BDP-UaiFly System: A Platform for the RoboCup Brazil Open Flying Robot Trial League

The Flying Robot Trial League (FRTL), from RoboCup Brazil, is a competition that stimulates the development of autonomous and intelligent flying robots for inspection and operation in pipeline lanes and oil installations. In this context, this work presents the system developed by the BDP-UaiFly Team for the 2022 competition, using the off-the-shelf Parrot Bebop 2 to execute the Equipment Transport phase. This paper presents in detail the system platform and the navigation and sensing strategies implemented for autonomous navigation and image processing. In particular, the strategy adopted for cargo transportation based on servo-visual control is presented. Practical experiments validate the proposed solutions for the phases of the challenge.