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Autonomous Localization of Missing Items with Aerial Robots in an Aircraft Factory

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ROBOT 2017: Third Iberian Robotics Conference (ROBOT 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 694))

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Abstract

Missing tools is a problem in aircraft factories. It may reduce the productivity of the assembly line and missing items may cause FOD (Foreign Object Damage) if they are lost inside the aerostructure. This paper proposes a method which uses aerial robots to search and locate missing tools. Each tool will be equipped with a radio tag with an ID that can listen and respond to request messages from the aerial robot. Thus, the robot can take range measurements to the missing tools from different locations while performing other tasks in the factory. The range measurements are used to estimate the location of every missing tool using a Particle Filter (PF) which will eventually converge to an Extended Kalman Filter (EKF). The proposed method was evaluated and validated in real experiments performed in an emulated scenario very similar to the real factory. Preliminary tests were also performed in the Airbus DS CBC factory with good results.

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Notes

  1. 1.

    Swiss Federal Institute of Technology in Zurich: https://www.ethz.ch/en.html.

  2. 2.

    Center for Advanced Aerospace Technologies: http://www.catec.aero/en.

  3. 3.

    http://www.euroc-project.eu/.

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Acknowledgements

This work has received funding from the European Union under grant agreement No. 608849 (EUROC).

Author information

Authors and Affiliations

  1. Robotics, Vision and Control Group, University of Seville, Seville, Spain

    Julio L. Paneque, Arturo Torres-González, J. Ramiro Martínez-de Dios & Anibal Ollero

  2. Airbus Defence and Space, Centro Bahía de Cádiz, Cádiz, Spain

    Juan Ramón Astorga Ramírez

Authors
  1. Julio L. Paneque
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  2. Arturo Torres-González
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  3. J. Ramiro Martínez-de Dios
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  4. Juan Ramón Astorga Ramírez
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  5. Anibal Ollero
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Corresponding author

Correspondence to Julio L. Paneque .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Paneque, J.L., Torres-González, A., Dios, J.R.Md., Ramírez, J.R.A., Ollero, A. (2018). Autonomous Localization of Missing Items with Aerial Robots in an Aircraft Factory. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_15

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  • DOI: https://doi.org/10.1007/978-3-319-70836-2_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70835-5

  • Online ISBN: 978-3-319-70836-2

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