Robustness in multi-robot systems


Abstract Decentralized control strategies for multi-robot systems typically assume the presence of a connected communication graph among the robots. This allows to assuming the possibility of exchange of information, so that robots can complete common tasks, and achieve common objectives. While strategies exist for ensuring connectivity preservation as the robots move, typically [...]

Natural human-robot interaction


Abstract Recent advances in robot control and safety systems al- lowed the access, in the last few years, of robots in our daily life. Robotic systems have been applied to several fields, such as social assistance, surveillance, tour-guide or floor cleaning. These contexts are very different from traditional industrial applications, in which [...]

Decentralized estimation methods


Abstract When considering decentralized systems, complete knowledge of the state can typically not be assumed. For this reason, several strategies have been developed, in the literature, that let each node estimate the overall state of the system, based on local knowledge only. This can be applied to several domains, such as multi-robot [...]

Augmented reality



Abstract Started as a means for infotainment, augmented reality is gaining a lot of interest as a powerful means to let users easily interact with advanced and complex automatic and robotic systems. Basically, it consists in augmenting the real world scene by virtual elements: thus, the user maintains a sense of presence [...]

Affective robotics


Abstract Affective robotics consists in enhancing the interaction of a human with a robot by recognizing her/his affect. Monitoring and interpreting nonverbal communication can provide important insights about a human interacting with the robot and, thus, implicit feedback about the interaction can be achieved. Accordingly, the aim of affective robotics is relieving [...]

Surgical robotics


Abstract The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotics systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions in an autonomous way. This research [...]

Decentralized control of multi-robot systems


Abstract Decentralized control of multi-robot systems is a very active research area, that aims at developing methodologies for achieving coordinated behaviors in multi-robot systems, without the need for a centralized control unit. The main idea is that of having each robot able to exchange information with its neighbors: based on such information, [...]

Physical human-robot interaction


Abstract In the industrial field a lot of tasks can be executed automatically by means of robotic manipulators, e.g. pick and place, welding, assembly or product inspection. For this reason the way the trajectory is “taught” to the robot becomes crucial. Teaching techniques involving manual guidance of the robot maximize the possibilities [...]

Coordination and control of AGVs


Abstract Automated warehouse systems are becoming increasingly popular, in the last years. Along these lines, researches on the coordination of the fleet of automated guided vehicles (AGVs), as a solution for addressing the problems of production efficiency and flexibility, are becoming more and more important. Our work mainly focuses on methodologies for [...]