Contact

Dr. Paolo Robuffo Giordano

Adresse: Spemannstr. 44
72076 Tübingen
Raum Nummer: 2.VR.03
E-Mail: Paolo.Robuffo-Giordano

 

Bild von Robuffo Giordano, Paolo, Dr.

Paolo Robuffo Giordano

Position: Projektleiter  Abteilung: Alumni Bülthoff

Ich studierte Ingineurwissenschaften und habe einen PhD in Systemtheorie und Robotik. Allgemein gesagt , liegen meine Interessen in folgenden Bereichen:

* von den Grundprinzipien ausgehend (Physik, Mechanik, etc.) Modellierung des Verhaltens von dynamischen Systemen und die Untersuchung ihrer strukturellen Eigenschaften
* Umsetzung realistischer Software-Simulationen
* Entwurf von Kontrollgesetzen, welche die angestrebten Ziele für die gegebenen Modelle erreichen
* Testen und Validieren der gestellten Hypothesen (sowohl auf der Modell- als auch der Control Design-Ebene) in realen Umgebungen

In den meisten Fällen ist das untersuchte System ein physikalisches, welches Informationen aus der Umwelt erwerben, verarbeiten und dann nutzen muss, um eigenständig Aufgaben ausführen zu können. Ein solches System ist in der Regel als Roboter bekannt, dessen Design weit von dem beliebten Bild eines menschenähnlichen Wesens entfernt sein kann. Ein autonom fahrendes Auto, ein höhenstabilisiertes Flugzeug, ein Schwarm von Miniatur-Fahrzeugen zur Erkundung einer unbekannten Umgebung sind nur einige Beispiele von Robotern. Der entscheidende Punkt hier ist die Autonomie: die Fähigkeit, die Welt wahr zu nehmen,  Schlüsse daraus zu ziehen und autonom zu handeln um Ziele zu erreichen.


In meiner Forschung versuche ich, dieses Problem von einem technischen Standpunkt aus zu lösen. Insbesondere möchte ich die Methoden der Robotik und der System-und Regelungstechnik verwenden, um die Mensch-Maschine-Interaktion zu modellieren. Dieses Wissen möchte ich in die Entwicklung einer neuen Generation von autonomen Systemen einfließen lassen, die effektiver mit dem Menschen zusammenarbeiten.

Ich bin Leiter der Human-Robot Interaction-Gruppe  innerhalb der Abteilung Human Perception, Cognition and Action des Max-Planck-Instituts für biologische Kybernetik.

Introduction

The aim of my research (see also my group's webpage) is to study novel ways to interface humans with robots, i.e., autonomous machines that are able to sense the environment, reason about it, and take actions to perform some tasks. These efforts are guided by the accepted vision that in the future humans and robots will seamlessly cooperate in shared or remote spaces, thus becoming an integral part of our daily life. For instance, robots are expected to relieve us from monotonous and physically demanding work in industrial settings, or help humans in dealing with complex/dangerous tasks, thus augmenting their capabilities. In all the cases of human-robot interaction, it is interesting to study what is the best level of autonomy expected in the robots, and what is the best sensory feedback needed by the humans to take an effective role in the interaction. For instance, in order to exploit their superior cognitive skills, humans should not be overloaded with the execution of many local and low-level tasks. Robots, on the other hand, should be exploited because of their versatility, reliability, motion accuracy, specialization, and task execution speed.

This research group addresses these challenges from an engineering/computer science point of view: our focus in mainly on (i) how to empower robots with the needed autonomy in order to facilitate the interaction with the human side for accomplishing some shared task, and (ii) how to allow a human user to effectively be in control of a robot(s) while performing a task. To this end, we mainly rely on the tools of robotics, systems and control theory, computer vision, and psychophysics.

 

Goals

In a first line of research, we considered the problem of realizing an ideal telepresence system for a human user. Such a system should reproduce the full multisensory flow of information that humans experience through their senses: vision, haptics, hearing, vestibular (self-motion) information, and even smell and taste. While visual and haptics channels have traditionally been exploited in, e.g., many teleoperation settings, little or no attention has been paid to the use of the vestibular channel, i.e., the perception of self linear/angular motion. A central part of our research is devoted to the use of a robotic arm as a motion platform (the so-called CyberMotion simulator) in order to provide vestibular  (self-motion) cues to a human pilot when controlling the motion of a simulated or real vehicle.

