Pedro Cavestany

Papers

Total Citations

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About

Pedro Cavestany is a robotics researcher specializing in autonomous aerial systems for infrastructure inspection, with a particular focus on challenging underground environments. His work bridges the gap between aerial robotics and sewer inspection, addressing the unique constraints of confined, GPS-denied spaces. Cavestany’s major contributions include the development of ARSI, an aerial robot for sewer inspection (2019, 15 citations), which demonstrated the feasibility of using drones for internal pipe assessment. He also advanced 3D mapping and self-localization techniques for low-cost omnidirectional robots (2015, 8 citations), enabling high-performance structure-from-motion (SFM) with compressed imagery and minimal displacement. Additionally, his characterization of wireless propagation in underground sewers (2017, 7 citations) provided critical insights for reliable communication during autonomous drone inspections. With over 30 citations across his most-cited works, Cavestany’s research has practical implications for infrastructure maintenance, offering cost-effective and efficient solutions for sewer monitoring. His work is notable for tackling real-world constraints, such as low-resolution sensors and confined spaces, making his contributions valuable for students and researchers interested in field robotics, SLAM, and autonomous systems in harsh environments.