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Dr. Kostas Alexis
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Augmented Reality-enhanced Structural Inspection using Aerial Robots

4/22/2016

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In this work we present a methodology for augmented reality-enhanced structural inspection using aerial robots. `

The aerial robot is computing an optimized, full coverage path given a prior model of the structure. However, as the prior models are expected to be inaccurate, outdated or generally not capturing important details (such as human-readable data), an augmented reality interface is employed to enable the human operator to command new viewpoints through appropriate head motions. To assist the operator to identify the subsets of the structure that need further inspection, we stream both the stereo views as well as the real-time dense reconstruction of the environment taking place on-board the robot.  

The augmented reality interface is based on an Android phone and a cardboard-like virtual reality device. Head motion is used to command new viewpoints in the xyz-space while the robot ensures that the initial viewpoints are also visited.

The aerial robot operates autonomously in a GPS-denied environment without the support of motion capture. A few printed markers were added for safety as the test took place in a dark environment (and we just built this robot!). 

More to come soon!

Tool for the initial inspection path using a prior model of the wattmeter structure: 
  • https://github.com/ethz-asl/StructuralInspectionPlanner 
​
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Paper on spacecraft formation flight

4/19/2016

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Our paper:
  • L.R.G. Carrillo, F. M. Palacios, E. S. Espinoza Quesada, K. Alexis, "Adaptive High Order Sliding Mode Control for Relative Positioning and Trajectory Tracking of Spacecraft Formation Flying", Mediterranean Control Conference, 2016, Athens, Greece, June 21-June 24, 2016
Just got accepted!
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OPRS Planner

4/18/2016

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OPRS preliminary version
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Manned Aircraft Detection

4/17/2016

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One more day at Stead airport verifying our sensor development for manned aircraft detection from aerial robots. Below some images from the field. Processing the multi-hour data will now take a while!
Picture
Picture
Picture
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Distributed Structures Inspection Path Planning Paper accepted

4/13/2016

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Our paper:
  • Christos Papachristos, Kostas Alexis, Luis Rodolfo Garcia Carrillo, Anthony Tzes, "Distributed Infrastructure Inspection Path Planning for Aerial Robotics subject to Time Constraints"
Was accepted to the ​The 2016 International Conference on Unmanned Aircraft Systems. 
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AtlantikSolar - Flying Forever

4/10/2016

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April 12 I am giving a presentation at the ETH Meets California event. I will be presenting AtlantikSolar, the record-plane developed by my ETH colleagues and myself the previous years. Below a video for the presentation.
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    Kostas Alexis

    I try to post basic updates here! Before August 2015, all posts appear to have happened the same day. This is due to moving my website.

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