A screenshot of the CyberMotion simulator in reproducing the motion of a race car

To this end, we developed novel motion algorithms to exploit an anthropomorphic robot arm as a motion simulator. This was further extended to take into account the simulator actuated cabin which, thanks to its actuation, introduces an extra degree of freedom to the robot actuation system. The CyberMotion simulator was both used to reproduce the feeling of a simulated race car, and to allow a human user to guide and perceive the visual/vestibular motion of a real quadrotor UAV.

 

As a second line of research, we thoroughly investigated the theoretical foundations which allow establishing a bilateral teleoperation channel between a single human operator (master-side) and a group of multiple remote robots (slave-side). 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. In our envisioned scenario, the multi-robot system should possess some level of local autonomy and act as a group, e.g., by maintaining a desired formation, by avoiding obstacles, and by performing additional local tasks. At the same time, the remote human operator should be in control of the overall robot motion and receive, through haptic feedback, suitable cues informative enough of the remote robot/environment state. We addressed two distinct possibilities for the human/multi-robot teleoperation: a top-down approach, and a bottom-up approach, mainly differing in the way the local robot interactions and desired formation shape are treated.

 

In the top-down approach, the robots in the group are abstracted as simple virtual points (VPs) in space teleoperated by the remote human user. The robots collectively move as a deformable flying object, whose shape (chosen beforehand) autonomously deforms, rotates and translates reacting to the presence of obstacles (to avoid them), and the operator commands (to follow them). The operator receives a haptic feedback informing him about the motion state of the robots, and about the presence of obstacles. As a proof of concept, we ran experiments with 3 quadrotor UAVs by only using relative bearings as a source of information.A teleoperation experiment involving a human operator and 4 UAVs

 

In the bottom-up case, the remote human user teleoperates a single leader, while the remaining follower motion is determined by local interactions (modeled as spring/damper couplings) among themselves and the leader, and repulsive interactions with the obstacles. The overall formation shape is not chosen beforehand but is a result of the robot motion. Arbitrary split and rejoin decisions are allowed depending on any criterion, e.g., the robot relative distance and their relative visibility. The operator receives a haptic feedback informing him about the motion state of the leader which is also influenced by the motion of its followers and their interaction with the obstacles. Further extensions of this line of research involved: possibility to maintain the group connectivity in a decentralized way during the motion, and experiments involving 4 quadrotor UAVs and an additional strategy to allow for velocity synchronization among the robots. Finally, our group also addressed preliminary psychophysical evaluations aimed at assessing the human perceptual awareness and maneuverability in the teleoperation of a group of mobile robots.

 

Expected impact

The presented research efforts are aimed at improving in a significant way the quality and easiness of human-robot interaction, in the specific case of a single human user in control of multiple autonomous robots. This will have implications in all those tasks envisaged for robots in the near future such as search and rescue operations, remote inspections of inaccessible sites, remote manipulation in dangerous conditions, and environmental monitoring. In a longer-term perspective, our results could be relevant for more futuristic applications as, for example, teams of nano-robots inspecting the human body from inside, releasing treatments, and performing local micro-surgery in situ.

I was born in Roma, Italy, in 1977.

Education

    • After completing the scientific high school (Liceo) in 1995, I started a 5-year Computer Science Engineering course at the University of Roma “La Sapienza”

    • In 2001 I received the "Laurea" degree (MSc) in Computer Science Engineering from the University of Roma "La Sapienza" (final mark: 110/110 cum laude)

    • In 2004 I obtained a grant for a 3-year Ph.D. course in System Engineering at the University of Roma "La Sapienza" under the supervision of Prof. Alessandro De Luca

    • In 2008 I received the PhD in System Engineering from the University of Roma "La Sapienza"

Professional experience

    • 02. 2002 – 06.2002: I was hired by "La Sapienza" Robotics Lab to work on the visual interception of moving objects for a wheeled mobile robot

    • 07. 2002 – 09.2003: I worked for an Italian space company (ELV) on the modeling and control of VEGA, a launcher for satellites

    • 09.2003 – 08.2004: I moved to Datamat where I focused on the development and testing of real-time code for helicopters

