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

Grabe V Person, Bülthoff HH Person, Scaramuzza D and Robuffo Giordano P Person (March-2015) Nonlinear Ego-Motion Estimation from Optical Flow for Online Control of a Quadrotor UAV International Journal of Robotics Research 1-18. in press
Ryll M Person, Bülthoff HH Person and Robuffo Giordano P Person (February-2015) A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation IEEE Transactions on Control Systems Technology 23(2) 540-556.
Zelazo D , Franchi A Person, Bülthoff HH Person and Robuffo Giordano P Person (January-2015) Decentralized rigidity maintenance control with range measurements for multi-robot systems International Journal of Robotics Research 34(1) 105-128.
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

Export as:
BibTeX, XML, Pubman, Edoc, RTF

 

Autonomous Robotics and Human-Machine Systems

The aim of the group is to study novel algorithm for autonomous machines (robots) that are able to sense the environment, reason about it, and take actions to perform some tasks in cooperation with humans. The driving vision behind our research is to allow in the future robots to aid humans, for example to reduce physical effort and risks in industrial environment, help prevention and reaction in emergency situations as natural disasters, and in general simplify tasks of everyday life. 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, on-board 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 theory, sensing and estimation, computer 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

Rajappa S Person, Ryll M Person, Bülthoff HH Person and Franchi A Person (May-2015) Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers IEEE International Conference on Robotics and Automation (ICRA 2015), -. accepted
CiteID: RajappaRBF2015
Stegagno P Person, Massidda C Person and Bülthoff HH Person (April-2015) Distributed Target Identification in Robotic Swarms 30th ACM/SIGAPP Symposium On Applied Computing (SAC 2015), 1-7. accepted
pdfCiteID: StegagnoMB2015
Lima PU , Ahmad A Person, Dias A , Conceição AGS , Moreira AP , Silva E , Almeida L , Oliveira L and Nascimento TP (January-2015) Formation control driven by cooperative object tracking Robotics and Autonomous Systems 63(1) 68–79.
CiteID: LimaADCMSAON2014
Cognetti M Person, Oriolo G , Peliti P , Rosa L and Stegagno P Person (September-2014) Cooperative Control of a Heterogeneous Multi-Robot System based on Relative Localization IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Piscataway, NJ, USA, 350-356.
pdfCiteID: CognettiOPRS2014
Ahmad A Person, Xavier J , Santos-Victor J and Lima P (August-2014) 3D to 2D bijection for spherical objects under equidistant fisheye projection Computer Vision and Image Understanding 125 172–183.
CiteID: AhmadXSL2014
Masone C Person: Planning and control for robotic tasks with a human-in-the-loop [Planung und Steuerung von Roboter-Mensch Systemen], Universität Stuttgart, (July-16-2014). PhD thesis
CiteID: Masone2014
Ventura R and Ahmad A Person (July-2014) Towards Optimal Robot Navigation in Urban Homes 18th Annual RoboCup International Symposium 2014, -.
CiteID: VenturaA2014
Dwiputra R , Berghofer J , Amigoni F , Bischoff R , Bonarini A , Iocchi L , Kraetzschmar GK , Lima P , Matteucci M , Nardi D , Ahmad A Person, Awaad I , Fontana G , Hegger F , Hochgeschwender N , Schiaffonati V and Schneider S (June-2-2014) Abstract Talk: Overview on the RoCKIn@Work Challenge, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany, berg.
CiteID: DwiputraBABBIKLMNAAFHHSS2014
