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Dr. Antonio Franchi

E-Mail: Antonio.Franchi

 

Bild von Franchi, Antonio, Dr.

Antonio Franchi

Position: Gastwissenschaftler  Abteilung: Alumni Bülthoff

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These are my main topics of research (see http://homepages.laas.fr/afranchi/robotics/?q=research_topics for an updated list):

 

Bilateral shared control of multiple mobile robots

We address the problem of the interaction between humans and groups of robots whose local synergy is exploited to accomplish complex tasks. Multi-robot systems possess several advantages w.r.t. single robots, e.g., higher performance in simultaneous spatial domain coverage, better affordability as compared to a single/bulky system, robustness against single point failures. Read more

Relative mutual localization

We have formulated and investigated a novel problem called Mutual Localization with Anonymous Position Measures. This is an extension of Mutual Localization with Position Measures, 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. Read more

Multi-robot exploration

In the Multi-SRG method, a roadmap of the explored area, with the associate safe region, is built in the form of a compact data structure, called Sensor-based Random Graph. This is incrementally expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. Read more

Multi-robot patrolling

We studied the problem of designing optimal multi-agent trajectories to patrol an environment which is large w.r.t. the number of agents. Agents must continuously travel in order to periodically cover the whole environment but they can communicate with other agents only when "in visibility" and the inter-distance is small enough. As performance criteria for optimal patrolling we considered the worst-case time gap between any two visits of the same region and the latency for a message to be transferred from any to any robot in the group. Read more

Multi-robot pursuit-evasion

This algorithm addresses a distributed, visibility-based pursuit-evasion problem in which one or more searchers must coordinate to guarantee detection of any and all evaders in an unknown planar environment while using only local information. The motivation is to develop algorithms to enable teams of robots to perform bomb or intruder detection and other related security tasks. It is a distributed clearing algorithm for a team of d-searchers with limited range sensors. Read more

Encirclement

Consider the problem of localizing and encircling a target using a multi-robot system. This kind of task is interesting in view of the large number of potential applications, among which we mention observation (retrieve and merge data about an object from different viewpoints), escorting (protect a member of the system from unfriendly agents) and entrapment (prevent the motion of an alien object). Read more

Calibration

Consider a differential-drive mobile robot equipped with an on-board exteroceptive sensor that can estimate its own motion, e.g., a range-finder. Calibration of this robot involves estimating six parameters: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot. After analyzing the observability of this problem, this paper describes a method for calibrating all parameters at the same time, without the need for external sensors or devices, using only the measurement of the wheels velocities and the data from the exteroceptive sensor.

I am a Guest Scientist of the Max Planck Institute for biological Cybernetics and collaborator of the Autonomous Robotics and Human Machine System.

 

Between January 2010 and December 2013, I was first a Research Scientist and then the head of the Autonomous Robotics and Human Machine System group at the Max Planck Institute for biological Cybernetics, in the department of Human Perception, Cognition and Action, directed by Prof. H. H. Buelthoff.

 

Since Genuary 2014 I hold a permanent Research position (CR1) at the Centre National de la Recherche Scientifique (CNRS) in the Laboratoire d’Analyse et d’Architecture des Systèmes (LAAS) in France.

 

I obtained the master degree in Electronic Engineering and the PhD inControl, Systems Theory and Robotics at the Sapienza University of Rome, under the supervision of Prof. G. Oriolo. I have been a visiting graduate student at University of California Santa Barbara (UCSB) with Prof. F. Bullo.

 

In the past I worked in both embedded computing systems and business consulting companies.

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Beiträge zu Tagungsbänden (55):