    • 11.07 – 09.08: Post-Doc at the Institute of Robotics and Mechatronics of the German Space Agency (DLR) headed by Prof. Dr. Gerhard Hirzinger

    • 10.08 – present: Project Leader of the Human-Robot Interaction group at the Max Planck Insitute for Biological Cybernetics, Department of Human Perception, Cognition and Action (Prof. Dr. Heinrich H. Bülthoff)

Service to the scientific community

Reviewer of the following peer-reviewed journal/conferences

    • IEEE Transactions on Robotics
    • The International Journal of Robotics Research
    • IEEE/ASME Transactions on Mechatronics
    • IEEE Transactions on Control Systems Technology
    • International Journal of Robotics and Automation
    • IEEE International Conference on Robotics and Automation
    • IEEE/RSJ International Conference on Intelligent Robots and Systems
    • IEEE Conference on Decision and Control

Grants

  • 2006 - DAAD research grant for foreign researchers working in Germany

Präferenzen: 
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Zeige Zusammenfassung

Beiträge zu Tagungsbänden (58):

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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Masone C, Robuffo Giordano P und Bülthoff HH (Mai-2011) Mechanical design and control of the new 7-DOF CyberMotion simulator, IEEE International Conference on Robotics and Automation (ICRA 2011), IEEE, Piscataway, NJ, USA, 4935-4942.
Grabe V, Pretto P, Robuffo Giordano P und Bülthoff HH (September-2010) Influence of display type and field of view on drivers’ performance in a motion-based driving simulator In: Trends in Driving Simulation Design and Experiments, , Driving Simulation Conference Europe 2010, INRETS, Bron, France, 81-88.
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Alaimo SMC, Pollini L, Magazzù A, Bresciani J-P, Robuffo Giordano P, Innocenti M und Bülthoff HH (Juli-2010) Preliminary Evaluation of a Haptic Aiding Concept for Remotely Piloted Vehicles In: Haptics: Generating and Perceiving Tangible Sensations, , EuroHaptics 2010, Springer, Berlin, Germany, 418-425, Series: Lecture Notes in Computer Science ; 6192.
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Robuffo Giordano P, Masone C, Tesch J, Breidt M, Pollini L und Bülthoff HH (Mai-2010) A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 3876-3883.
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Robuffo Giordano P, Masone C, Tesch J, Breidt M, Pollini L und Bülthoff HH (Mai-2010) A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 3896-3903.
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De Luca A, Oriolo G und Robuffo Giordano P (Mai-2010) Kinematic Control of Nonholonomic Mobile Manipulators in the Presence of Steering Wheels, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 1792-1798.
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Robuffo Giordano P, Deusch H, Lächele J und Bülthoff HH (Mai-2010) Visual-Vestibular Feedback for Enhanced Situational Awareness in Teleoperation of UAVs, 66th American Helicopter Society International Annual Forum (AHS 2010), AHS International, Alexandria, VA, USA, 2809-2818.
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De Luca A, Mattone R, Robuffo Giordano P und Bülthoff HH (Oktober-2009) Control design and experimental evaluation of the 2D CyberWalk platform, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), IEEE Service Center, Piscataway, NJ, USA, 5051-5058.
Soyka F, Teufel H, Beykirch K, Robuffo Giordano P, Butler J, Nieuwenhuizen FM und Bülthoff HH (August-2009) Does jerk have to be considered in linear motion simulation?, AIAA Modeling and Simulation Technologies Conference 2009, Curran, Red Hook, NY, USA, 1381-1388.
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Niccolini M, Pollini L, Innocenti M, Robuffo Giordano P, Teufel H und Bülthoff HH (August-2009) Towards Real-Time Aircraft Simulation with the MPI Motion Simulator, AIAA Modeling and Simulation Technologies Conference 2009, Curran, Red Hook, NY, USA, 623-632.
