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
Opens external link in new windowWebsite
 
 

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.
pdf
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.
pdf
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.
pdf
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.
pdf
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.
pdf
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.
pdf
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.
pdf
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.
pdf

Export als:
BibTeX, XML, pubman, Edoc, RTF

 

Localization of Multiple Robot Systems

Perception and estimation of the state of a robotic platform and the surrounding world are the first, foundational, building blocks for guaranteeing its autonomy.
In particular, the mutual localization among the different robots, i.e., the estimation of the time-varying transformations between the frames attached to the main body of each robot, is a fundamental prerequisite for any cooperative complex motion control strategy.
 
Among the main challenges of mutual localization we have:
  • keep the observability (i.e., the solvability of the estimation problem) despite the presence of of heterogeneous sensors, e.g., in part distance-based, in part vision-based, altitude, velocity, acceleration etc.;
  • to cope with the limited range and field-of-view of onboard sensors,
  • to cope with the presence of outliers;
  • to ensure an algorithm complexity that allows fast on-line processing and control in-the-loop.

Mutual Localization with Anonymous Relative Measurements

Click to Enlarge. Four snapshots of an experiments with eight quadrotor UAVs, where the IMU and the relative bearings are used as sensorial information.
We have formulated and investigated a novel problem called mutual localization with anonymous relative measurements. This is an extension of mutual localization with relative measurements, with the additional assumption that the identities of the measured robots are not known. For certain configurations of the multi-robot system, the anonymity hypothesis causes a combinatorial ambiguity in the inversion of the measure equation, resulting in the existence of multiple solutions. We have developed a two-phase filter for solving the localization problem:
  • a geometric algorithm aimed at obtaining sets of geometrically feasible relative pose hypotheses;
  • a filtering stage that computes the current belief on the robots' relative poses.
We consider consider two cases of inter-robot anonymous measurements:
  • relative positions (e.g., obtained by a laser range scanner or a RGB-D/stereo camera)
  • relative bearings (e.g., obtained by a monocular camera)
three cases of proprioceptive measurements:
  • wheel odometry
  • accelerometer plus gyroscope (IMU)
  • optical flow
and two robotic platforms:
  • differentially-driven ground robots
  • quadrotor UAVs.

Essential Publications in this Topic

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.
pdfCiteID: FranchiOS2013
Cognetti M, Stegagno P, Franchi A und Oriolo G (Oktober-2012) Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, 2nd IFAC Workshop on Multivehicle Systems (MVS 2012), International Federation of Automatic Control, New York, NY, USA, IFAC Proceedings Volumes, 45(28), 13-18.
pdfCiteID: CognettiSFO2012
Cognetti M, Stegagno P, Franchi A, Oriolo G und Bülthoff HH (Mai-2012) 3-D Mutual Localization with Anonymous Bearing Measurements, IEEE International Conference on Robotics and Automation (ICRA 2012), IEEE, Piscataway, NJ, USA, 791-798.
pdfCiteID: CognettiSFOB2012
Stegagno P, Cognetti M, Franchi A und Oriolo G (September-2011) Mutual localization using anonymous bearing measurements, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE, Piscataway, NJ, USA, 469-474.
pdfCiteID: StegagnoCFO2011
Franchi A, Stegagno P und Oriolo G (Dezember-2010) Probabilistic mutual localization in multi-agent systems from anonymous position measures, 49th IEEE Conference on Decision and Control (CDC 2010), IEEE, Piscataway, NJ, USA, 6534-6540.
pdfCiteID: 6675
Franchi A, Oriolo G und Stegagno P (Mai-2010) On the solvability of the mutual localization problem with anonymous position measures, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 3193-3199.
pdfCiteID: 6414

Export als:
BibTeX, XML, pubman, Edoc, RTF
Last updated: Freitag, 13.02.2015