An Integrated Adaptive System for On-Pipe Landing and Adherence of Autonomous Inspection Drones

This video demonstration paper presents an in- tegrated adaptive system for on-pipe landing and adherence of autonomous inspection drones. The system employs a dual- level adaptive method to address the challenges of the stable drone approach, landing, and adherence to pipes for performing subsequent close inspection. The first level, passive adaptation, is realized through morphologically computed double SOft Fin- ray landing gEAR (SOFEAR). It enables the drone to maintain and adhere to the pipe without significant control effort after landing. The second level, active adaptation, achieved via adaptive stability control, facilitates the precision approach and landing of the drone while compensating for external distur- bances. The proposed system, incorporating both passive and active adaptation, demonstrates robust drone performance in the real world, including accurate pipe centering and approach, autonomous recovery from off-center landing attempts due to unexpected disturbances, soft landings, and steady on-pipe adherence.