Fully Autonomous Dual Arm Aerial Delivery Robot for Intralogistics: the euROBIN Nancy Competition Flight Dataset
Alejandro Suárez, Jorge Pozas-Guerra, Raul Tapia, Aníbal Ollero
Abstract
This paper presents the design, development, and validation of a fully autonomous dual-arm aerial robot capable of mapping, localizing, planning, and grasping parcels in an intra-logistics scenario. The aerial robot is intended to operate in a scenario comprising several supply points, delivery points, parcels with tags, and obstacles, generating the mission plan from the voice commands given by the user. The paper derives a transferability model of the scenario, the robot, and the task, so that the proposed system design can be generalized to different scenarios (environment transfer) and platforms (embodiment transfer). The proposed transferable system architecture allows the integration of software modules managed by the Aerial Delivery Robot Operations Manager (ADROM) through the Module Interface Instances (MII) that handle the requests and the signals involved during the execution of the operation. The performance of the developed system was evaluated as part of the euROBIN Nancy Competition, conducting more than 50 flight tests. The software modules are open source, making the flight dataset also publicly available.
BibTeX
@inproceedings{iros2025_fullyautonomousd,
title = {Fully Autonomous Dual Arm Aerial Delivery Robot for Intralogistics: the euROBIN Nancy Competition Flight Dataset},
author = {Alejandro Suárez and Jorge Pozas-Guerra and Raul Tapia and Aníbal Ollero},
booktitle = {IROS 2025},
year = {2025}
}