Development of a Semi-autonomous Aerial Vehicle for Sewerage Inspection

  • Angél R. Castaño
  • Honorio Romero
  • Jesús CapitánEmail author
  • Jose Luis Andrade
  • Aníbal Ollero
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)


This paper describes the design, development and field tests of an aerial vehicle for semi-autonomous inspection of sewer pipes. This vehicle is able to localize and align itself with respect to the longitudinal axis of the pipe, and to keep a predefined height over the water. The human operator only needs to send high-level commands to move the vehicle forward or backward along the pipe, and this navigation is then done safely in an autonomous manner. We tested our system in a realistic mock-up scenario provided by a city water management company. Our field tests show that the platform is operational and fulfill the requirements for sewer inspections.


UAV Aerial inspection Indoor navigation 



This work has been developed in the Spanish SAAIC project and it has received funding from CTA and CDTI. It has also been funded by ARM-EXTEND in the Spanish RD plan (DPI2017-89790-R). We would also like to thank Rafael Salmoral for his support during flying tests.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Angél R. Castaño
    • 1
  • Honorio Romero
    • 1
  • Jesús Capitán
    • 1
    Email author
  • Jose Luis Andrade
    • 1
  • Aníbal Ollero
    • 1
  1. 1.Robotics, Vision and Control GroupUniversity of SevilleSevilleSpain

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