26 citations · 77 across the 14 of their papers we have counts for
14 papers
Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors
Michael C. Welle, Martina Lippi, Haofei Lu +3
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In thi…
Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning
Martina Lippi, Michael C. Welle, Andrea Gasparri +1
Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of…
Distributed Adaptive and Resilient Control of Multi-Robot Systems with Limited Field of View Interactions
Pratik Mukherjee, Matteo Santilli, Andrea Gasparri +1
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gai…
Distributed Adaptive and Resilient Control of Multi-Robot Systems with Limited Field of View Interactions using Q-Learning
Pratik Mukherjee, Matteo Santilli, Andrea Gasparri +1
In this paper, we consider the problem of dynamically tuning gains for multi-robot systems (MRS) under potential based control design framework where the MRS team coordinates to ma…
Information-Driven Path Planning for UAV with Limited Autonomy in Large-scale Field Monitoring
Nicolas Bono Rossello, Renzo Fabrizio Carpio, Andrea Gasparri +1
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be…
Experimental Validation of Stable Coordination for Multi-Robot Systems with Limited Fields of View using a PortableMulti-Robot Testbed
Pratik Mukherjee, Matteo Santilli, Andrea Gasparri +1
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems…
Multi-Agent Coordination of Thermostatically Controlled Loads by Smart Power Sockets for Electric Demand Side Management
Mauro Franceschelli, Alessandro Pilloni, Andrea Gasparri
This paper presents a multi-agent control architecture and an online optimization method based on dynamic average consensus to coordinate the power consumption of a large populatio…
Distributed estimation and control of node centrality in undirected asymmetric networks
Eduardo Montijano, Gabriele Oliva, Andrea Gasparri
Measures of node centrality that describe the importance of a node within a network are crucial for understanding the behavior of social networks and graphs. In this paper, we addr…
Robotic Wireless Sensor Networks
Pradipta Ghosh, Andrea Gasparri, Jiong Jin +1
In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks…
The Observability Radius of Networks
Gianluca Bianchin, Paolo Frasca, Andrea Gasparri +1
This paper studies the observability radius of network systems, which measures the robustness of a network to perturbations of the edges. We consider linear networks, where the dyn…
Distributed and Proximity-Constrained C-Means for Discrete Coverage Control
Gabriele Oliva, Andrea Gasparri, Adriano Fagiolini +1
In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as peop…
Robotic Message Ferrying for Wireless Networks using Coarse-Grained Backpressure Control
Shangxing Wang, Andrea Gasparri, Bhaskar Krishnamachari
We formulate the problem of robots ferrying messages between statically-placed source and sink pairs that they can communicate with wirelessly. We first analyze the capacity region…
Route Swarm: Wireless Network Optimization through Mobility
Ryan K. Williams, Andrea Gasparri, Bhaskar Krishnamachari
In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing dr…
Decentralized Estimation of Laplacian Eigenvalues in Multi-Agent Systems
Mauro Franceschelli, Andrea Gasparri, Alessandro Giua +1
In this paper we present a decentralized algorithm to estimate the eigenvalues of the Laplacian matrix that encodes the network topology of a multi-agent system. We consider networ…