A High Payload Aerial Platform for Infrastructure Repair and Manufacturing

• Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) pp. 1 - 6
• Main Authors: Orr, Lachlan, Stephens, Brett, Kocer, Basaran Bahadir, Kovac, Mirko
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2021
• Subjects: Cameras; Computer architecture; Maintenance engineering; Robot vision systems; Tracking; Trajectory; Unmanned aerial vehicles
• DOI: 10.1109/AIRPHARO52252.2021.9571052

The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10-34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces.