@Article{ FranchiMGRBR2012,
title = {Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering},
journal = {International Journal of Robotics Research},
year = {2012},
month = {10},
volume = {31},
number = {12},
pages = {1504-1525},
abstract = {In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.

The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e.g. exploration), or exploited by an assisting human co-operator. For this latter ‘human-in-the-loop’ case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g. limited field-of-view, are also considered.},
file_url = {fileadmin/user_upload/files/publications/2012/2012q-FraMasGraRylBueRob-preprint.pdf},
web_url = {http://ijr.sagepub.com/content/early/2012/10/05/0278364912462493.full.pdf+html},
state = {published},
DOI = {10.1177/0278364912462493},
author = {Franchi A{antonio}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, Grabe V{vgrabe}{Department Human Perception, Cognition and Action}, Ryll M{maryll}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ FranchiMR2012,
title = {A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation},
year = {2012},
month = {10},
pages = {15-20},
abstract = {In this work we present a novel framework for the
systematic integration of high-level/mission schedulers, middlelevel/cognitive-enabled online-planners and low-level/reactive trajectory modifiers. The approach does not rely on a particular parametrization of the trajectory and assumes a basic environment representation. As an application, the online capabilities of the method can be used to let a mobile robot cooperate with a human taking the role of the middle-level planner. In that case
we also describe a rigorous way to bilaterally couple the human and the reactive planner in order to provide an immersive haptic feeling of the planner state. Hardware/Human in-the-loop simulations, with a quadrotor UAV used as robotic platform and a real haptic instrument, are provided as validating showcase of the presented theoretical framework.},
file_url = {fileadmin/user_upload/files/publications/2012/2012o-FraMasRob-preprint.pdf},
web_url = {http://cs.stanford.edu/people/tkr/iros2012/proceedings.php},
editor = {Kroeger, T. , C. Guarino Lo Bianco},
event_name = {2012 IEEE IROS Workshop on Robot Motion Planning: Online, Reactive, and in Real-time},
event_place = {Vilamoura, Portugal},
state = {published},
author = {Franchi A{antonio}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action} and Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ MasoneFBR2012,
title = {Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots},
year = {2012},
month = {10},
pages = {2641-2648},
abstract = {This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We
consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the robot in order to produce an actual path guaranteeing: i) tracking feasibility, ii) collision avoidance with obstacles, iii) closeness to the desired path set by the human operator, and iv) proximity to some points of interest. A force feedback is implemented to inform
the human operator of the global deformation of the path
rather than using the classical mismatch between desired and
executed motion commands. Physically-based simulations, with
human/hardware-in-the-loop and a quadrotor UAV as robotic
platform, demonstrate the feasibility of the method.},
file_url = {fileadmin/user_upload/files/publications/2012/IROS-2012-Masone.pdf},
web_url = {http://www.iros2012.org/site/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)},
event_place = {Vilamoura, Portugal},
state = {published},
ISBN = {978-1-4673-1737-5},
DOI = {10.1109/IROS.2012.6386171},
author = {Masone C{masone}{Department Human Perception, Cognition and Action}, Franchi A{antonio}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Robuffo Giordano R{robu_pa}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ MasoneFBR2012_2,
title = {Shared trajectory planning for human-in-the-loop navigation of mobile robots in cluttered environments},
year = {2012},
month = {10},
pages = {-},
abstract = {The advances made in the last two decades have allowed
robotic platforms, and in particular mobile robots, to successfully address a large variety of tasks, albeit mainly
repetitive and simple ones. However, real-world applications
typically involve complex decision making processes and
non structured environments thus requiring a level of perception/world awareness and cognitive capabilities that cannot yet be provided by a robot. For this reason it is convenient, if not mandatory, to have a human supervising the execution.
The robot shared control framework (see, e.g., [1], [2])
represents a promising step in this direction, since it allows to merge robots (limited) autonomy and humans cognitive capabilities. Previous studies have applied this idea to mobile robots navigating in cluttered environments, with an emphasis on bilateral shared control architectures with haptic feedback for the human operator. Typically, the operator commands a motion (desired position, reference velocity) to the robot via a haptic device. The robot executes the command while retaining some autonomy in order to, e.g., avoid obstacles or other dangers. Finally, the loop is closed by rendering on the haptic feedback a force that is proportional to the mismatch between commanded and executed motion in order to increase the operator’s situational awareness.
Despite being an effective approach, commanding direct
motion inputs requires a high commitment of the human,
especially when the task is very complex or the environment
is highly cluttered. Therefore, we propose an extension to
the shared control in which an operator acts at the planning
level, in order to modify some characteristics of the task
but without the burden of directly driving the robot [3]. We
assume that a task scheduler generates an initial trajectory
based only on prior information. The trajectory is described
as i) a geometric path controls to the set of parameters x, allowing the user to command some global behavior, e.g. translations or rotations of the curve.
At the same time, the robot must track the generated
trajectory and, whenever needed, modify it in real time in
order to avoid collisions or to reach a nearby target. In
particular, the robot performs both a reactive deformation of the reference trajectory and a planning of alternative paths.
Finally, the bilateral component of the human-robot interaction is realized by feeding back to the operator a force cue informative of the global deformation acting on the desired path rather than on a local mismatch between commanded and executed position/velocity.
