Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
The work presents a control and software architecture for autonomous contact-based ultrasound inspection using a commercial quadrotor.
Evidence notes
- The system interfaces with onboard sensing and combines low-level control, force estimation, admittance filtering, and trajectory planning.
- Physical experiments use a Flyability Elios 3 quadrotor equipped with an ultrasound payload in an unstructured inspection setting.
Company context
Flyability develops collision-tolerant indoor inspection drones for confined, hazardous and hard-to-reach spaces. Its Elios platform is used for remote visual inspection and LiDAR mapping in industrial assets.