#  Introduction

##  Purpose of the document

The purpose of the Data Management Plan (DMP) is to provide an analysis of the
main elements of the data management policy that will be used with regard to
all the datasets that will be generated by the project. A DMP details what
data the project will generate, whether and how it will be exploited or made
accessible for verification and re-use, and how it will be curated and
preserved.

##  Scope of the document

This document (deliverable D9.4) describes the first version of the AEROARMS
DMP. The DMP is not a fixed document; it evolves and gains more precision and
substance during the lifespan of the project. The final version of the DMP
(deliverable D9.5) will be delivered at M48.

##  Structure of the document

The DMP describes datasets and should reflect the current point of view of the
consortium about the data that will be produced. The description of each data
includes the following:

  * Dataset name 

  

  * Data contact and responsible 

  

  * Dataset description 

  

  * Data collection 

  

  * Standards and metadata 

  

  * Dataset sharing 

  

  * Archiving and preservation (including storage and backup) 

  

It has been agreed by the AEROARMS consortium that all the datasets that will
be produced within the project and that are not affected by IPR (clause 8.0 of
the consortium agreement) will be shared between the partners. Moreover, all
the datasets with potential interest for the community and that are not
related to further exploitation activities will be shared with the whole
scientific community after their publication in conference proceedings and/or
international journals.

Besides the introduction and conclusions, this document is structured in 4
Sections, devoted to the datasets of WPs 3, 4, 5, 6 and 8. It is expected that
datasets of higher interest in AEROARMS will be generated in these WPs.

#  Control of aerial robots with multiple manipulation means

This section is devoted to datasets that can be collected during the
activities in WP3. These datasets will be collected in preliminary tests in
the laboratory, indoor settings or in outdoor experiments. These datasets are
grouped depending on the tasks in WP3 they are involved in.

##  Dataset: Modelling of aerial multirotors with two arms

**Dataset name:** Modelling of aerial multirotors with two arms.

**Data contact and responsible:** USE, Guillermo Heredia.

**Dataset description:** This dataset contains the necessary data for the
accurate modelling of the aerial vehicle with two arms developed in the
project. The dataset will be used for the modelling and for the validation of
coupled aerial platform-arms control algorithms. They will also be used for
robustness tests of the control algorithms.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory,
experiments in indoors and also experiments in outdoors.

**Standards and metadata:** The dataset will use standards and metadata usual
in multirotors modelling and control to represent position, attitude and
articular variables of the arms, among others. A file with the description of
the formats and standards used will be added to the dataset in order to
facilitate sharing and re-usability.

**Dataset sharing:** This dataset will be shared with related partners of the
AEROARMS consortium. The configuration of the aerial vehicles developed in
AEROARMS is very specific and it is expected that this dataset could have
limited interest for the community. For this reason this dataset is not
expected to be published.

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server. Besides, for
redundancy, USE will preserve a copy of the dataset.

##  Dataset: Integrated force and position control

**Dataset name:** Integrated force and position control.

**Data contact and responsible:** USE, Guillermo Heredia.

**Dataset description:** This dataset contains the necessary data for the
development of integrated force and position control of the aerial vehicle
with manipulators. The dataset will be used for the modelling and for the
validation of integrated force and position control algorithms.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory,
experiments in indoors and also experiments in outdoors.

**Standards and metadata:** The dataset will use standards and metadata usual
in integrated force and position control in order to represent position,
attitude, joint variables of the arms, forces and torques, among others. A
file with the description of the formats and standards used will be added to
the dataset in order to facilitate sharing and re-usability.

**Dataset sharing:** This dataset will be shared with related partners of the
AEROARMS consortium. Depending of the generality of the results, after the
publications in conference proceedings and/or international journals, the data
may be shared with the whole scientific community (always in accordance with
the GA and CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server. Besides, for
redundancy, USE will preserve a copy of the dataset.

