Project Leader

Dr. Paolo Stegagno
Phone: +49 7071-601-218
Fax: +49 7071 601-616
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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.
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.
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.
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.
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.
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.
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.
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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Hardware and Software Robotics Architectures

Click to Enlarge. A cad representation of the customized quadrotor used for many experiments in the group.
Research usually follows a cycle in which new control algorithms or paradigms are implemented in code, tested in simulation and validated using a real-world experiment. After these steps, the gained insights are used to improve the initial concept.
In this research cycle we identified the implementation and simulation steps to be potential bottlenecks in the process. Our goal is to reduce the time spent on implementation and testing of new software. In addition we want to make sure the software is reliable, provides realistic information and implements an additional security layer between the control program and the robot hardware.

A Modular and Extendible ROS-based Robotics Control Frameworkx

Click to Enlarge. Block diagram showing the several functionalities of TeleKyb.

TeleKyb is a software framework that provides a standardized interface for UAV control algorithm development and testing. It is completely based on the Robot Operating System (ROS), which mainly takes care of inter-process communication, as well as of dynamic loading of modules at runtime. Additionally, ROS provides a large library of software related to robot control that can easily be integrated with TeleKyb.


TeleKyb abstracts several aspects of control, that are

  • StateEstimator,
  • Robot Controllers
  • Behaviors
  • Trajectory Modules (placed behind Behaviors and observe, process or modifiy the Trajectory Message that is produced by the currently active Behavior) 


TeleKyb is used in conjunction with several human interfaces to control a (swarm of) robot(s) via an unreliable network.


Visit Martin Riedel's page for more information.

Real-time Robot Simulation

Click to Enlarge. A screenshot of the SwarmSimX robotic simulator and the block diagram of the architecture.
SwarmSimX (SSX) provides a feature-rich simulation environment capable of simulating dozens of robots in real-time. A special focus was put on the exchangeable design of SSX. The actual implementation is encapsulated within the corresponding classes to allow an exchange of the details without breaking existing code. SSX is split into three major parts, visualization, physics, and management.
The implementation of the main parts, visualization and physics is currently implemented using Ogre3D and NVIDIA PhysX. Entities residing within the simulation environment are defined by Artifacts. Artifacts may interact with the environment using Drivers and Sensors. Both are defined as loadable modules that are loaded at runtime, ensuring fast execution of the code.
Visit Johannes Lächele's for more information.

Essential Publications in this Topic

Grabe V, Riedel M, Bülthoff HH, Robuffo Giordano P und Franchi A (September-2013) The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control, 6th European Conference on Mobile Robots (ECMR 2013), IEEE, Piscataway, NJ, USA, 19-25.
pdfCiteID: GrabeRBRF2013
Riedel M, Franchi A, Robuffo Giordano P, Bülthoff HH und Son HI (2013) Experiments on Intercontinental Haptic Control of Multiple UAVs In: Intelligent Autonomous Systems 12, , 12th International Conference on Intelligent Autonomous Systems (IAS-12), Springer, Berlin, Germany, 227-238, Series: Advances in Intelligent Systems and Computing ; 194.
pdfCiteID: RiedelFRBS2012
Lächele J, Franchi A, Bülthoff HH und Robuffo Giordano P (November-2012) SwarmSimX: Real-time Simulation Environment for Multi-robot Systems In: Simulation, Modeling, and Programming for Autonomous Robots, , 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012), Springer, Berlin, Germany, 375-387, Series: Lecture Notes in Computer Science ; 7628.
pdfCiteID: LacheleFBR2012

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Last updated: Freitag, 13.02.2015