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Dr. Antonio Franchi

Adresse: Spemannstr. 44
72076 Tübingen
Raum Nummer: 2.VR.02
Tel.: 07071 601 218
Fax: 07071 601 616
E-Mail: Antonio.Franchi
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Bild von Franchi, Antonio, Dr.

Antonio Franchi

Position: Wissenschaftler  Abteilung: Bülthoff

Für mehr Informationen wechseln Sie bitte auf die englischen Seiten.

 

These are my main topics of research:

 

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 Research Scientist at the Max Planck Institute for biological Cybernetics, under the direction of Prof. H. H. Buelthoff.

 

I obtained the master degree in Electronic Engineering and the PhD inControl, Systems Theory and Robotics at "La 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 (6):

• Franchi A Person, Secchi C , Ryll M Person, Bülthoff HH Person und Robuffo Giordano P Person (April-2012) Bilateral Shared Control of Multiple Quadrotors: Balancing autonomy and human assistance with a group of UAVs IEEE Robotics & Automation Magazine . akzeptiert
• Durham JW , Franchi A Person und Bullo F (January-2012) Distributed pursuit-evasion without mapping or global localization via local frontiers Autonomous Robots 32(1) 81-95.
• Pasqualetti F , Franchi A Person und Bullo F (January-2012) On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms IEEE Transaction on Robotics Epub ahead.
 pdf
• Franchi A Person, Secchi C , Son HI Person, Bülthoff HH Person und Robuffo Giordano P Person (January-2012) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transaction on Robotics . akzeptiert
• Son HI Person, Franchi A Person, Lewis L , Kim J Person, Bülthoff HH Person und Robuffo Giordano P Person (January-2012) Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots IEEE Transactions on Systems, Man, and Cybernetics B: Cybernetics . eingereicht
• 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 (25):

• Zelazo D , Franchi A Person, Allgöwer P , Bülthoff HH Person und Robuffo Giordano P Person (July-2012) Rigidity Maintenance Control for Multi-Robot Systems 2012 Robotics: Science and Systems Conference, -. akzeptiert
• Riedel M Person, Franchi A Person, Robuffo Giordano P Person, Bülthoff HH Person und Son HI Person (June-2012) Experiments on Intercontinental Haptic Control of Multiple UAVs 12th International Conference on Intelligent Autonomous Systems (IAS-12), -. akzeptiert
 pdf
• Cognetti M Person, Stegagno P , Franchi A Person, Oriolo G und Bülthoff HH Person (May-2012) 3-D Mutual Localization with Anonymous Bearing Measurements IEEE International Conference on Robotics and Automation (ICRA 2012), -. akzeptiert
• Secchi C , Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (May-2012) Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology IEEE International Conference on Robotics and Automation (ICRA 2012), -. akzeptiert
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• Franchi A Person, Bülthoff HH Person und Robuffo Giordano P Person (December-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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• Secchi C , Robuffo Giordano P Person und Franchi A Person (September-2011) Decentralized and Passivity based Teleoperation of a Group of UAVs with Time-Varying Topology Automatica.it 2011, -.
• Franchi A Person, Stegagno P , Rocco MDD und Oriolo G (September-2011) Distributed target localization and encircling 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.
pdf
• 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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• Stegagno P , Cognetti M Person, Franchi A Person 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 Person (July-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 Person, Kim J Person, Chuang LL Person, Franchi A Person, Robuffo Giordano P Person, Lee D und Bülthoff HH Person (June-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 Person, Franchi A Person, Secchi C und Bülthoff HH Person (June-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, 1-8.
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• Franchi A Person, Robuffo Giordano P Person, Secchi C , Son HI Person und Bülthoff HH Person (May-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 Person, Robuffo Giordano P Person, Son HI Person und Bülthoff HH Person (May-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 Person und Bullo F (December-2010) On optimal cooperative patrolling 49th IEEE Conference on Decision and Control (CDC 2010), IEEE, Piscataway, NJ, USA, 7153-7158.
pdf
• Franchi A Person, Stegagno P und Oriolo G (December-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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• Robuffo Giordano P Person, Franchi A Person, Son HI Person, Secchi C , Lee D und Bülthoff HH Person (October-2010) Towards Bilateral Teleoperation of Multi-Robot Systems 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010), 1-2.
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• Durham JW , Franchi A Person und Bullo F (May-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.
pdf
• Franchi A Person, Oriolo G und Stegagno P (May-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 Person, Oriolo G und Stegagno P (October-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 Person, Freda L , Oriolo G und Vendittelli M (July-2008) Decentralized cooperative exploration: implementation and experiments 10th International Conference on Intelligent Autonomous Systems (IAS 2008), IOS Press, Amsterdam, Netherlands, 348-355.
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• Franchi A Person, Oriolo G , Freda L und Vendittelli M (October-2007) A decentralized strategy for cooperative robot exploration First International Conference on Robot Communication and Coordination (ROBOCOMM 2007), ICST, Brussels, Belgium, 1-8.
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• Franchi A Person, Freda L , Oriolo G und Vendittelli M (April-2007) A randomized strategy for cooperative robot exploration 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), IEEE Service Center, Piscataway, NJ, USA, 768-774.
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Technische Berichte (1):

• Franchi A Person, Oriolo G und Stegagno P : Mutual localization in a multi-robot system with anonymous relative position measures, Department of Computer and System Sciences Antonio Ruberti, Rome, Italy, (January-2009).

Abschlussarbeiten (1):

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

Vorträge (7):

• Franchi A Person (November-25-2011): 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 Person (October-3-2011): 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.
• Franchi A Person (December-2010): Bilateral Teleoperation of Multiple UAVs, Dipartimento di Informatica e Sistemistica, Università di Roma "La Sapienza", Roma, Italy.
• Franchi A Person (December-2010): Haptic Teleoperation of Multi-Robot Systems, School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
• Franchi A Person (October-2010): Towards Bilateral Teleoperation of Multi-Robot Systems, 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010), Tübingen, Germany.
• Franchi A Person (May-2010): Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA.
• Franchi A Person (January-2010): 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: Monday, 16.01.2012