4 papers
ros2 fanuc interface: Design and Evaluation of a Fanuc CRX Hardware Interface in ROS2
Paolo Franceschi, Marco Faroni, Stefano Baraldo +1
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication proto…
Reactive and Safety-Aware Path Replanning for Collaborative Applications
Cesare Tonola, Marco Faroni, Saeed Abdolshah +4
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners ar…
Learning and planning for optimal synergistic human-robot coordination in manufacturing contexts
Samuele Sandrini, Marco Faroni, Nicola Pedrocchi
Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human…
Adaptive Hybrid Local-Global Sampling for Fast Informed Sampling-Based Optimal Path Planning
Marco Faroni, Nicola Pedrocchi, Manuel Beschi
This paper improves the performance of RRT-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of th…