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Carlo Masone

Adresse: Spemannstr. 44
72076 Tübingen
Raum Nummer: 2.VR.02
Tel.: 07071 601 211
Fax: 07071 601 616
E-Mail: Carlo.Masone

 

Bild von Masone, Carlo

Carlo Masone

Position: Doktorand  Abteilung: Bülthoff

I am a Ph.D. student at the Max Planck Institute for Biological Cybernetics in the Autonomous Robotics and Human Machine Systems group guided by Dr. Antonio Franchi and co-supervised by Dr. Paolo Robuffo Giordano.


My research revolves around the concept of multi-robot systems, i.e., how multiple robotic agents can be efficiently used to improve their perception of the environment, to perform complex actions and to accomplish tasks that would otherwise be not feasible. Moreover, I am interested in studying from a control point of view different paradigms of interaction and coordination among the robots, and also between the team of robots and one or more human operators. More informations on our group's research on this topic be found here.


I am also involved in the research on the CyberMotion Simulator, an anthropomorphic robotic manipulator used as a motion simulator. In comparison to other ad hoc structures, this solution offers a good tradeoff between developing/maintenance costs and motion capabilities. My research on this project is mainly focused development of ad hoc control and motion cueing algorithms to exploit the capabilities of the simulator More informations on the CyberMotion Simulator can be found here.


For other informations, please visit our group webpage. Check also the youtube channel with our videos.

 

CyberMotion Simulator and WABS

The CyberMotion Simulator represents a novel approach to motion simulation, based on an anthropomorphic industrial manipulator. This platform offers a larger workspace in comparison to classical hexapod structures (Stewart platforms) while keeping costs limited. The complete motion simulation framework developed for the CyberMotion simulator includes:

  1. ad hoc motion cueing algorithm, that translates the motion primitives of a simulated vehicle in a trajectory for the robot;
  2. inverse kinematics solution to provide the commands to the robot.

workflow of the motion simulation, with the pilot in the loop


In order to futher extend the motion capabilities of the simulator and increase the immersion in the virtual environment, a novel actuated cabin was developed. This new cabin is endowed with a multiple kinematic behavior, and can produce rotation, translations and a combination of the two.
With the WABS project, the aim is to integrate this framework with human motion perception models, thus producing a perception-based motion simulation.


Mobile Robots and Human Interaction

In the Human/Mobile-Robots Interaction project we consider the problem of interfacing multi-robots systems and human operators. The goal, is to combine humans superior cognitive and decisional skills with the advantages of multi-robot systems, e.g., higher performance in simultaneous spatial coverage, robustness against single point failures and capability to achieve complex tasks through the cooperation of many agents. However, as the system to be controlled grows and become more complex, it becomes harder for a human operator to intrerface with it.
We consider the scenario in which the robots possess some autonomy, e.g. they are able to take on a desired formation, while a human operator is allowed to command some collective behavior of the swarm. A bilateral teleoperation approach is used to provide haptic feedback to the user and increase his/her awareness of the system.

 

bearing only formation control with bilateral teleoperationWithin this scenario, we developed a bilateral teleoperation approach for multiple Unmanned Aerial Vehicles (UAVs). The UAVs autonomously realize and keep a desired formation using bearing information only, which can be retrieved by using onboard cameras. On the other hand, the human operator an control some collective charachteristic of the formation, e.g. the position of its center of mass or the size of the formation. Force feedbacks depending on the trnslational and shrinking/expanding errors are also fed back to the user to increase his/her situational awareness

Education

2010-now

PhD Student
supervised by Dr. Antonio Franchi (co-supervised by Dr. Paolo Robuffo Giordano)
Department Human Perception Cognition and Action (Dept. Head: Heinrich H. Bülthoff), Max Planck Institute for Biological Cybernetics, Tübingen, Germany

2006-2009

Master Student in System Engineering
University of Roma "La Sapienza", Roma, Italy
(final mark: 110/110 cum laude)

2009

Master Thesis: Design, imlpementation and evaluation of a washout algorithm for a motion simulator using an anthropomorphic manipulator
supervised by Dr. Paolo Robuffo Giordano
Department Human Perception Cognition and Action (Dept. Head: Heinrich H. Bülthoff), Max Planck Institute for Biological Cybernetics, Tübingen, Germany

2002-2006

Bachelor Student
University of Roma "La Sapienza", Roma, Italy
(final mark: 110/110 cum laude)

1997-2002

High School Student
Liceo Scientifico Augusto Righi, Roma, Italy
(final mark: 100/100 cum laude)

 

 


Präferenzen: 
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Zeige Zusammenfassung

Artikel (1):

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.
pdf

Beiträge zu Tagungsbänden (9):

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.
pdf
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.
pdf
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.
pdf
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.
pdf
Nesti A Person, Masone C Person, Barnett-Cowan M Person, Robuffo Giordano P Person, Bülthoff HH Person und Pretto P Person (September-2012) Roll rate thresholds and perceived realism in driving simulation Driving Simulation Conference Europe (DSC 2012), INRETS, Bron, France, 1-6.
pdf
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.
pdf
Masone C Person, Robuffo Giordano P Person und Bülthoff HH Person (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.
Robuffo Giordano P Person, Masone C Person, Tesch J Person, Breidt M Person, Pollini L Person und Bülthoff HH Person (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.
pdf
Robuffo Giordano P Person, Masone C Person, Tesch J Person, Breidt M Person, Pollini L Person und Bülthoff HH Person (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.
pdf

Vorträge (1):

Masone C Person (Mai-2011): Mechanical Design and Control of the New 7-DOF CyberMotion Simulator, 5th Human Centered Motion Cueing Workshop at VTI, Göteborg, Sweden.

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Last updated: Freitag, 17.01.2014