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.
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Secchi C, Franchi A, Bülthoff HH und Robuffo Giordano P (Mai-2012) Bilateral teleoperation of a group of UAVs with communication delays and switching topology, IEEE International Conference on Robotics and Automation (ICRA 2012), IEEE, Piscataway, NJ, USA, 4307-4314.
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Franchi A, Bülthoff HH und Robuffo Giordano P (Dezember-2011) Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs, 50th IEEE Conference on Decision and Control and European Control Conference (CDC - ECC 2011), IEEE, Piscataway, NJ, USA, 3559-3565.
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Franchi A, Masone C, Bülthoff HH und Robuffo Giordano P (September-2011) Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE, Piscataway, NJ, USA, 2215-2222.
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Robuffo Giordano P, Franchi A, Secchi C und Bülthoff HH (September-2011) Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE, Piscataway, NJ, USA, 163-170.
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Son HI, Chuang LL, Franchi A, Kim J, Lee D, Lee S-W, Bülthoff HH und Robuffo Giordano P (September-2011) Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE, Piscatawy, NJ, USA, 3039-3046.
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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.
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Franchi A (Juli-2011) Decentralized Bilateral Aerial Teleoperation of Multiple UAVs - Part II: a Top-down Perspective, RSS 2011 Workshop “3D Exploration, Mapping, and Surveillance with Aerial Robots”, 1-12.
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Son HI, Kim J, Chuang LL, Franchi A, Robuffo Giordano P, Lee D und Bülthoff HH (Juni-2011) An Evaluation of Haptic Cues on the Tele-Operator's Perceptual Awareness of Multiple UAVs' Environments, IEEE 2011 World Haptics Conference (WHC 2011), IEEE, Piscataway, NJ, USA, 149-154.
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Robuffo Giordano P, Franchi A, Secchi C und Bülthoff HH (Juni-2011) Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance In: Robotics: Science and Systems VII, , 2011 Robotics: Science and Systems Conference, MIT Press, Cambridge, MA, USA, 273-280.
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Franchi A, Robuffo Giordano P, Secchi C, Son HI und Bülthoff HH (Mai-2011) A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology, IEEE International Conference on Robotics and Automation (ICRA 2011), IEEE, Piscataway, NJ, USA, 898-905.
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Lee D, Franchi A, Robuffo Giordano P, Son HI und Bülthoff HH (Mai-2011) Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet, IEEE International Conference on Robotics and Automation (ICRA 2011), IEEE, Piscataway, NJ, USA, 1341-1347.
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Pasqualetti F, Franchi A und Bullo F (Dezember-2010) On optimal cooperative patrolling, 49th IEEE Conference on Decision and Control (CDC 2010), IEEE, Piscataway, NJ, USA, 7153-7158.
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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.
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Franchi A, Stegagno P, Rocco MDD und Oriolo G (September-2010) Distributed Target Localization and Encirclement with a Multi-Robot System, 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010), Curran, Red Hook, NY, USA, IFAC Proceedings Volumes, 43(16), 67-72.
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Durham JW, Franchi A und Bullo F (Mai-2010) Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 3562-3568.
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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.
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Franchi A, Oriolo G und Stegagno P (Oktober-2009) Mutual localization in a multi-robot system with anonymous relative position measures, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), IEEE Service Center, Piscataway, NJ, USA, 3974-3980.
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Franchi A, Freda L, Oriolo G und Vendittelli M (Juli-2008) Decentralized cooperative exploration: implementation and experiments In: Intelligent Autonomous Systems 10, , 10th International Conference on Intelligent Autonomous Systems (IAS 2008), IOS Press, Amsterdam, Netherlands, 348-355.
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Franchi A, Oriolo G, Freda L und Vendittelli M (Oktober-2007) A decentralized strategy for cooperative robot exploration, First International Conference on Robot Communication and Coordination (ROBOCOMM '07), ICST, Brussels, Belgium, 1-8.
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Franchi A, Freda L, Oriolo G und Vendittelli M (April-2007) A randomized strategy for cooperative robot exploration, IEEE International Conference on Robotics and Automation (ICRA 2007), IEEE Service Center, Piscataway, NJ, USA, 768-774.
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Technische Berichte (4):

Tognon M, Yüksel B, Buondonno G und Franchi A: Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators Technical Attachment to: ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017, Max Planck Institute for Biological Cybernetics, (März-2017).
Yüksel B, Staub N und Franchi A: Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: "Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016, Max Planck Institute for Biological Cybernetics, (Oktober-2016).
Yüksel B, Buondonno G und Franchi A: Protocentric Aerial Manipulators: Flatness Proofs and Simulations. Technical Attachment to: "Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016, Max Planck Institute for Biological Cybernetics, (Oktober-2016).
Franchi A, Oriolo G und Stegagno P: Mutual Localization of a Multi-Robot Team with Anonymous Relative Position Measures, Department of Computer and System Sciences Antonio Ruberti, Rome, Italy, (Januar-2009).

Poster (3):

Yüksel B, Staub N, Buondonno G und Franchi A (Mai-20-2016): Differential Flatness and Control of the Aerial Manipulators with Mixed Rigid/Elastic Joints: Controllability from Single Joint Arm to the Multiple Arms, ICRA 2016 Workshop: Aerial Robotics Manipulation: from Simulation to Real-life, Stockholm, Sweden.
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Yüksel B, Staub N, Secchi C und Franchi A (Mai-26-2015): Aerial Physical Interaction: Design, Control, Identification and Estimation, ICRA 2015 Workshop: Aerial Robotics Manipulation and Load Transportation, Seattle WA, USA..
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Yüksel B, Secchi C und Franchi A (Mai-31-2014): Aerial Physical Interaction via Reshaping of the Physical Properties: Passivity-based Control Methods and Nonlinear Force Observers, ICRA 2014 Workshop: Aerial robots physically interacting with the environment, Hong Kong, China.
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Abschlussarbeiten (1):

Franchi A: Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, Rome, (Dezember-2009). PhD thesis

Vorträge (27):