##  Dataset: Control for novel fully-actuated aerial platforms

**Dataset name:** Control for novel fully-actuated aerial platforms.

**Data contact and responsible:** CNRS, Antonio Franchi.

**Dataset description:** This dataset contains data related to modelling and
control of the fully-actuated aerial vehicle with 6 tilted-propellers
developed in the Task 3.2 of the project. The dataset will contain the main
physical parameters of the platform, some sensor measurements, the desired
output and control inputs.

**Data collection:** This dataset includes data collected from at least one
meaningful sample experiment performed in the laboratory.

**Standards and metadata:** The code of a simplified simulator of the platform
and of the algorithms developed for the project will be also provided to the
partners upon request for their use within the project. The dataset will be
provided in a standard text space separated format, which can be typically
used by any software. Papers reporting the results obtained from simulations
and experiments will be submitted for publication both in conference
proceedings and international scientific journals.

**Dataset sharing:** The previously mentioned data will be shared with
partners related. Moreover, after the publications in conference proceedings
and/or international journals, the data may be shared with the whole
scientific community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be stored on a server at LAAS and committed on the
SVN project repository upon request of the partners.

##  Dataset: Behavioural coordinated control

**Dataset name:** Behavioural coordinated control.

**Data contact and responsible:** CREATE, Prof. Gianluca Antonelli.

**Dataset description:** A library of elementary behaviours, namely atomic
tasks to be assigned to the aerial manipulator, and compound behaviour, namely
a collection of elementary behaviours in priority order. For each behaviour
will be provided the Jacobian matrix and the task function. Such a library
could be of interest for researchers working on the behavioural and kinematic
control of robots, since it could be one of the first applications to the
aerial manipulation.

**Data collection:** For the experiments, the time history of the data
generated by the kinematic control, such as the desired velocities and/or
positions of the whole system (vehicle and multiple arms), will be also
collected.

**Standards and metadata:** Code of the kinematic control, developed in C/C++
under the ROS environment and/or in MatLab/Simulink. Moreover, simulation
models developed by using open source software as Gazebo or commercial
software as V-Rep (available with free educational license) will be also
provided.

The time history of the variables involved into the kinematic control will be
provided in ASCII format, to be used from any kind of software.

Papers reporting the results obtained from simulations and experiments will be
submitted for publication both in conference proceedings and international
scientific journal.

**Dataset sharing:** The code that will be generated and the results obtained
from the simulations and experiments will be shared with partners related.
Moreover, after the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server, and besides
for redundancy on University of Cassino server.

##  Dataset: Visual servoing with actively movable camera

**Dataset name:** Visual servoing with actively movable camera.

**Data contact and responsible:** CREATE, Prof. Gianluca Antonelli.

**Dataset description:** A collection of control laws based on visual (and
force if available) data allowing the coordination of the vehicle and robotic
arm movements to achieve manipulation tasks, like grasping and plugging of
objects into structures fixed to the ground.

**Data collection:** The time history of the data acquired during real
experiments and simulations will be also collected.

**Standards and metadata:** Code of the kinematic control, developed in C/C++
under the ROS environment and/or in MATLAB/SIMULINK. Moreover, simulation
models developed by using open source software as Gazebo or commercial
software as V-Rep (available with free educational license) will be also
provided.

The time history of the variables involved into the visual control will be
provided in ASCII format, to be used from any kind of software.

Papers reporting the results obtained from simulations and experiments will be
submitted for publication both in conference proceedings and international
scientific journal.

**Dataset sharing:** The code that will be generated and the results obtained
from the simulations and experiments will be shared with partners related.
Moreover, after the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The code that
will be generated and the results obtained from the simulations and
experiments, and with relevant interest, will be posted on official web site
of the project.

#  Aerial tele-manipulation in inspection and maintenance

This section is devoted to data that can be collected during the activities
performed in WP4 devoted to aerial telemanipulation in inspection and
maintenance. These datasets are grouped depending on the tasks in WP4 they are
involved in.

