45 citations · 110 across the 13 of their papers we have counts for
13 papers
VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots
Andrea Drudi, Lorenzo Pichierri, Andrea Testa +1
In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of Autonomous Mobile Robots (AMRs). VirTooS leverages the Robot Operati…
A Tutorial on Distributed Optimization for Cooperative Robotics: from Setups and Algorithms to Toolboxes and Research Directions
Andrea Testa, Guido Carnevale, Giuseppe Notarstefano
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target…
A Distributed Online Optimization Strategy for Cooperative Robotic Surveillance
Lorenzo Pichierri, Guido Carnevale, Lorenzo Sforni +2
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of…
CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2
Lorenzo Pichierri, Andrea Testa, Giuseppe Notarstefano
This paper introduces CrazyChoir, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of functionalities to simulate an…
Extremum Seeking Tracking for Derivative-free Distributed Optimization
Nicola Mimmo, Guido Carnevale, Andrea Testa +1
In this paper, we deal with a network of agents that want to cooperatively minimize the sum of local cost functions depending on a common decision variable. We consider the challen…
Multi-Robot Pickup and Delivery via Distributed Resource Allocation
Andrea Camisa, Andrea Testa, Giuseppe Notarstefano
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots…
ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics
Andrea Testa, Andrea Camisa, Giuseppe Notarstefano
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset…
Generalized Assignment for Multi-Robot Systems via Distributed Branch-And-Price
Andrea Testa, Giuseppe Notarstefano
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment…
DISROPT: a Python Framework for Distributed Optimization
Francesco Farina, Andrea Camisa, Andrea Testa +2
In this paper we introduce DISROPT, a Python package for distributed optimization over networks. We focus on cooperative set-ups in which an optimization problem must be solved by…
Distributed Submodular Minimization via Block-Wise Updates and Communications
Andrea Testa, Francesco Farina, Giuseppe Notarstefano
In this paper we deal with a network of computing agents with local processing and neighboring communication capabilities that aim at solving (without any central unit) a submodula…
Distributed Submodular Minimization over Networks: a Greedy Column Generation Approach
Andrea Testa, Ivano Notarnicola, Giuseppe Notarstefano
Submodular optimization is a special class of combinatorial optimization arising in several machine learning problems, but also in cooperative control of complex systems. In this p…
Distributed Mixed-Integer Linear Programming via Cut Generation and Constraint Exchange
Andrea Testa, Alessandro Rucco, Giuseppe Notarstefano
Many problems of interest for cyber-physical network systems can be formulated as Mixed-Integer Linear Programs in which the constraints are distributed among the agents. In this p…
A Finite-Time Cutting Plane Algorithm for Distributed Mixed Integer Linear Programming
Andrea Testa, Alessandro Rucco, Giuseppe Notarstefano
Many problems of interest for cyber-physical network systems can be formulated as Mixed Integer Linear Programs in which the constraints are distributed among the agents. In this p…