Project Leader

Dr. Paolo Stegagno
Phone: +49 7071-601-218
Fax: +49 7071 601-616
Opens window for sending emailpaolo.stegagno[at]tuebingen.mpg.de
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Recent Journal Publications

Grabe V, Bülthoff HH, Scaramuzza D und Robuffo Giordano P (Juli-2015) Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV International Journal of Robotics Research 34(8) 1114-1135.
Ryll M, Bülthoff HH und Robuffo Giordano P (Februar-2015) A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation IEEE Transactions on Control Systems Technology 23(2) 540-556.
Zelazo D, Franchi A, Bülthoff HH und Robuffo Giordano P (Januar-2015) Decentralized rigidity maintenance control with range measurements for multi-robot systems International Journal of Robotics Research 34(1) 105-128.
Franchi A, Oriolo G und Stegagno P (September-2013) Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements International Journal of Robotics Research 32(11) 1302-1322.
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Lee D, Franchi A, Son HI, Ha CS, Bülthoff HH und Robuffo Giordano P (August-2013) Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles IEEE/ASME Transactions on Mechatronics 18(4) 1334-1345.
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Son HI, Franchi A, Chuang LL, Kim J, Bülthoff HH und Robuffo Giordano P (April-2013) Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots IEEE Transactions on Cybernetics 43(2) 597-609.
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Censi A, Franchi A, Marchionni L und Oriolo G (April-2013) Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots IEEE Transaction on Robotics 29(2) 475-492.
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Robuffo Giordano P, Franchi A, Secchi C und Bülthoff HH (März-2013) A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance International Journal of Robotics Research 32(3) 299-323.
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Franchi A, Secchi C, Son HI, Bülthoff HH und Robuffo Giordano P (Oktober-2012) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transaction on Robotics 28(5) 1019-1033.
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Franchi A, Masone C, Grabe V, Ryll M, Bülthoff HH und Robuffo Giordano P (Oktober-2012) Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering International Journal of Robotics Research 31(12) 1504-1525.
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Franchi A, Secchi C, Ryll M, Bülthoff HH und Robuffo Giordano P (September-2012) Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs IEEE Robotics & Automation Magazine 19(3) 57-68.
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Autonomous Robotics and Human-Machine Systems

The aim of the group is to study novel algorithm for autonomous machines (robots) that are able to sense the environment, reason about it, and take actions to perform some tasks in cooperation with humans. The driving vision behind our research is to allow in the future robots to aid humans, for example to reduce physical effort and risks in industrial environment, help prevention and reaction in emergency situations as natural disasters, and in general simplify tasks of everyday life. Primary research objectives of the group include (but are not limited to):
  • Study complex aggregations of autonomous robots, e.g., multiple heterogeneous systems
  • Design original ways to let humans to co-operate with complex semi-autonomous robotic systems
  • Ensure robot autonomy, on-board sensing and estimation, both indoor and outdoor
  • Study novel ways of physical interaction between robots and nearby environment 
To this end, we rely on the tools of roboticssystems and control theory, sensing and estimation, computer vision, and psychophysics.

Aerial Robotics

We believe that future employment of robotics application will have a huge impact on our lives, not only for the reduction of production-related risks for humans and to help prevention and reaction in emergency situations, but also in common tasks of everyday life.

Among the several robotics fields, aerial robotics represents an emerging, promising, and one of the most rapidly growing topic. Aerial robots, also referred to as Unmanned Aerial Vehicles (UAVs), have the ability to reach hardly accessible areas, operate on rough terrains, while also enjoying a privileged point of view over the surroundings.

Several application fields exploit the best of aerial robots characteristics in order to enhance our quality of life, safety and efficiency. This is the case of precision agriculture, in which aerial robots can be used to monitor and analyze crops from a privileged point of view, and to act when and only when necessary with crop dusting and spraying, eventually increasing the yield of a field while reducing the quantity of needed chemicals and water.

In industrial scenarios, aerial robots will be used to monitor, inspect and intervene in hardly accessible or hazardous areas of plants, oil pipelines, power lines, pylons.

Several environmental applications can be developed to monitor the effects of climate change, to help preserving wildlife and ecosystems  (e.g.: automatically counting the exemplars in a species), identify issues and gather data for their solution. Similar strategies can be employed to monitor civil infrastructures as railways, highways, dams and bridges, not only to perform daily maintenance but also for early identification of critical issues and prevention of disasters.

Finally, aerial robots will also appear in everyday life. They will be helpful companions in cleaning and maintenance, assisting the elderly and also as guides in unknown places. Moreover, they will be useful tools in an always growing number of jobs ranging from delivery to aerial photography and video shooting for television, cinema, shows, real estate promotion - or maybe just for fun!