##  Dataset: Aerial telemanipulation system

**Dataset name:** Aerial telemanipulation system.

**Data contact and responsible:** DLR, Jordi Artigas.

**Dataset description:** This dataset contains the necessary data for the
aerial telemanipulation system with force feedback, stability and bilateral
control developed in the Task 4.2 of the project. The dataset will contain the
sensor measurements, the desired output, and the control inputs, among others.

**Data collection:** The time history of the data acquired during real
experiments will be also collected.

**Standards and metadata:** The dataset will be provided in a standard text
format, to be used from any standard software. A file with the description of
the formats and standards used will be added to the dataset in order to
facilitate sharing and reusability.

**Dataset sharing:** This dataset will be shared with partners reatedof the
AEROARMS consortium. After the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server, and besides
for redundancy in DLR server.

##  Dataset: Local planning for constrained aerial telemanipulation

**Dataset name:** Local planning for constrained aerial telemanipulation.

**Data contact and responsible:** CNRS, Antonio Franchi.

**Dataset description:** This dataset contains a sample of typical problem
inputs and algorithm outputs of the algorithms that will be developed in the
Task 4.3 of the project. Other meaningful data recorded from either
simulations or real experiments may be stored as well, upon request of other
partners of the project.

**Data collection:** The time history of the aforementioned data will be
collected.

**Standards and metadata:** The program running the developed algorithms will
be also provided to the partners. The dataset will be provided in a standard
text spaceseparated format. Papers reporting the results obtained from
simulations and experiments will be submitted for publication both in
conference proceedings and international scientific journals.

**Dataset sharing:** The previously mentioned data will be shared with
partners related. Moreover, after the publications in conference proceedings
and/or international journals, the data may be shared with the whole
scientific community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be stored on a server at LAAS and committed on the
SVN project repository upon request of the partners.

#  Perception for robotic manipulation in aerial operations

This section is devoted to data that can be collected during the activities
performed in WP5 devoted to perception for robotic manipulation in aerial
operations. These datasets will be collected in preliminary tests in the
laboratory, indoor settings or in outdoor experiments. These datasets are
grouped depending on the tasks in WP5 they are involved in.

##  Dataset: Adaptive vision for accurate grabbing

**Dataset name:** Adaptive vision for accurate grabbing.

**Data contact and responsible:** UPC, Alberto Sanfeliu.

**Dataset description:** This dataset contains the necessary data for the
development, testing and validation of adaptive vision techniques for accurate
grabbing with aerial robots. These datasets will be used for configuration and
setting of the methods and algorithms as well as for performing simulations
and tests.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory,
experiments in indoors and also experiments in outdoors.

**Standards and metadata:** The dataset will use standards and metadata usual
in computer vision. A file with the description of the formats and standards
used will be added to the dataset in order to enable usability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. After the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server. Besides, for
redundancy, UPC will preserve a copy of the dataset.

##  Dataset: 3D mapping and localization for manipulation

**Dataset name:** 3D mapping and localization for manipulation.

**Data contact and responsible:** USE, Fernado Caballero.

**Dataset description:** This dataset contains the necessary data for the
development, testing and validation of 3D mapping and localization techniques
for manipulation with aerial robots and the crawler in industrial
environments. These datasets will be used for configuration and setting of the
methods and algorithms as well as for performing simulations and tests.

**Data collection:** This dataset includes data collected from the experiments
including partial experiments performed in the laboratory, experiments in
indoors and also experiments in outdoors.

**Standards and metadata:** The dataset will use standards and metadata usual
in 3D mapping and localization such as the measurements of the sensors onboard
the robot, ground truth (map and localization and orientation of the aerial
robot and the crawler), among others. A file with the description of the
formats and standards used will be added to the dataset in order to facilitate
sharing and re-usability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. After the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server. Besides, for
redundancy, USE will preserve a copy of the dataset.

##  Dataset: Perception for the support of the aerial and ground robot
operation

**Dataset name:** Perception for the support of the aerial and ground robot
operation.

**Data contact and responsible:** UPC, Antoni Grau.

**Dataset description:** This dataset contains the necessary data for the
development, testing and validation of perception tools for the support of the
aerial and ground robot operation that will be developed in task T5.3. These
datasets will be used for configuration and setting of the methods and
algorithms as well as for performing simulations and tests.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory,
experiments in indoors and also experiments in outdoors.