Summarizing, the novel elements of this approach are:
i) broadening the classical shared control approach by endowing the mobile robot with a higher planning autonomy,
ii) allowing a human operator to act at the planning level
rather than at the motion control level, iii) generating a force cue informative of the global deformation of the desired path rather than of the mismatch between direct motion commands and their execution. The proposed method has
been extensively tested with human/hardware in-the-loop
simulations, featuring a physically simulated quadrotor aerial vehicle and a haptic device (see Fig. 1).},
file_url = {fileadmin/user_upload/files/publications/2012/HFR-2012-Masone.pdf},
web_url = {http://hfr2012.wordpress.com/},
event_name = {5th International Workshop on Human-Friendly Robotics (HFR 2012)},
event_place = {Bruxelles, Belgium},
state = {published},
author = {Masone C{masone}{Department Human Perception, Cognition and Action}, Franchi A{antonio}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ NestiMBRBP2012,
title = {Roll rate thresholds and perceived realism in driving simulation},
year = {2012},
month = {9},
pages = {1-6},
abstract = {Due to limited operational space, in dynamic driving simulators it is common practice to implement motion cueing algorithms that tilt the simulator cabin to reproduce sustained accelerations. In order to avoid conflicting inertial cues, the tilt rate is kept below drivers’ perceptual thresholds, which are typically derived from the results of classical vestibular research where additional sensory cues to self-motion are removed. Here we conduct two experiments in order to assess whether higher tilt limits can be employed to expand the user’s perceptual workspace of dynamic driving simulators. In the first experiment we measure detection thresholds for roll in conditions that closely resemble typical driving. In the second experiment we measure drivers’ perceived realism in slalom driving for sub-, near- and supra-threshold roll rates. Results show that detection threshold for roll in an active driving task is remarkably higher than the limits currently used in motion cueing algorithms to drive simulators. Supra-threshold roll rates in the slalom task are also rated as more realistic. Overall, our findings suggest that higher tilt limits can be successfully implemented in motion cueing algorithms to better optimize simulator operational space.},
file_url = {fileadmin/user_upload/files/publications/2012/DSC-2012-Nest.pdf},
web_url = {http://dsc2010.ensam.eu/},
event_name = {Driving Simulation Conference Europe (DSC 2012)},
event_place = {Paris, France},
state = {published},
author = {Nesti A{ale}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, Barnett-Cowan M{mbc}{Department Human Perception, Cognition and Action}, Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Pretto P{pretto}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ FranchiMBR2011,
title = {Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control},
year = {2011},
month = {9},
pages = {2215-2222},
abstract = {We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multi-master/ multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.},
file_url = {fileadmin/user_upload/files/publications/2011/IROS-2011-Franchi.pdf},
web_url = {http://www.iros2011.org/},
editor = {Amato, N.M.},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)},
event_place = {San Francisco, CA, USA},
state = {published},
ISBN = {978-1-61284-454-1},
DOI = {10.1109/IROS.2011.6094525},
author = {Franchi A{antonio}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ MasoneRB2011,
title = {Mechanical design and control of the new 7-DOF CyberMotion simulator},
year = {2011},
month = {5},
pages = {4935-4942},
abstract = {This paper describes the mechanical and control design of the new 7-DOF CyberMotion Simulator, a redundant industrial manipulator arm consisting of a standard 6-DOF anthropomorphic manipulator plus an actuated cabin attached to the end-effector. Contrarily to Stewart platforms, an industrial manipulator offers several advantages when used as motion simulator: larger motion envelope, higher dexterity, and possibility to realize any end-effector posture within the workspace. In addition to this, the new actuated cabin acts as an additional joint and provides the needed kinematic redundancy to cope with the robot actuator and joint range constraints, which in general can significantly deteriorate the desired motion cues the robot is reproducing. In particular, we will show that, by suitably exploiting the redundancy better results can be obtained in reproducing sustained acceleration cues, a relevant problem when implementing vehicle simulators.},
web_url = {http://www.icra2011.org/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {IEEE International Conference on Robotics and Automation (ICRA 2011)},
event_place = {Shanghai, China},
state = {published},
ISBN = {978-1-61284-386-5},
DOI = {10.1109/ICRA.2011.5980436},
author = {Masone C{masone}{Department Human Perception, Cognition and Action}, Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action} and B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ 6247,
title = {A Novel Framework for Closed-Loop Robotic Motion Simulation -
Part I: Inverse Kinematics Design},
journal = {Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
year = {2010},
month = {5},
pages = {3876-3883},
abstract = {This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Simulation results are proposed to analyze the effectiveness of our approach. Part II will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.},
file_url = {/fileadmin/user_upload/files/publications/motsim_part_1_6247[0].pdf},
web_url = {http://icra2010.grasp.upenn.edu/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
event_place = {Anchorage, AS, USA},
state = {published},
ISBN = {978-1-424-45038-1},
DOI = {10.1109/ROBOT.2010.5509647},
author = {Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, Breidt M{mbreidt}{Department Human Perception, Cognition and Action}, Pollini L{lpollini} and B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ 6249,
title = {A Novel Framework for Closed-Loop Robotic Motion Simulation -
Part II: Motion Cueing Design and Experimental Validation},
journal = {Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
year = {2010},
month = {5},
pages = {3896-3903},
abstract = {This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I, we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.},
file_url = {/fileadmin/user_upload/files/publications/motsim_part_2_6249[0].pdf},
web_url = {http://icra2010.grasp.upenn.edu/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
event_place = {Anchorage, AS, USA},
state = {published},
DOI = {10.1109/ROBOT.2010.5509945},
author = {Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, Breidt M{mbreidt}{Department Human Perception, Cognition and Action}, Pollini L{lpollini} and B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action}}
}

@Conference{ Masone2011,
title = {Mechanical Design and Control of the New 7-DOF CyberMotion Simulator},
year = {2011},
month = {5},
web_url = {http://www.vti.se/templates/Page____16117.aspx},
event_name = {5th Human Centered Motion Cueing Workshop at VTI},
event_place = {Göteborg, Sweden},
state = {published},
author = {Masone C{masone}{Department Human Perception, Cognition and Action}}
}