Veranstaltungskalender:
Kontakt
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 |
Für mehr Informationen wechseln Sie bitte auf die englischen Seiten.
These are my main topics of research:
Bilateral shared control of multiple mobile robots |
Relative mutual localization |
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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. 
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. 
I am currently a Senior Research Scientist and head of the Autonomous Robotics and Human Machine System group at the Max Planck Institute for biological Cybernetics, in the department of Human Percpetion, Cognition and Action.
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.
Artikel (11): | |
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Franchi A  , und (May-2013) Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements
International Journal of Robotics Research . akzeptiert |
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, Franchi A , Son HI , Bülthoff HH und Robuffo Giordano P (May-2013) Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles
IEEE/ASME Transaction on Mechatronics . im Druck
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Son HI , Franchi A , Chuang LL , Kim J , Bülthoff HH und Robuffo Giordano P (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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, Franchi A , und (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 , Franchi A , und Bülthoff HH (March-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 , , Son HI , Bülthoff HH und Robuffo Giordano P (October-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 , Masone C , Grabe V , Ryll M , Bülthoff HH und Robuffo Giordano P (October-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 , , Ryll M , Bülthoff HH und Robuffo Giordano P (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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, Franchi A und (June-2012) On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms
IEEE Transaction on Robotics 28(3) 592-606.
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, Franchi A und (January-2012) Distributed pursuit-evasion without mapping or global localization via local frontiers
Autonomous Robots 32(1) 81-95.
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Franchi A , , und (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 (34): | |
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, Franchi A , Bülthoff HH und Robuffo Giordano P (May-2013) Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation
IEEE International Conference on Robotics and Automation (ICRA 2013), -.
akzeptiert
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Nestmeyer T , Robuffo Giordano P und Franchi A (May-2013) Multi-target Simultaneous Exploration with Continual Connectivity
2th International Workshop on Crossing the Reality Gap: From Single to Multi- to Many Robot Systems (ICRA 2013), -.
akzeptiert
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Riedel M , Franchi A , Robuffo Giordano P , Bülthoff HH und Son HI (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 und Robuffo Giordano P (December-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 , Franchi A , Bülthoff HH und Robuffo Giordano P (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 , Masone C und Robuffo Giordano P (October-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 , Franchi A , , Bülthoff HH und Robuffo Giordano P (October-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 , Franchi A , Bülthoff HH und Robuffo Giordano R (October-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 , Franchi A , Bülthoff HH und Robuffo Giordano P (October-2012) Intercontinental haptic control and advanced supervisory interfaces for groups of multiple UAVs
5th Workshop for Young Researchers on Human-Friendly Robotics (HFR 2012), -.
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Masone C , Franchi A , Bülthoff HH und Robuffo Giordano P (October-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), -.
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Cognetti M , , Franchi A und (October-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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, Franchi A , , Bülthoff HH und Robuffo Giordano P (July-2012) Rigidity Maintenance Control for Multi-Robot Systems
In: Robotics: Science and Systems VIII, 2012 Robotics: Science and Systems Conference, 1-8.
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Cognetti M , , Franchi A , und Bülthoff HH (May-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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, Franchi A , Bülthoff HH und Robuffo Giordano P (May-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 (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 , 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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Franchi A , , und (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 , Franchi A , 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 , , , 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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, Cognetti M , Franchi A und (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 (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 , Kim J , Chuang LL , Franchi A , Robuffo Giordano P , und Bülthoff HH (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 , Franchi A , und Bülthoff HH (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, 273-280.
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Franchi A , Robuffo Giordano P , , Son HI und Bülthoff HH (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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, Franchi A , Robuffo Giordano P , Son HI und Bülthoff HH (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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, Franchi A und (December-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 , und (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 , Franchi A , Son HI , , und Bülthoff HH (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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, Franchi A und (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.
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Franchi A , und (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 , und (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 , , und (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 , , und (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 , , und (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): | |
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Franchi A , und : Mutual localization in a multi-robot system with anonymous relative position measures, Department of Computer and System Sciences Antonio Ruberti, Rome, Italy, (January-2009).
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Abschlussarbeiten (1): | |
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Franchi A : Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, Rome, (December-2009).
PhD thesis
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Vorträge (17): | |
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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.
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Franchi A (March-20-2013) Invited Lecture: Decentralized Control of Multiple-robot Systems, 2013 euRobotics Forum: Multi-Robot Exploration Workshop, Lyon, France.
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Franchi A (March-6-2013) Invited Lecture: Shared Control of Multiple Mobile Robots, Schools of Mechanical Engineering and Computer Science, University of Birmingham, Birmingham, UK.
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Last updated: Monday, 10.12.2012