Franchi A (November-27-2013) Invited Lecture: Cooperative control, localization, and teleoperation of UAVs with on- board state estimation and physical interaction ability, Technische Universität München, Fakultät für Informatik, München, Germany.
Franchi A (November-13-2013) Invited Lecture: The Aerial Robotics Testbed at the Autonomous Robotics and Human-Machine Systems group, Institute of Industrial Technology, Samsung Heavy Industries, Daejeon, South Korea.
Franchi A (November-12-2013) Invited Lecture: Ongoing Results on UAV Teleoperation with Onboard RGB-D Sensors and Quadrotor Physical Interaction, Interactive & Networked Robotics Lab, Seoul National University, Seoul, South Korea.
Franchi A (Oktober-29-2013) Invited Lecture: Control Issues for Autonomy and Interactivity in Decentralized Teams of Heterogeneous Robots: a Research Prospective, Workshop Robotique: Laboratoire d'analyse et d'architectures des systèmes/Centre national de la recherche scientifique (LAAS-CNRS), Toulouse, France.
Nestmeyer T, Robuffo Giordano P und Franchi A (September-25-2013) Abstract Talk: Human-assisted Parallel Multi-target Visiting in a Connected Topology, 6th International Workshop on Human-Friendly Robotics (HFR 2013), Roma, Italy.
Franchi A (Juni-28-2013) Invited Lecture: Towards Physically Interactive Flying Robots: Physical Action and Human Haptic Control with Micro Aerial Vehicles, RSS 2013 Workshop on Resource-Efficient Integration of Perception, Control and Navigation for Micro Air Vehicles (MAVs), Berlin, Germany.
Franchi A und Robuffo Giordano P (Mai-6-2013) Invited Lecture: Autonomy and Human Interaction in Multi-Robot Systems, ICRA 2013 Workshop Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, Karlsruhe, Germany.
Nestmeyer T, Robuffo Giordano P und Franchi A (Mai-2013) Abstract Talk: Multi-target Simultaneous Exploration with Continual Connectivity, ICRA 2013 International Workshop on Crossing the Reality Gap: From Single to Multi- to Many Robot Systems, Karlsruhe, Germany.
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Franchi A (April-17-2013) Invited Lecture: Autonomous Control and Human Interaction in Multiple Robots Systems, Department of Computer Science, Technische Universität Darmstadt, Darmstadt, Germany.
Franchi A (März-20-2013) Invited Lecture: Decentralized Control of Multiple-robot Systems, 2013 euRobotics Forum: Multi-Robot Exploration Workshop, Lyon, France.
Franchi A (März-6-2013) Invited Lecture: Shared Control of Multiple Mobile Robots, Schools of Mechanical Engineering and Computer Science, University of Birmingham, Birmingham, UK.
Franchi A (November-2012) Invited Lecture: Control and Estimation for Decentralized Multi-robot Systems, Heudiasyc - CNRS - Université de Technologie de Compiègne, Compiègne, France.
Riedel M, Franchi A, Bülthoff HH und Robuffo Giordano P (Oktober-18-2012) Abstract Talk: Intercontinental haptic control and advanced supervisory interfaces for groups of multiple UAVs, 5th Workshop for Young Researchers on Human-Friendly Robotics (HFR 2012), Bruxelles, Belgium.
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Masone C, Franchi A, Bülthoff HH und Robuffo Giordano P (Oktober-18-2012) Abstract Talk: Shared trajectory planning for human-in-the-loop navigation of mobile robots in cluttered environments, 5th International Workshop on Human-Friendly Robotics (HFR 2012), Bruxelles, Belgium.
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Franchi A (Oktober-2012) Invited Lecture: Multiple-robot systems: Decentralized Control and Estimation with Diverse Topological Requirements, Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier (UM2-CNRS), Montpellier, France.
Franchi A (September-20-2012) Invited Lecture: Decentralized Control and Estimation in Multi-robot Systems with Diverse Topological Requirements, Laboratoire d'Analyse et d'Architecture des Systèmes (LAAS-CNRS), Toulouse, France.
Franchi A (Juni-14-2012) Invited Lecture: Motion Control and Haptic Intervention with Multiple Mobile Robots, Department of Science and Methods for Engineering: University of Modena and Reggio Emilia, Reggio Emilia, Italy.
Franchi A (Mai-22-2012) Invited Lecture: Multi-robot algorithms for coverage, localization, and control, with decentralized maintenance of global connectivity and haptic interaction, Department of Computer Science, University of Minnesota, Minneapolis, MN, USA.
Franchi A (Mai-14-2012) Invited Lecture: Modeling, Control, and Haptic Steering of Multi-robot Formations, ICRA 2012 - Workshop on Haptic Teleoperation of Mobile Robots: Theory, Applications and Perspectives, St. Paul, MN, USA.
Franchi A (November-25-2011) Invited Lecture: Bilateral Teleoperation of Groups of Mobile Robots: from Fixed to Time-Varying Topology, SIRSLab, Dipartimento di Ingegneria dell'Informazione Università di Siena, Siena, Italy.
Franchi A (Oktober-3-2011) Invited Lecture: Passivity-based Decentralized Bilateral Teleoperation of Groups of Mobile Robots with Fixed and Time-Varying Topology, Center for Control, Dynamical-Systems, and Computation (CCDC), University of California, Santa Barbara, CA, USA.
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Last updated: Montag, 22.05.2017