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Optimal Trajectory Planning
R. Spica, Franchi, A., Oriolo, G., Bülthoff, H. H., and Robuffo Giordano, P., Aerial Grasping of a Moving Target with a Quadrotor UAV, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 4985-4992.PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
Multi-robot systems
A. Franchi, Oriolo, G., and Stegagno, P., On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3193-3199.PDF icon pdf (836.33 KB)File video (3.03 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, in 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 3974-3980.PDF icon pdf (1.93 MB)File video (3.52 MB)
A. Franchi, Freda, L., Marchionni, L., Oriolo, G., and Vendittelli, M., Decentralized cooperative exploration: Implementation and experiments, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.PDF icon pdf (634.37 KB)
P. Stegagno, Cognetti, M., Franchi, A., and Oriolo, G., Mutual Localization using Anonymous Bearing Measurements, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, Department of Computer and System Sciences Antonio Ruberti, 2009.PDF icon pdf (1.29 MB)
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., 3D Mutual Localization with Anonymous Bearing Measurements, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A decentralized strategy for cooperative robot exploration, in ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination, Athens, Greece, 2007, vol. 318.PDF icon pdf (2.67 MB)
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A Randomized Strategy for Cooperative Robot Exploration, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.PDF icon pdf (802.55 KB)
A. Franchi, Oriolo, G., and Stegagno, P., Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 6534-6540.PDF icon pdf (1.26 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., The Sensor-based Random Graph Method for Cooperative Robot Exploration, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
Winner of the IEEE RAS ICYA Best Paper Award 2010 link
PDF icon preprint-pdf (1.15 MB)
A. Franchi, Stegagno, P., Di Rocco, M., and Oriolo, G., Distributed Target Localization and Encirclement with a Multi-robot System, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.PDF icon pdf (929.67 KB)
M. Cognetti, Stegagno, P., Franchi, A., and Oriolo, G., Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.PDF icon preprint-pdf (1.09 MB)
Motion Planning
R. Spica, Franchi, A., Oriolo, G., Bülthoff, H. H., and Robuffo Giordano, P., Aerial Grasping of a Moving Target with a Quadrotor UAV, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 4985-4992.PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
Localization of ground robots
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements, The International Journal of Robotics Research, vol. 32, no. 11, pp. 1303-1322, 2013.PDF icon preprint-pdf (3.28 MB)File video (5.98 MB)
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
Localization of aerial robots
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., 3D Mutual Localization with Anonymous Bearing Measurements, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 MB)
M. Cognetti, Stegagno, P., Franchi, A., and Oriolo, G., Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.PDF icon preprint-pdf (1.09 MB)
Localization
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., 3D Mutual Localization with Anonymous Bearing Measurements, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 MB)
P. Stegagno, Cognetti, M., Franchi, A., and Oriolo, G., Mutual Localization using Anonymous Bearing Measurements, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
A. Franchi, Oriolo, G., and Stegagno, P., On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3193-3199.PDF icon pdf (836.33 KB)File video (3.03 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, in 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 3974-3980.PDF icon pdf (1.93 MB)File video (3.52 MB)
M. Cognetti, Stegagno, P., Franchi, A., and Oriolo, G., Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.PDF icon preprint-pdf (1.09 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, Department of Computer and System Sciences Antonio Ruberti, 2009.PDF icon pdf (1.29 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 6534-6540.PDF icon pdf (1.26 MB)
Formation control
A. Franchi, Oriolo, G., and Stegagno, P., On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3193-3199.PDF icon pdf (836.33 KB)File video (3.03 MB)
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Stegagno, P., Di Rocco, M., and Oriolo, G., Distributed Target Localization and Encirclement with a Multi-robot System, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.PDF icon pdf (929.67 KB)
Exploration
M. Gagliardi, Oriolo, G., Bülthoff, H. H., and Franchi, A., Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908.PDF icon preprint-pdf (1.82 MB)File video (13.1 MB)
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., The Sensor-based Random Graph Method for Cooperative Robot Exploration, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