**Standards and metadata:** The dataset will be provided in a standard text
format, to be used from any standard software. A file with the description of
the formats and standards used will be added to the dataset in order to
facilitate sharing and reusability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. After the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server. Besides, for
redundancy, UPC will preserve a copy of the dataset.

##  Dataset: Robust perception fusion from deployed sensors

**Dataset name:** Robust perception fusion from deployed sensors.

**Data contact and responsible:** USE, Ramiro de Dios.

**Dataset description:** This dataset contains the necessary data for the
development of perception tools to fuse in real time the information from the
sensors on the crawler robot and the sensors on the aerial robots. The
objective is to improve the perception required for the inspection and
maintenance operations. These perception fusion techniques will be developed
in task T5.3. The datasets will be used for configuration and setting of the
methods and algorithms as well as for performing simulations and tests.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory and real
experiments.

**Standards and metadata:** The dataset will be provided in a standard text
format, to be used from any standard software. A file with the description of
the formats and standards used will be added to the dataset in order to
facilitate sharing and reusability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. After the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server, and besides
for redundancy on USE server.

#  Planning for aerial manipulation in inspection and maintenance

This section is devoted to data that can be collected during the activities
performed in WP6. These datasets will be collected in preliminary tests in the
laboratory and in real experiments. These datasets are grouped depending on
the tasks in WP6 they are involved in.

##  Dataset: Planning for aerial manipulation

**Dataset name:** Planning for aerial manipulation.

**Data contact and responsible:** CNRS, Antonio Franchi.

**Dataset description:** This dataset contains a sample of typical problem
inputs and algorithm outputs of the algorithms that will be developed in the
Task 6.1 of the project. Other meaningful data recorded from either
simulations or real experiments may be stored as well, upon request of other
partners of the project.

**Data collection:** The time history of the aforementioned data will be
collected.

**Standards and metadata:** The program running the developed algorithms will
be also provided to the partners. The dataset will be provided in a standard
text spaceseparated format. Papers reporting the results obtained from
simulations and experiments will be submitted for publication both in
conference proceedings and international scientific journals.

**Dataset sharing:** The previously mentioned data will be shared with
partners related. Moreover, after the publications in conference proceedings
and/or international journals, the data may be shared with the whole
scientific community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be stored on a server at LAAS and committed on the
SVN project repository upon request of the partners.

##  Dataset: Control-based local optimization methods for planning

**Dataset name:** Control-based local optimization methods for planning.

**Contact person and responsible:** CREATE Prof. Gianluca Antonelli.

**Dataset description:** A planner will be created, with the purpose to have
an agile system able to perform operations inside a dense industrial
installation, taking into account the dynamics of the manipulator. This
dataset will be used mainly for the development of the control-based local
optimization methods inside the planning algorithms (task T6.1). For the
experiments, the time history of the data generated by the planner, then the
positions and orientations of the system’s end-effector, will be also
collected.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory and in
real experiments.

**Standards and metadata:** Code of the provided planner, developed in C/C++
under the ROS environment and/or in MatLab/Simulink. Moreover, simulation
models developed by using open source software as Gazebo or commercial
software as V-Rep (available with free educational license) will be also
provided. The time history of the variables involved into the planner will be
provided in ASCII format, to be used from any kind of software. Papers
reporting the results obtained from simulations and experiments will be
submitted for publication both in conference proceedings and international
scientific journal.

**Dataset sharing:** The code that will be generated and the results obtained
from the simulations and experiments will be shared with partners related.
Moreover, after the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The code that
will be generated and the results obtained from the simulations and
experiments and with relevant interest will be posted on SVN project
repository and on University of Cassino server.