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Robuffo Giordano P, Fuchs M, Albu-Schäffer A und Hirzinger G (Mai-2009) On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs, IEEE International Conference on Robotics and Automation (ICRA 2009), IEEE Service Center, Piscataway, NJ, USA, 4080-4087.
Fuchs M, Borst C, Robuffo Giordano P, Baumann A, Kraemer E, Langwald J, Gruber R, Seitz N, Plank G, Kunze K, Burger R, Schmidt F, Wimböck T und Hirzinger G (Mai-2009) Rollin' Justin: Design considerations and realization of a mobile platform for a humanoid upper body, IEEE International Conference on Robotics and Automation (ICRA 2009), IEEE Service Center, Piscataway, NJ, USA, 4131-4137.
Borst C, Wimböck T, Schmidt F, Fuchs M, Brunner B, Zacharias F, Robuffo Giordano P, Konietschke R, Sepp W, Fuchs S, Rink C, Albu-Schäffer A und Hirzinger G (Mai-2009) Rollin' Justin: Mobile platform with variable base, IEEE International Conference on Robotics and Automation (ICRA 2009), IEEE Service Center, Piscataway, NJ, USA, 1597-1598.
Robuffo Giordano P, Stemmer A, Arbter K und Albu-Schäffer A (September-2008) Robotic assembly of complex planar parts: An experimental evaluation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), IEEE Service Center, Piscataway, NJ, USA, 3775-3782.
Robuffo Giordano P, Luca AD und Oriolo G (Mai-2008) 3D Structure Identification from Image Moments, IEEE International Conference on Robotics and Automation (ICRA 2008), IEEE Service Center, Piscataway, NJ, USA, 93-100.
De Luca A, Ferri M, Oriolo G und Robuffo Giordano P (Mai-2008) Visual Servoing with Exploitation of Redundancy: An Experimental Study, IEEE International Conference on Robotics and Automation (ICRA 2008), IEEE Service Center, Piscataway, NJ, USA, 3231-3237.
De Luca A, Mattone R und Robuffo Giordano P (April-2007) Acceleration-level control of the CyberCarpet, IEEE International Conference on Robotics and Automation (ICRA 2007), IEEE, Piscataway, NJ, USA, 2330-2335.
De Luca A, Oriolo G und Robuffo Giordano P (April-2007) On-Line Estimation of Feature Depth for Image-Based Visual Servoing Schemes, IEEE International Conference on Robotics and Automation (ICRA 2007), IEEE, Piscataway, NJ, USA, 2823 -2828.
De Luca A, Mattone R und Robuffo Giordano P (September-2006) Feedback/Feedforward Schemes for Motion Control of the CyberCarpet, 8th International IFAC Symposium on Robot Control (SYROCO 2006), Elsevier, Oxford, UK, IFAC Proceedings Volumes, 39(15), 400-406.
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Robuffo Giordano P und Vendittelli M (September-2006) The Minimum-Time Crashing Problem for the Dubins' Car, 8th International IFAC Symposium on Robot Control (SYROCO 2006), Elsevier, Oxford, UK, IFAC Proceedings Volumes, 39(15), 580-585.
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De Luca A, Oriolo G und Robuffo Giordano P (Mai-2006) Kinematic Modeling and Redundancy Resolution for Nonholonomic Mobile Manipulators, IEEE International Conference on Robotics and Automation (ICRA 2006), IEEE Operations Center, Piscataway, NJ, USA, 1867-1873.
De Luca A, Mattone R und Robuffo Giordano P (Mai-2006) The motion control problem for the CyberCarpet, IEEE International Conference on Robotics and Automation (ICRA 2006), IEEE Operations Center, Piscataway, NJ, USA, 3532-3537.
De Luca A, Oriolo G, Paone L, Robuffo Giordano P und Vendittelli M (Juli-2002) Visual-based planning and control for nonholonomic mobile robots, IEEE10th Mediterranean Conference on Control and Automation (MED '02), Instituto Superior Técnico, Lisboa, Portugal, 1-9.
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De Luca A, Oriolo G, Paone L und Robuffo Giordano P (Mai-2002) Experiments in visual feedback control of a wheeled mobile robot, IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Piscataway, NJ, USA, 2073-2078.

