Dr. Antonio Franchi

E-Mail: Antonio.Franchi


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Antonio Franchi

Position: Gastwissenschaftler  Abteilung: Alumni Bülthoff

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These are my main topics of research (see 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


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


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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Vorträge (27):

Secchi C, Robuffo Giordano P und Franchi A (September-2011): Decentralized and Passivity based Teleoperation of a Group of UAVs with Time-Varying Topology, 2011, Pisa, Italy.
Franchi A (Dezember-2010) Invited Lecture: Bilateral Teleoperation of Multiple UAVs, Dipartimento di Informatica e Sistemistica, Università di Roma "La Sapienza", Roma, Italy.
Franchi A (Dezember-2010) Invited Lecture: Haptic Teleoperation of Multi-Robot Systems, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
Robuffo Giordano P, Franchi A, Son HI, Secchi C, Lee D und Bülthoff HH (Oktober-28-2010) Abstract Talk: Towards Bilateral Teleoperation of Multi-Robot Systems, 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010), Tübingen, Germany.
Franchi A (Mai-2010) Invited Lecture: Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA.
Franchi A (Januar-2010) Invited Lecture: Decentralized strategies for multi-robot systems: from autonomous behavior to multimodal human interaction, Max Planck Institute for Biological Cybernetics, Tübingen, Germany.
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Last updated: Montag, 22.05.2017