Selected Publications

Odelga M, Stegagno P, Bülthoff HH und Ahmad A (November-2015) A Setup for multi-UAV hardware-in-the-loop simulations, 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015), IEEE, Piscataway, NJ, USA, 204-210.
pdfCiteID: OdelgaSBA2015
Sanz D, Ahmad A und Lima P (November-2015) Onboard robust person detection and tracking for domestic service robots In: Robot 2015: Second Iberian Robotics Conference, , Second Iberian Robotics Conference (ROBOT'2015), Springer, Cham, Switzerland, 547-559, Series: Advances in Intelligent Systems and Computing ; 418.
CiteID: SanzAL2015
Chriette A, Plestan F, Castañeda H, Pal M, Guillo M, Odelga M, Rajappa S und Chandra R (Oktober-2015) Adaptive robust attitude control for UAVs: Design and experimental validation International Journal of Adaptive Control and Signal Processing Epub ahead.
CiteID: ChriettePCPGORC2015
Liu Y, Montenbruck JM, Stegagno P, Allgöwer F und Zell A (Oktober-2015) A Robust Nonlinear Controller for Nontrivial Quadrotor Maneuvers: Approach and Verification, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), IEEE, Piscataway, NJ, USA, 5410-5416.
CiteID: LiuMSAZ2015
Massidda C, Bülthoff HH und Stegagno P (Oktober-2015) Autonomous Vegetation Identification for Outdoor Aerial Navigation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), IEEE, Piscataway, NJ, USA, 3105-3110.
pdfCiteID: MassiddaBS2015
Schenk C, Bülthoff HH und Masone C (Oktober-2015) Robust adaptive sliding mode control of a redundant cable driven parallel robot, 19th International Conference on System Theory, Control and Computing (ICSTCC 2015), IEEE, Piscataway, NJ, USA, 427-434.
CiteID: SchenkBM2015
Ahmad A und Lima P (September-28-2015) Invited Lecture: Dataset Suite for Benchmarking Perception in Robotics, IROS 2015 Workshop: Open Forum on Evaluation of Results, Replication of Experiments and Benchmarking in Robotics Research, Hamburg, Germany.
CiteID: AhmadL2015
Ahmad A und Bülthoff HH (September-2015) Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception, 7th European Conference on Mobile Robots (ECMR 2015), IEEE, Piscataway, NJ, USA, 1-8.
CiteID: AhmadB2015
Rajappa S, Ryll M, Bülthoff HH und Franchi A (Mai-2015) Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers, IEEE International Conference on Robotics and Automation (ICRA 2015), IEEE, Piscataway, NJ, USA, 4006-4013.
pdfCiteID: RajappaRBF2015
Stegagno P, Massidda C und Bülthoff HH (April-2015) Distributed Target Identification in Robotic Swarms, 30th ACM/SIGAPP Symposium On Applied Computing (SAC 2015), ACM Press, New York, NY, USA, 307-313.
pdfCiteID: StegagnoMB2015
Lima PU, Ahmad A, Dias A, Conceição AGS, Moreira AP, Silva E, Almeida L, Oliveira L und Nascimento TP (Januar-2015) Formation control driven by cooperative object tracking Robotics and Autonomous Systems 63(1) 68–79.
CiteID: LimaADCMSAON2014
Ventura R und Ahmad A (2015) Towards Optimal Robot Navigation in Urban Homes In: RoboCup 2014: Robot World Cup XVIII, , 18th Annual RoboCup International Symposium 2014, Springer, Cham, Switzerland, 318-331, Series: Lecture Notes in Computer Science ; 8992.
CiteID: VenturaA2014
Cognetti M, Oriolo G, Peliti P, Rosa L und Stegagno P (September-2014) Cooperative Control of a Heterogeneous Multi-Robot System based on Relative Localization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Piscataway, NJ, USA, 350-356.
pdfCiteID: CognettiOPRS2014
Ahmad A, Xavier J, Santos-Victor J und Lima P (August-2014) 3D to 2D bijection for spherical objects under equidistant fisheye projection Computer Vision and Image Understanding 125 172–183.
CiteID: AhmadXSL2014
Masone C: Planning and control for robotic tasks with a human-in-the-loop [Planung und Steuerung von Roboter-Mensch Systemen], Universität Stuttgart, (Juli-16-2014). PhD thesis
CiteID: Masone2014
Dwiputra R, Berghofer J, Amigoni F, Bischoff R, Bonarini A, Iocchi L, Kraetzschmar GK, Lima P, Matteucci M, Nardi D, Ahmad A, Awaad I, Fontana G, Hegger F, Hochgeschwender N, Schiaffonati V und Schneider S (Juni-2-2014) Abstract Talk: Overview on the RoCKIn@Work Challenge, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.
CiteID: DwiputraBABBIKLMNAAFHHSS2014
Schneider S, Hegger F, Kraetzschmar GK, Amigoni F, Berghofer J, Bischoff R, Bonarini A, Dwiputra R, Iocchi L, Lima P, Matteucci M, Nardi D, Awaad I, Ahmad A, Fontana G, Hochgeschwender N und Schiaffonati V (Juni-2-2014) Abstract Talk: The RoCKIn@Home User Story, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.
CiteID: SchneiderHKABBBDILMNAAFHS2014
Stegagno P, Massidda C und Bülthoff HH (Juni-1-2014) Object Recognition in Swarm Systems: Preliminary Results, Workshop on the Centrality of Decentralization in Multi-Robot Systems: Holy Grail or False Idol? (IEEE ICRA 2014), 1-3.
pdfCiteID: StegagnoMB2014
Stegagno P, Basile M, Bülthoff HH und Franchi A (Juni-2014) A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback, IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 3862-3869.
pdfCiteID: StegagnoBBF2014
Masone C, Robuffo Giordano P, Bülthoff HH und Franchi A (Juni-2014) Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control, IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 6468-6475.
pdfCiteID: MasoneRBF2014

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Last updated: Montag, 23.02.2015