Project Leader

Dr. Paolo Stegagno
Phone: +49 7071-601-218
Fax: +49 7071 601-616
Opens window for sending emailpaolo.stegagno[at]tuebingen.mpg.de
Opens external link in new windowWebsite
 
 

Former Project Leader and Collaborator

Dr. Antonio Franchi
Permanent CNRS researcher (CR1)
MPI-KYB guest scientist
Opens window for sending emailantonio.franchi[at]tue.mpg.de
Opens external link in new windowWebsite
 

News

06 05 2013Opens external link in new windowIEEE 2013 ICRA, organizing the Opens external link in new windowTechnical Tour to the Max Planck Institute for Biological Cybernetics, Tübingen
06 05 2013Opens external link in new windowIEEE 2013 ICRA Workshop on Opens external link in new windowTowards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, Karlsruhe, Germany
28 06 2012Opens external link in new windowIEEE SMC 2012 Demo Event on Opens external link in new windowIntercontinental Shared Control of Multiple UAVs, Seoul, Korea
28 06 2012Opens external link in new window12th IAS Demo Event on Intercontinental Shared Control of Multiple UAVs, Jeju Island, Korea
14 05 2012Opens external link in new windowIEEE 2012 ICRA Workshop on Opens external link in new windowHaptic Teleoperation of Mobile Robots: Theory, Applications and Perspectives, St. Paul, MN, USA

Recent Journal Publications

Ryll M Person, Bülthoff HH Person and Robuffo Giordano P Person (July-2014) A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation IEEE Transactions on Control Systems Technology Epub ahead.
Zelazo D , Franchi A Person, Bülthoff HH Person and Robuffo Giordano P Person (January-2014) Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems International Journal of Robotics Research . submitted
Franchi A Person, Oriolo G and Stegagno P Person (September-2013) Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements International Journal of Robotics Research 32(11) 1302-1322.
pdf
Lee D , Franchi A Person, Son HI Person, Ha CS , Bülthoff HH Person and 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.
pdf
Son HI Person, Franchi A Person, Chuang LL Person, Kim J Person, Bülthoff HH Person and 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.
pdf
Censi A , Franchi A Person, Marchionni L and Oriolo G (April-2013) Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots IEEE Transaction on Robotics 29(2) 475-492.
pdf
Robuffo Giordano P Person, Franchi A Person, Secchi C and Bülthoff HH Person (March-2013) A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance International Journal of Robotics Research 32(3) 299-323.
pdf
Franchi A Person, Secchi C , Son HI Person, Bülthoff HH Person and Robuffo Giordano P Person (October-2012) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transaction on Robotics 28(5) 1019-1033.
pdf
Franchi A Person, Masone C Person, Grabe V Person, Ryll M Person, Bülthoff HH Person and Robuffo Giordano P Person (October-2012) Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering International Journal of Robotics Research 31(12) 1504-1525.
pdf
Franchi A Person, Secchi C , Ryll M Person, Bülthoff HH Person and 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.
pdf
Pasqualetti F , Franchi A Person and Bullo F (June-2012) On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms IEEE Transaction on Robotics 28(3) 592-606.
pdf

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Autonomous Robotics and Human-Machine Systems

The aim of the group is to study novel control strategies for autonomous machines (robots) that are able to sense the environment, reason about it, and take actions to perform some tasks. Primary research objectives of the group include (but are not limited to):
  • Study complex aggregations of autonomous robots, e.g., multiple heterogeneous systems
  • Design original ways to let humans to co-operate with complex semi-autonomous robotic systems
  • Ensure robot autonomy, onboard sensing and estimation, both indoor and outdoor
  • Study novel ways of physical interaction between robots and nearby environment 
To this end, we rely on the tools of roboticssystems and control theorycomputer vision, and psychophysics.

Aerial Robotics

We believe that future employment of robotics application will have a huge impact on our lives, not only for the reduction of production-related risks for humans and to help prevention and reaction in emergency situations, but also in common tasks of everyday life.

Among the several robotics fields, aerial robotics represents an emerging, promising, and one of the most rapidly growing topic. Aerial robots, also referred to as Unmanned Aerial Vehicles (UAVs), have the ability to reach hardly accessible areas, operate on rough terrains, while also enjoying a privileged point of view over the surroundings.

Several application fields exploit the best of aerial robots characteristics in order to enhance our quality of life, safety and efficiency. This is the case of precision agriculture, in which aerial robots can be used to monitor and analyze crops from a privileged point of view, and to act when and only when necessary with crop dusting and spraying, eventually increasing the yield of a field while reducing the quantity of needed chemicals and water.

In industrial scenarios, aerial robots will be used to monitor, inspect and intervene in hardly accessible or hazardous areas of plants, oil pipelines, power lines, pylons.

Several environmental applications can be developed to monitor the effects of climate change, to help preserving wildlife and ecosystems  (e.g.: automatically counting the exemplars in a species), identify issues and gather data for their solution. Similar strategies can be employed to monitor civil infrastructures as railways, highways, dams and bridges, not only to perform daily maintenance but also for early identification of critical issues and prevention of disasters.

Finally, aerial robots will also appear in everyday life. They will be helpful companions in cleaning and maintenance, assisting the elderly and also as guides in unknown places. Moreover, they will be useful tools in an always growing number of jobs ranging from delivery to aerial photography and video shooting for television, cinema, shows, real estate promotion - or maybe just for fun!

Selected Publications

Franchi A Person, Oriolo G and Stegagno P Person (September-2013) Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements International Journal of Robotics Research 32(11) 1302-1322.
pdfCiteID: FranchiOS2013
Robuffo Giordano P Person, Franchi A Person, Secchi C and Bülthoff HH Person (March-2013) A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance International Journal of Robotics Research 32(3) 299-323.
pdfCiteID: RobuffoGiordanoFSB2012
Franchi A Person, Secchi C , Son HI Person, Bülthoff HH Person and Robuffo Giordano P Person (October-2012) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transaction on Robotics 28(5) 1019-1033.
pdfCiteID: FranchiSSBR2012
Franchi A Person, Masone C Person, Grabe V Person, Ryll M Person, Bülthoff HH Person and Robuffo Giordano P Person (October-2012) Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering International Journal of Robotics Research 31(12) 1504-1525.
pdfCiteID: FranchiMGRBR2012
Franchi A Person, Secchi C , Ryll M Person, Bülthoff HH Person and 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.
pdfCiteID: FranchiSRBR2012
Pasqualetti F , Franchi A Person and Bullo F (June-2012) On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms IEEE Transaction on Robotics 28(3) 592-606.
pdfCiteID: PasqualettiFB2011
Durham JW , Franchi A Person and Bullo F (January-2012) Distributed pursuit-evasion without mapping or global localization via local frontiers Autonomous Robots 32(1) 81-95.
pdfCiteID: DurhamFB2011
Franchi A Person, Freda L , Oriolo G and Vendittelli M (April-2009) The sensor-based random graph method for cooperative robot exploration IEEE/ASME Transactions on Mechatronics 14(2) 163-175.
pdfCiteID: 6416

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Last updated: Wednesday, 20.08.2014