 30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, June 28 - July 1, 2022 (pp. 475-480). IEEE
Open this publication in new window or tab >>Soft Pneumatic Actuated Morphing Quadrotor: Design and Development
2022 (English)In: 2022 30th Mediterranean Conference on Control and Automation (MED), IEEE, 2022, p. 475-480Conference paper, Published paper (Refereed)
Abstract [en]

The majority of the aerial robots scientific literature investigates methods to create fully automated solutions using fixed-frame multi-rotors. However, the ability of the Micro Aerial Vehicles (MAVs) to alter their structure and adapt to various constraints posed by the environment remains unexplored. Aerial robotic platforms that can alter their shape in-flight can increase their potential value and extend the range of applications. It is essential to develop and deploy such platforms which can effectively address the missing elements for exploring previously unreachable locations. This article deals with a novel reconfigurable quadrotor whose arms are based on Soft Pneumatic Actuators (SPA) from a design, analysis, and development point of view. Simulation analysis and experimental results are provided to showcase the potential of such designs that integrate soft actuators with the traditional fixed-frame MAVs designs. © 2022 IEEE.

Place, publisher, year, edition, pages
IEEE, 2022
Series
Mediterranean Conference on Control and Automation (MED), ISSN 2325-369X, E-ISSN 2473-3504
National Category
Vehicle Engineering Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-93016 (URN)10.1109/MED54222.2022.9837128 (DOI)000854013700079 ()2-s2.0-85136249773 (Scopus ID)
Conference
30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, June 28 - July 1, 2022
Funder
Luleå University of TechnologyEU, Horizon 2020
Note

ISBN för värdpublikation: 978-1-6654-0673-4 (electronic), 978-1-6654-0674-1 (print)

Available from: 2022-09-13 Created: 2022-09-13 Last updated: 2023-05-08Bibliographically approved
Krige, A., Haluška, J., Rova, U. & Christakopoulos, P. (2021). Design and implementation of a low cost bio-printer modification, allowing for switching between plastic and gel extrusion. HardwareX, Article ID e00186.
Open this publication in new window or tab >>Design and implementation of a low cost bio-printer modification, allowing for switching between plastic and gel extrusion
2021 (English)In: HardwareX, E-ISSN 2468-0672, article id e00186Article in journal (Refereed) Published
Abstract [en]

Due to the high cost of bioprinters they are not feasible for proof of concept experiments or educational purposes. Furthermore, the more affordable DIY methods all disable the plastic printing capability of the original printer. Here we present an affordable bio-printing modification that is easy to install and maintains the original capabilities of the printer. The modification used mostly 3D printed parts and is based on the popular, open-source Prusa i3 3D printer. The modifications are kept as simple as possible and uses standard slicing software, allowing for installation by less experienced builders. By using disposable syringes and easily sterilizable parts, an aseptic bioprinting setup can be achieved, depending on the environment. It also allows for 2 component printing as well as UV curing. The bio-printing and curing capabilities were shown by printing and curing an artificial biofilm of an electro-active bacteria, Geobacter sulfurreducens, onto a carbon-cloth electrode which was used in a microbial fuel cell.

Place, publisher, year, edition, pages
Elsevier, 2021
Keywords
Bioprinter, FDM, 3D printer, gel extruder
National Category
Bioprocess Technology
Research subject
Biochemical Process Engineering
Identifiers
urn:nbn:se:ltu:diva-80311 (URN)10.1016/j.ohx.2021.e00186 (DOI)000657359300025 ()35492054 (PubMedID)2-s2.0-85102321681 (Scopus ID)
Funder
Swedish Research Council, 2018-03875
Note

Validerad;2021;Nivå 1;2021-03-23 (johcin)

Available from: 2020-08-05 Created: 2020-08-05 Last updated: 2023-09-05Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-8700-9232

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