Winner of the IEEE RAS ICYA Best Paper Award 2010 link
PDF icon preprint-pdf (1.15 MB)
Estimation
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
M. Cognetti, Stegagno, P., Franchi, A., and Oriolo, G., Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.PDF icon preprint-pdf (1.09 MB)
A. Censi, Franchi, A., Marchionni, L., and Oriolo, G., Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.PDF icon preprint-pdf (1.71 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 6534-6540.PDF icon pdf (1.26 MB)
A. Franchi, Stegagno, P., Di Rocco, M., and Oriolo, G., Distributed Target Localization and Encirclement with a Multi-robot System, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.PDF icon pdf (929.67 KB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, in 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 3974-3980.PDF icon pdf (1.93 MB)File video (3.52 MB)
A. Franchi, Oriolo, G., and Stegagno, P., On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3193-3199.PDF icon pdf (836.33 KB)File video (3.03 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, Department of Computer and System Sciences Antonio Ruberti, 2009.PDF icon pdf (1.29 MB)
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., 3D Mutual Localization with Anonymous Bearing Measurements, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 MB)
P. Stegagno, Cognetti, M., Franchi, A., and Oriolo, G., Mutual Localization using Anonymous Bearing Measurements, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
Distributed algorithms
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, Department of Computer and System Sciences Antonio Ruberti, 2009.PDF icon pdf (1.29 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 6534-6540.PDF icon pdf (1.26 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A decentralized strategy for cooperative robot exploration, in ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination, Athens, Greece, 2007, vol. 318.PDF icon pdf (2.67 MB)
A. Franchi, Stegagno, P., Di Rocco, M., and Oriolo, G., Distributed Target Localization and Encirclement with a Multi-robot System, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.PDF icon pdf (929.67 KB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A Randomized Strategy for Cooperative Robot Exploration, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.PDF icon pdf (802.55 KB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., The Sensor-based Random Graph Method for Cooperative Robot Exploration, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
Winner of the IEEE RAS ICYA Best Paper Award 2010 link
PDF icon preprint-pdf (1.15 MB)
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., 3D Mutual Localization with Anonymous Bearing Measurements, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 MB)
P. Stegagno, Cognetti, M., Franchi, A., and Oriolo, G., Mutual Localization using Anonymous Bearing Measurements, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
A. Franchi, Oriolo, G., and Stegagno, P., Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures, in 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 3974-3980.PDF icon pdf (1.93 MB)File video (3.52 MB)
A. Franchi, Freda, L., Marchionni, L., Oriolo, G., and Vendittelli, M., Decentralized cooperative exploration: Implementation and experiments, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.PDF icon pdf (634.37 KB)
Decentralized control
A. Franchi, Stegagno, P., Di Rocco, M., and Oriolo, G., Distributed Target Localization and Encirclement with a Multi-robot System, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.PDF icon pdf (929.67 KB)
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A Randomized Strategy for Cooperative Robot Exploration, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.PDF icon pdf (802.55 KB)
Coverage
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A decentralized strategy for cooperative robot exploration, in ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination, Athens, Greece, 2007, vol. 318.PDF icon pdf (2.67 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., A Randomized Strategy for Cooperative Robot Exploration, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.PDF icon pdf (802.55 KB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., The Sensor-based Random Graph Method for Cooperative Robot Exploration, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
Winner of the IEEE RAS ICYA Best Paper Award 2010 link
PDF icon preprint-pdf (1.15 MB)
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Freda, L., Marchionni, L., Oriolo, G., and Vendittelli, M., Decentralized cooperative exploration: Implementation and experiments, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.PDF icon pdf (634.37 KB)
Calibration of ground robots
A. Censi, Franchi, A., Marchionni, L., and Oriolo, G., Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.PDF icon preprint-pdf (1.71 MB)
Aerial Robotics
M. Gagliardi, Oriolo, G., Bülthoff, H. H., and Franchi, A., Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908.PDF icon preprint-pdf (1.82 MB)File video (13.1 MB)