##  Dataset: Reactivity for safe operation

**Dataset name:** Reactivity for safe operation.

**Data contact and responsible:** USE, Ivan Maza.

**Dataset description:** This dataset contains the necessary data for the
development, testing and validation of reactive techniques for obstacle
avoidance of aerial robots in industrial environments. These datasets will be
used for configuration and setting of methods and algorithms as well as for
performing simulations and tests.

**Data collection:** This dataset includes data collected from the experiments
performed including partial experiments performed in the laboratory,
experiments in indoors and also experiments in outdoors.

**Standards and metadata:** The dataset will use standards such as the
measurements of the sensors onboard the robot (3D cameras), localization and
orientation of the aerial robot, among others. A file with the description of
the formats and standards used will be added to the dataset in order to
facilitate sharing and re-usability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. After the publications in conference proceedings and/or
international journals, the data may be shared with the whole scientific
community (always in accordance with the GA and the CA clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be archived in the AEROARMS server. Besides, for
redundancy, USE will preserve a copy of the dataset.

#  Validation in the industrial scenario

This section is devoted to data that can be collected during the activities
performed in WP8. These datasets will be collected in preliminary tests in the
laboratory and in real experiments. These datasets are grouped depending on
the tasks in WP8 they are involved in.

##  Dataset: Installing a EC Sensor on a remote location

**Dataset name:** Installing a EC Sensor on a remote location.

**Data contact and responsible:** SENS, Bernard Revaz.

**Dataset description:** This dataset contains the relevant data collected in
the experiments of the AEROARMS application "Installing an Eddy Current (EC)
sensor on a remote location". By relevant data, we mean data allowing a
professional to have a clear understanding of the inspection and maintenance
operation. The dataset will be also used for debugging and validating the
different functionalities and techniques involved in the application as well
as to validate their integration.

**Data collection:** This dataset includes data collected from the experiments
performed.

**Standards and metadata:** The dataset will be provided in text and other
standard formats, ready to be used from any standard software. A file with the
description of the formats and standards used will be added to the dataset in
order to facilitate sharing and re-usability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. The data not protected by IPR, may be shared with the
whole scientific community after the publications in conference proceedings
and/or international journals (always in accordance with the GA and the CA
clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be committed on the SVN project repository and on
a server at SENS.

##  Dataset: Deploying, operation and maintenance of a mobile robot

**Dataset name:** Deploying, operation and maintenance of a mobile robot.

**Data contact and responsible:** AIR, Moritz OETIKER.

**Dataset description:** This dataset contains all the data collected in the
experiments of the AEROARMS application "Deploying, operation and maintenance
of a mobile robot". The dataset will contain the data necessary to re-play the
execution of the experiment.

The dataset will be used for debugging and validating the different
functionalities and techniques involved in the application as well as to
validate their integration. Moreover, the data will be used to demonstrate the
relevance of the robot deploying and maintenance task in an industrial
environment.

**Data collection:** This dataset includes data collected from the experiments
performed.

**Standards and metadata:** The dataset will be provided in text and other
standard formats, ready to be used from any standard software. A file with the
description of the formats and standards used will be added to the dataset in
order to facilitate sharing and re-usability.

**Dataset sharing:** This dataset will be shared with partners related of the
AEROARMS consortium. The data not protected by IPR, may be shared with the
whole scientific community after the publications in conference proceedings
and/or international journals (always in accordance with the GA and the CA
clauses).

**Archiving and preservation (including storage and backup):** The dataset
with relevant interest will be committed on the SVN project repository and on
a server at AIR.

#  Conclusions

This document presented the first version of the Data Management Plan (DMP) of
the AEROARMS project. The objective is to detail what data the project will
generate, whether and how it will be exploited or made accessible for
verification and re-use, and how it will be curated and preserved.

These datasets are classified depending on the tasks they are involved in the
project. The document is structured in 4 Sections, each devoted to the
datasets of WPs 3, 4, 5, 6 and 8.

The DMP is not a fixed document; it evolves and gains more precision and
substance during the lifespan of the project. The final version of the DMP
(deliverable D9.5) will be delivered at M48.