@conference {2014g-GagOriBueFra,
	title = {Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs},
	booktitle = {2014 European Control Conference},
	year = {2014},
	month = {06/2014},
	pages = {1902-1908},
	address = {Strasbourg, France},
	abstract = {We address the problem of clearing an arbitrary and unknown network of roads using an organized team of Unmanned Aerial Vehicles (UAVs) equipped with a monocular down-facing camera, an altimeter, plus high-bandwidth short- range and low-bandwidth long-range communication systems. We allow the UAVs to possibly split in several subgroups. In each subgroup a leader guides the motion employing a hierarchical coordination. A feature/image-based algorithm guides the subgroup toward the unexplored region without any use of global localization or environmental mapping. At the same time all the entry-points of the the explored region are kept under control, so that any moving object that enters or exits the previously cleared area. Simulative results on real aerial images demonstrate the functionalities and the effectiveness of the proposed algorithm. },
	keywords = {Aerial Robotics, Exploration, Motion control of multiple robots, Patrolling / Surveillance, Pursuit-evasion / Clearing},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014g-GagOriBueFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014g-GagOriBueFra-video.mp4},
	author = {Matteo Gagliardi and Giuseppe Oriolo and Heinrich H. B{\"u}lthoff and Antonio Franchi}
}
@article {2011c-DurFraBul,
	title = {Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers},
	journal = {Autonomous Robots},
	volume = {32},
	year = {2012},
	month = {01/2012},
	pages = {81-95},
	abstract = {This paper addresses a visibility-based pursuit-evasion problem in which a team of mobile robots with limited sensing and communication capabilities must coordinate to detect any evaders in an unknown, multiply-connected planar environment. Our distributed algorithm to guarantee evader detection is built around maintaining complete coverage of the frontier between cleared and contaminated regions while expanding the cleared region. We detail a novel distributed method for storing and updating this frontier without building a map of the environment or requiring global localization. We demonstrate the functionality of the algorithm through simulations in realistic environments and through hardware experiments. We also compare Monte Carlo results for our algorithm to the theoretical optimum area cleared as a function of the number of robots available.},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Pursuit-evasion / Clearing},
	url = {http://www.springerlink.com/content/a02pr41790ll754w/},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011c-DurFraBul-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011c-DurFraBul-video1.mp4},
	author = {Joseph W. Durham and Antonio Franchi and Francesco Bullo}
}
@conference {2010b-DurFraBul,
	title = {Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration},
	booktitle = {2010 IEEE Int. Conf. on Robotics and Automation},
	year = {2010},
	month = {05/2010},
	pages = {3562-3568},
	address = {Anchorage, AK},
	abstract = {This paper addresses a novel visibility-based pursuit-evasion problem in which a team of searchers with limited range sensors must coordinate to clear any evaders from an unknown planar environment. We present a distributed algorithm built around guaranteeing complete coverage of the frontier between cleared and contaminated areas while expanding the cleared area. Our frontier-based algorithm can guarantee detection of evaders in unknown, multiply-connected planar environments which may be non-polygonal. We also detail a method for storing and updating the global frontier between cleared and contaminated areas without building a global map or requiring global localization, which enables our algorithm to be truly distributed. We demonstrate the functionality of the algorithm through Player/Stage simulations. },
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Pursuit-evasion / Clearing},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2010b-DurFraBul.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/ICRA10-FinalSub.mp4},
	author = {Joseph W. Durham and Antonio Franchi and Francesco Bullo}
}
@mastersthesis {60,
	title = {Decentralized Methods for Cooperative Task  Execution in Multi-robot Systems},
	year = {2009},
	month = {12/2009},
	school = {"La Sapienza" University of Rome},
	type = {PhD},
	keywords = {Coverage, Decentralized control, Distributed algorithms, Estimation, Exploration, Formation control, Localization of ground robots, Middleware for robotics, Motion control of multiple robots, Multi-robot systems, Patrolling / Surveillance, Pursuit-evasion / Clearing},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2009-Franchi_PhDThesis.pdf},
	author = {Antonio Franchi}
}
