Although ground robots have been successfully used for many years in manufacturing, the capability of aerial
robots to agilely navigate in the often sparse and static upper part of factories makes them suitable for performing
tasks of interest in many industrial sectors. This paper presents the design, development, and validation of a fully
autonomous aerial robotic system for manufacturing industries. It includes modules for accurate pose estimation
without using a Global Navigation Satellite System (GNSS), autonomous navigation, radio-based localization,
and obstacle avoidance, among others, providing a fully onboard solution capable of autonomously performing
complex tasks in dynamic indoor environments in which all necessary sensors, electronics, and processing are on
the robot. It was developed to fulfill two use cases relevant in many industries: light object logistics and missing tool
search. The presented robotic system, functionalities, and use cases have been extensively validated with
Technology Readiness Level 7 (TRL-7) in the Centro Bahía de C´
adiz (CBC) Airbus D&S factory in fully working
conditions.Comisión Europea 60884Horizonte 2020 (Unión Europea) 871479Plan Nacional de I+D+I DPI2017-8979-
