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Dr. Antonio Franchi

Adresse: Spemannstr. 44
72076 Tübingen
Raum Nummer: 2.VR.03
Tel.: 07071 601 218
Fax: 07071 601 616
E-Mail: Antonio.Franchi

 

Bild von Franchi, Antonio, Dr.

Antonio Franchi

Position: Gastwissenschaftler  Abteilung: Bülthoff

Für mehr Informationen wechseln Sie bitte auf die englischen Seiten.

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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Artikel (12):

Zelazo D , Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (Januar-2014) Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems International Journal of Robotics Research . eingereicht
Franchi A Person, Oriolo G und Stegagno P Person (September-2013) Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements International Journal of Robotics Research 32(11) 1302-1322.
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Lee D , Franchi A Person, Son HI Person, Ha CS , Bülthoff HH Person und Robuffo Giordano P Person (August-2013) Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles IEEE/ASME Transactions on Mechatronics 18(4) 1334-1345.
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Son HI Person, Franchi A Person, Chuang LL Person, Kim J Person, Bülthoff HH Person und Robuffo Giordano P Person (April-2013) Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots IEEE Transactions on Cybernetics 43(2) 597-609.
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Censi A , Franchi A Person, 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.
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Robuffo Giordano P Person, Franchi A Person, Secchi C und Bülthoff HH Person (März-2013) A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance International Journal of Robotics Research 32(3) 299-323.
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Franchi A Person, Secchi C , Son HI Person, Bülthoff HH Person und Robuffo Giordano P Person (Oktober-2012) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transaction on Robotics 28(5) 1019-1033.
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Franchi A Person, Masone C Person, Grabe V Person, Ryll M Person, Bülthoff HH Person und Robuffo Giordano P Person (Oktober-2012) Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering International Journal of Robotics Research 31(12) 1504-1525.
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Franchi A Person, Secchi C , Ryll M Person, Bülthoff HH Person und Robuffo Giordano P Person (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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Pasqualetti F , Franchi A Person und Bullo F (Juni-2012) On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms IEEE Transaction on Robotics 28(3) 592-606.
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Durham JW , Franchi A Person und Bullo F (Januar-2012) Distributed pursuit-evasion without mapping or global localization via local frontiers Autonomous Robots 32(1) 81-95.
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Franchi A Person, Freda L , Oriolo G und Vendittelli M (April-2009) The sensor-based random graph method for cooperative robot exploration IEEE/ASME Transactions on Mechatronics 14(2) 163-175.
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Beiträge zu Tagungsbänden (53):