Poster (5):

Ryll M, Bülthoff HH und Robuffo Giordano P (September-25-2013): Overactuation in UAVs for Enhanced Aerial Manipulation: A Novel Quadrotor Concept with Tilting, 6th International Workshop on Human-Friendly Robotics (HFR 2013), Roma, Italy.
Soyka F, Robuffo Giordano P, Barnett-Cowan M und Bülthoff HH (Januar-2012): Reaction Times for Self-Motion Detection, 22nd Okulomotoriktreffen Zürich-München, Zürich, Switzerland.
Soyka F, Barnett-Cowan M, Robuffo Giordano P und Bülthoff HH (Oktober-2011): Integration of Translational and Rotational Vestibular Cues for Direction Detection during Eccentric Rotations, 12th Conference of Junior Neuroscientists of Tübingen (NeNA 2011), Heiligkreuztal, Germany.
Soyka F, Beykirch K, Robuffo Giordano P und Bülthoff HH (August-2010): Predicting Change of Vestibular Direction Detection Thresholds from Acceleration Profile Differences, XXVI Bárány Society Meeting, Reykjavik, Iceland, Journal of Vestibular Research, 20(3-4) 279-280.
Soyka F, Beykirch K, Robuffo Giordano P und Bülthoff HH (Juli-2010): Predicting Vestibular Direction Detection Thresholds for Translatory Motions, RIKEN Brain Science Institute Summer School 2010, Tokyo, Japan.

Abschlussarbeiten (1):

Robuffo Giordano P: Visual Estimation and Control of Robot Manipulating Systems, Università di Roma "La Sapienza", Rome, Italy, (April-1-2008). PhD thesis
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Verschiedenes (2):

Robuffo Giordano P: Interaktionen zwischen Menschen und autonomen Robotern: Human-Robot Interaction by Shared Autonomy - Forschungsbericht 2012 Max-Planck-Institut für biologische Kybernetik, Jahrbuch der Max-Planck-Gesellschaft 2012.
Robuffo Giordano P, Bertenbreiter S und Eberhardt J: Swarming robots: enhancing the communication in flying robot systems, Max-Planck-Gesellschaft Research News(August-2011).

Vorträge (30):

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 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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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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Robuffo Giordano P (Juli-18-2012) Invited Lecture: Passive and Decentralized Shared Control of Multi-Robot Systems, Australian National University, Canberra, Australia.
Robuffo Giordano P (Juli-5-2012) Invited Lecture: Multi-UAV Bilateral Shared Control and Decentralization, Summer School Airobots: Aerial Service Robotics, Eidgenössische Technische Hochschule, Zürich, Switzerland.
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Soyka F, Barnett Cowan M, Robuffo Giordano P und Bülthoff HH (Juni-22-2012) Abstract Talk: Temporal processing of self-motion: Translations are processed slower than rotations, 13th International Multisensory Research Forum (IMRF 2012), Oxford, UK, Seeing and Perceiving, 25(0) 207-208.
Robuffo Giordano P (Juni-14-2012) Invited Lecture: Passive and Decentralized Shared Control of Multi-Robot Systems, Università di Modena e Reggio Emilia, Reggio Emilia, Italy.
Soyka F, Barnett-Cowan M, Robuffo Giordano P und Bülthoff HH (Juni-2012) Abstract Talk: Translations are processed slower than rotations: reaction times for self-motion stimuli predicted by vestibular organ dynamics, 27th Bárány Society Meeting, Uppsala, Sweden(0151).
Robuffo Giordano P (Mai-14-2012) Invited Lecture: Shared Control of Multi-Robot Systems: Passivity, Decentralization, and Connectivity Maintenance, ICRA 2012 - Workshop on Haptic Teleoperation of Mobile Robots: Theory, Applications and Perspectives, St. Paul, MN, USA.
Robuffo Giordano P (Mai-10-2012) Invited Lecture: Shared control of remote multi-robot aerial systems: state-of-the-art and future perspectives, "UAVs in perspective" Symposium, Università di Bologna, Bologna, Italy.
Robuffo Giordano P (Mai-2012) Invited Lecture: Passive and Decentralized Shared Control of Multi-Robot Systems, Boston University, Boston, MA, USA.
Robuffo Giordano P (März-2012) Invited Lecture: Shared Control of Remote Multi-Robot Systems: State-of-the-art and Future Perspectives, Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA/INRIA), Rennes, France.
Robuffo Giordano P (Februar-2012) Invited Lecture: Shared Control of Remote Multi-Robot Systems: State-of-the-art and Future Perspectives, University of Würzburg - Institute of Computer Science, Würzburg, Germany.
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Last updated: Montag, 22.05.2017