105 citations · 209 across the 19 of their papers we have counts for
21 papers
A traffic management system for large and heterogeneous vehicles in narrow industrial environments
Alessandro Bonetti, Silvia Proia, Simone Guidetti +1
The coordination of Automated Guided Vehicles (AGVs) in high-density industrial environments represents a critical challenge within Logistics 4.0, as traditional traffic management…
A Mixed Reality System for Interaction with Heterogeneous Robotic Systems
Valeria Villani, Beatrice Capelli, Lorenzo Sabattini
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, oper…
Improved path planning algorithms for non-holonomic autonomous vehicles in industrial environments with narrow corridors: Roadmap Hybrid A* and Waypoints Hybrid B*. Roadmap hybrid A* and Waypoints hybrid A* Pseudocodes
Alessandro Bonetti, Simone Guidetti, Lorenzo Sabattini
This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstac…
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
Koresh Khateri, Karthik Soma, Mahdi Pourgholi +3
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology…
Nonsmooth Control Barrier Function Design of Continuous Constraints for Network Connectivity Maintenance
Pio Ong, Beatrice Capelli, Lorenzo Sabattini +1
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based f…
Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions
Beatrice Capelli, Hassan Fouad, Giovanni Beltrame +1
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a colla…
Towards Optimized Distributed Multi-Robot Printing: An Algorithmic Approach
Kedar Karpe, Avinash Sinha, Shreyas Raorane +3
This paper presents a distributed multi-robot printing method which utilizes an optimization approach to decompose and allocate a printing task to a group of mobile robots. The mot…
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot
Filippo Bertoncelli, Fabio Ruggiero, Lorenzo Sabattini
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involv…
Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions
Beatrice Capelli, Lorenzo Sabattini
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common…
Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance
Jacopo Panerati, Benjamin Ramtoula, David St-Onge +5
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires tea…
Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies
Marco Minelli, Marcel Kaufmann, Jacopo Panerati +3
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconne…
An Industrial Social Network for Sharing Knowledge Among Operators
Valeria Villani, Lorenzo Sabattini, Alessio Levratti +1
Due to the increasing complexity of modern automatic machines typically used in several industrial applications, the need for assistive technologies is becoming very relevant. Typi…
Methodological Approach for the Evaluation of an Adaptive and Assistive Human-Machine System
Lorenzo Sabattini, Valeria Villani, Julia N. Czerniak +4
With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with su…
MATE robots simplifying my work: benefits and socio-ethical implications
Valeria Villani, Lorenzo Sabattini, Julia N. Czerniak +2
With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with ve…
Towards Modern Inclusive Factories: A Methodology for the Development of Smart Adaptive Human-Machine Interfaces
Valeria Villani, Lorenzo Sabattini, Julia N. Czerniak +3
Modern manufacturing systems typically require high degrees of flexibility, in terms of ability to customize the production lines to the constantly changing market requests. For th…
Methodological Approach for the Design of a Complex Inclusive Human-Machine System
Lorenzo Sabattini, Valeria Villani, Julia N. Czerniak +2
Modern industrial automatic machines and robotic cells are equipped with highly complex human-machine interfaces (HMIs) that often prevent human operators from an effective use of…
Interacting With a Mobile Robot with a Natural Infrastructure-Less Interface
Valeria Villani, Lorenzo Sabattini, Giuseppe Riggio +3
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific in…
Admittance Control Parameter Adaptation for Physical Human-Robot Interaction
Chiara Talignani Landi, Federica Ferraguti, Lorenzo Sabattini +2
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for th…
Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment
Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general method…
Enforcing Biconnectivity in Multi-robot Systems
Mehran Zareh, Lorenzo Sabattini, Cristian Secchi
Connectivity maintenance is an essential task in multi-robot systems and it has received a considerable attention during the last years. A connected system can be broken into two o…
Decentralized Biconnectivity Conditions in Multi-robot Systems
Mehran Zareh, Lorenzo Sabattini, Cristian Secchi
The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with r…