Tokekar P , Isler V und Franchi A Person (September-2014) Multi-Target Visual Tracking with UAVs IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), -.
Yüksel B Person, Secchi C , Bülthoff HH Person und Franchi A Person (Juli-2014) A nonlinear force observer for quadrotors and application to physical interactive tasks IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014), IEEE, Piscataway, NJ, USA, 433-440.
Stegagno P Person, Basile M Person, Bülthoff HH Person und Franchi A Person (Juni-2014) A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 1-8.
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Gagliardi M Person, Oriolo G , Bülthoff HH Person und Franchi A Person (Juni-2014) Image-based road network clearing without localization and without maps using a team of UAVs 13th European Control Conference (ECC 14), IEEE, Piscataway, NJ, USA, 1902-1908.
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Yüksel B Person, Secchi C , Bülthoff HH Person und Franchi A Person (Juni-2014) Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 1-8.
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Zelazo D , Franchi A Person und Robuffo Giordano P Person (Juni-2014) Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements 13th European Control Conference (ECC 2014), IEEE, Piscataway, NJ, USA, 2703-2708.
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Masone C Person, Robuffo Giordano P Person, Bülthoff HH Person und Franchi A Person (Juni-2014) Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 1-8.
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Gioioso G Person, Franchi A Person, Salvietti G , Scheggi S und Prattichizzo C (Juni-2014) The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 1-7.
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Gioioso G Person, Ryll M Person, Prattichizzo D , Bülthoff HH Person und Franchi A Person (Juni-2014) Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 1-7.
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Spedicato S Person, Notarstefano G , Bülthoff HH Person und Franchi A Person (Dezember-2013) Aggressive maneuver regulation of a quadrotor UAV 16th International Symposium on Robotics Research (ISRR 2013), 1-16.
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Franchi A Person, Stegagno P Person, Basile M Person und Bülthoff HH Person (November-7-2013) RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results IEEE/RSJ IROS'13 International Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, 1-4.
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Franchi A Person (November-3-2013) Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities IEEE/RSJ IROS'13 Workshop: From Remotely Controlled to Autonomous-Collaborative Robots, 1-4.
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Spica R Person, Robuffo Giordano P Person, Ryll M Person, Bülthoff HH Person und Franchi A Person (November-2013) An Open-Source Hardware/Software Architecture for Quadrotor UAVs 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013), 198-205.
Antonelli G , Cataldi E Person, Robuffo Giordano P Person, Chiaverini S und Franchi A Person (November-2013) Experimental validation of a new adaptive control scheme for quadrotors MAVs IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), IEEE, Piscataway, NJ, USA, 2439-2444.
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Stegagno P Person, Basile M Person, Bülthoff HH Person und Franchi A Person (November-2013) Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013), 87-92.
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Nestmeyer T Person, Robuffo Giordano P Person und Franchi A Person (September-2013) Human-assisted Parallel Multi-target Visiting in a Connected Topology 6th International Workshop on Human-Friendly Robotics (HFR 2013), 1-2.
Grabe V Person, Riedel M Person, Bülthoff HH Person, Robuffo Giordano P Person und Franchi A Person (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.
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Zelazo D , Franchi A Person, Allgöwer P , Bülthoff HH Person und Robuffo Giordano P Person (Juli-2013) Rigidity Maintenance Control for Multi-Robot Systems In: Robotics: Science and Systems VIII, 2012 Robotics: Science and Systems Conference, MIT Press, Cambridge, MA, USA, 473-480.
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Secchi C , Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (Mai-2013) Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation IEEE International Conference on Robotics and Automation (ICRA 2013), IEEE, Piscataway, NJ, USA, 3645-3652.
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Nestmeyer T Person, Riedel M Person, Lächele J Person, Hartmann S Person, Botschen F Person, Robuffo Giordano P Person und Franchi A Person (Mai-2013) Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior ICRA 2013 Workshop Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, 1-3.
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Nestmeyer T Person, Robuffo Giordano P Person und Franchi A Person (Mai-2013) Multi-target Simultaneous Exploration with Continual Connectivity ICRA 2013 International Workshop on Crossing the Reality Gap: From Single to Multi- to Many Robot Systems, 1.
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Lächele J Person, Riedel M Person, Robuffo Giordano P Person und Franchi A Person (Mai-2013) SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications ICRA 2013 Workshop Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, 1-3.
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Riedel M Person, Franchi A Person, Robuffo Giordano P Person, Bülthoff HH Person und Son HI Person (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.
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Franchi A Person und Robuffo Giordano P Person (Dezember-2012) Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements 51th IEEE Conference on Decision and Control (CDC 2012), IEEE, Piscataway, NJ, USA, 5310-5317.
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Lächele J Person, Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (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.
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Franchi A Person, Masone C Person und Robuffo Giordano P Person (Oktober-2012) A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation 2012 IEEE IROS Workshop on Robot Motion Planning: Online, Reactive, and in Real-time, 15-20.
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Spica R Person, Franchi A Person, Oriolo G , Bülthoff HH Person und Robuffo Giordano P Person (Oktober-2012) Aerial Grasping of a Moving Target with a Quadrotor UAV IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), IEEE, Piscataway, NJ, USA, 4985-4992.
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Masone C Person, Franchi A Person, Bülthoff HH Person und Robuffo Giordano R Person (Oktober-2012) Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), IEEE, Piscataway, NJ, USA, 2641-2648.
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Riedel M Person, Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (Oktober-2012) Intercontinental haptic control and advanced supervisory interfaces for groups of multiple UAVs 5th Workshop for Young Researchers on Human-Friendly Robotics (HFR 2012), 1.
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Masone C Person, Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (Oktober-2012) Shared trajectory planning for human-in-the-loop navigation of mobile robots in cluttered environments 5th International Workshop on Human-Friendly Robotics (HFR 2012), 1.
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Cognetti M Person, Stegagno P Person, Franchi A Person und Oriolo G (Oktober-2012) Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems 2nd IFAC Workshop on Multivehicle Systems (MVS 2012), 13-18.
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Cognetti M Person, Stegagno P Person, Franchi A Person, Oriolo G und Bülthoff HH Person (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 Person, Bülthoff HH Person und Robuffo Giordano P Person (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 Person, Bülthoff HH Person und Robuffo Giordano P Person (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 Person, Masone C Person, Bülthoff HH Person und Robuffo Giordano P Person (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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Franchi A Person, Stegagno P Person, Rocco MDD und Oriolo G (September-2011) Distributed Target Localization and Encirclement with a Multi-Robot System 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010), Curran, Red Hook, NY, USA, 67-72.
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Robuffo Giordano P Person, Franchi A Person, Secchi C und Bülthoff HH Person (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 Person, Chuang LL Person, Franchi A Person, Kim J Person, Lee D , Lee S-W , Bülthoff HH Person und Robuffo Giordano P Person (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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Last updated: Dienstag, 23.09.2014