Publications

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Book Chapter
J. Lächele, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., SwarmSimX: Real-time Simulation Environment for Multi-robot Systems, in 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Tsukuba, Japan: , 2012.PDF icon preprint-pdf (1023.48 KB)
Conference Paper
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)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.46 MB)File video (4.01 MB)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.46 MB)File video (4.01 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance, in 2011 Robotics: Science and Systems Conference, Los Angeles, CA, 2011.PDF icon preprint-pdf (1.8 MB)File video (14.5 MB)
A. Franchi, Masone, C., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 2215-2222.PDF icon preprint-pdf (1.14 MB)File video (8.23 MB)
A. Franchi, Masone, C., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 2215-2222.PDF icon preprint-pdf (1.14 MB)File video (8.23 MB)
A. Franchi and Robuffo Giordano, P., Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements, in 51th IEEE Conference on Decision and Control , Maui, HI, 2012, pp. 5310-5317.PDF icon preprint-pdf (798.4 KB)
A. Franchi and Robuffo Giordano, P., Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements, in 51th IEEE Conference on Decision and Control , Maui, HI, 2012, pp. 5310-5317.PDF icon preprint-pdf (798.4 KB)
A. Franchi, Bülthoff, H. H., and Robuffo Giordano, P., Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs, in 50th IEEE Conference on Decision and Control , Orlando, FL, 2011, pp. 3559-3565.PDF icon preprint-pdf (1.2 MB)
H. I. Son, Kim, J., Chuang, L. L., Franchi, A., Robuffo Giordano, P., Lee, D., and Bülthoff, H. H., An Evaluation of Haptic Cues on the Tele-Operator’s Perceptual Awareness of Multiple UAVs’ Environments, in IEEE – World Haptics Conference, Istanbul, Turkey, 2011, pp. 149-154.PDF icon preprint-pdf (2.04 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170.PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170.PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
M. Riedel, Franchi, A., Bülthoff, H. H., Robuffo Giordano, P., and Son, H. I., Experiments on Intercontinental Haptic Control of Multiple UAVs, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238.PDF icon preprint-pdf (1.49 MB)File video (10.01 MB)
M. Riedel, Franchi, A., Bülthoff, H. H., Robuffo Giordano, P., and Son, H. I., Experiments on Intercontinental Haptic Control of Multiple UAVs, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238.PDF icon preprint-pdf (1.49 MB)File video (10.01 MB)
D. Lee, Franchi, A., Robuffo Giordano, P., Son, H. I., and Bülthoff, H. H., Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 1341-1347.PDF icon preprint-pdf (1.34 MB)File video (4.92 MB)
C. Masone, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 2641-2648.PDF icon preprint-pdf (2.15 MB)File video (9.02 MB)
H. I. Son, Chuang, L. L., Franchi, A., Kim, J., Lee, D., Lee, S. - W., Bülthoff, H. H., and Robuffo Giordano, P., Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3039-3046.PDF icon preprint-pdf (1.2 MB)
A. Franchi, Robuffo Giordano, P., Secchi, C., Son, H. I., and Bülthoff, H. H., A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 898-905.PDF icon preprint-pdf (870.58 KB)File video (4.84 MB)
A. Franchi, Robuffo Giordano, P., Secchi, C., Son, H. I., and Bülthoff, H. H., A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 898-905.PDF icon preprint-pdf (870.58 KB)File video (4.84 MB)
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., Rigidity Maintenance Control for Multi-Robot Systems, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 MB)
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., Rigidity Maintenance Control for Multi-Robot Systems, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 MB)
D. Zelazo, Franchi, A., and Robuffo Giordano, P., Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.PDF icon preprint-pdf (410.91 KB)
V. Grabe, Riedel, M., Bülthoff, H. H., Robuffo Giordano, P., and Franchi, A., The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control, in 6th European Conference on Mobile Robots, Barcelona, Spain, 2013.PDF icon pdf-preprint (1.19 MB)
Journal Article
A. Franchi, Secchi, C., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.PDF icon preprint-pdf (4.11 MB)
A. Franchi, Secchi, C., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.PDF icon preprint-pdf (4.11 MB)
D. Zelazo, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems, The International Journal of Robotics Research, vol. 34, no. 1, pp. 105-128, 2014.PDF icon arXiv-pdf-v3-last-version (4.19 MB)
T. Nestmeyer, Robuffo Giordano, P., Bülthoff, H. H., and Franchi, A., Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017.PDF icon arXiv-pdf (3 MB)File video-experiment-quadrotors (19.94 MB)File video-sims-empty-space (3.86 MB)File video-sims-office-space (3.97 MB)File video-sims-town-space (4.68 MB)
H. I. Son, Franchi, A., Chuang, L. L., Kim, J., Bülthoff, H. H., and Robuffo Giordano, P., Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots, IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics, vol. 43, no. 2, pp. 597-609, 2013.PDF icon preprint-pdf (4.95 MB)
A. Franchi, Masone, C., Grabe, V., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering, The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, vol. 31, no. 12, pp. 1504-1525, 2012.PDF icon preprint-pdf (3.81 MB)
A. Franchi, Masone, C., Grabe, V., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering, The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, vol. 31, no. 12, pp. 1504-1525, 2012.PDF icon preprint-pdf (3.81 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013.PDF icon preprint-pdf (3.83 MB)File video1 (9.79 MB)
D. Lee, Franchi, A., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles, IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics, vol. 18, no. 4, pp. 1334-1345, 2013.PDF icon preprint-pdf (3.66 MB)
A. Franchi, Secchi, C., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs., IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, no. 3, pp. 57-68, 2012.PDF icon preprint-pdf (7.17 MB)
A. Franchi, Secchi, C., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs., IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, no. 3, pp. 57-68, 2012.PDF icon preprint-pdf (7.17 MB)
A. Franchi, Secchi, C., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs., IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, no. 3, pp. 57-68, 2012.PDF icon preprint-pdf (7.17 MB)
Miscellaneous
T. Nestmeyer, Robuffo Giordano, P., and Franchi, A., Human-assisted Parallel Multi-target Visiting in a Connected Topology, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
T. Nestmeyer, Riedel, M., Lächele, J., Hartmann, S., Botschen, F., Robuffo Giordano, P., and Franchi, A., Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior, Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
M. Riedel, Bülthoff, H. H., Franchi, A., and Robuffo Giordano, P., Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
M. Riedel, Bülthoff, H. H., Franchi, A., and Robuffo Giordano, P., Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
T. Nestmeyer, Robuffo Giordano, P., and Franchi, A., Multi-target Simultaneous Exploration with Continual Connectivity, 2th Int. Work. on Crossing the Reality Gap - From Single to Multi- to Many Robot Systems, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
J. Lächele, Riedel, M., Robuffo Giordano, P., and Franchi, A., SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications, Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
P. Robuffo Giordano, Franchi, A., Son, H. I., Secchi, C., Lee, D., and Bülthoff, H. H., Towards Bilateral Teleoperation of Multi-Robot Systems, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.