Ollero Baturone, AníbalHeredia Benot, GuillermoFranchi, AntonioMartínez de Dios, José RamiroRodríguez Castaño, Ángel2024-01-312024-01-312018-12Ollero Baturone, A., Heredia Benot, G., Franchi, A., Martínez de Dios, J.R. y Rodríguez Castaño, Á. (2018). The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics & Automation Magazine, 25 (4), 12-23. https://doi.org/10.1109/MRA.2018.2852789.1070-99321558-223Xhttps://hdl.handle.net/11441/154305T his article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual arms and multidirectional thrusters—developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M). Our report deals with -- the control systems, including the control of the interaction forces and the compliance -- the teleoperation, which uses passivity to tackle the tradeoff between stability and performance -- the perception methods for localization, mapping, and inspection -- the planning methods, including a new control-aware approach for aerial manipulation. Finally, we describe a novel industrial platform with multidirectional thrusters and a new arm design to increase the robustness in industrial contact inspections. In addition, the lessons learned in applying the platform to outdoor aerial manipulation for I&M are pointed out.application/pdf12 p.enginfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1109/MRA.2018.2852789