Schneider S , Hegger F , Kraetzschmar GK , Amigoni F , Berghofer J , Bischoff R , Bonarini A , Dwiputra R , Iocchi L , Lima P , Matteucci M , Nardi D , Awaad I , Ahmad A Person, Fontana G , Hochgeschwender N and Schiaffonati V (June-2-2014) Abstract Talk: The RoCKIn@Home User Story, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.
CiteID: SchneiderHKABBBDILMNAAFHS2014
Stegagno P Person, Massidda C Person and Bülthoff HH Person (June-1-2014) Object Recognition in Swarm Systems: Preliminary Results Workshop on the Centrality of Decentralization in Multi-Robot Systems: Holy Grail or False Idol? (IEEE ICRA 2014), 1-3.
pdfCiteID: StegagnoMB2014
Stegagno P Person, Basile M Person, Bülthoff HH Person and Franchi A Person (June-2014) A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 3862-3869.
pdfCiteID: StegagnoBBF2014
Masone C Person, Robuffo Giordano P Person, Bülthoff HH Person and Franchi A Person (June-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, 6468-6475.
pdfCiteID: MasoneRBF2014
Ahmad A Person, Amigoni A , Awaad I , Berghofer J , Bischoff R , Bonarini A , Dwiputra R , Fontana G , Hegger F , Hochgeschwender N , Iocchi L , Kraetzschmar G , Lima P , Matteucci M , Nardi D , Schiaffonati V and Schneider S : RoCKIn@Work in a Nutshell, FP7-ICT-601012 Revision 1.2, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (March-31-2014).
CiteID: AhmadAABBBDFHHIKLMNSS2014
Ahmad A Person, Amigoni F , Awaad I , Berghofer J , Bischoff R , Bonarini A , Dwiputra R , Fontana G , Hegger F , Hochgeschwender N , Iocchi L , Kraetzschmar G , Lima P , Matteucci M , Nardi D and Schneider S : RoCKIn@Home in a Nutshell, FP7-ICT-601012 Revision 0.8, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (March-11-2014).
CiteID: AhmadAABBBDFHHIKLMNS2014
Franchi A Person, Stegagno P Person, Basile M Person and Bülthoff HH Person (November-7-2013) RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results IEEE/RSJ IROS'13 International Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, 1-4.
pdfCiteID: FranchiSBB2013
Rajappa S Person, Chriette A , Chandra R and Khalil W (November-2013) Modelling and Dynamic Identification of 3 DOF Quanser Helicopter 16th International Conference on Advanced Robotics (ICAR 2013), IEEE, Piscataway, NJ, USA, 1-6.
CiteID: RajappaCCK2013
Stegagno P Person, Basile M Person, Bülthoff HH Person and Franchi A Person (November-2013) Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013), International Federation of Automatic Control, New York, NY, USA, 87-92.
pdfCiteID: StegagnoBBF2013
Ahmad A Person and Lima P (October-2013) Multi-robot cooperative spherical-object tracking in 3D space based on particle filters Robotics and Autonomous Systems 61(10) 1084–1093.
CiteID: AhmadL2013
Ahmad A Person, Awaad I , Amigoni F , Berghofer J , Bischoff R , Bonarini A , Dwiputra R , Hegger F , Hochgeschwender N , Iocchi L , Kraetzschmar G , Lima PU , Matteucci M , Nardi D and Schneider S : D2.1.1 RoCKIn@Home - A Competition for Domestic Service Robots Competition Design, Rule Book, and Scenario Construction, FP7-ICT-601012 Revision 0.7, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (September-30-2013).
CiteID: AhmadAABBBDHHIKLMNS2013_2
Ahmad A Person, Awaad I , Amigoni F , Berghofer J , Bischoff R , Bonarini A , Dwiputra R , Hegger F , Hochgeschwender N , Iocchi L , Kraetzschmar G , Lima PU , Matteucci M , Nardi D and Schneider S : D2.1.4 RoCKIn@Work - Innovation in Mobile Industrial Manipulation Competition Design, Rule Book, and Scenario Construction, FP7-ICT-601012 Revision 0.7, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (September-30-2013).
CiteID: AhmadAABBBDHHIKLMNS2013

Export as:
BibTeX, XML, Pubman, Edoc, RTF
Last updated: Monday, 23.02.2015