A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture Systems

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Multi-Robot Task Planning with Human-in-the-Loop

This deliverable describes the planning/control methods used to allow a human to add specifications as spatio-temporal formulas in real time to a subset of the multi-robot system subject to the safe-by-design plan developed in T8.2. The planning strategy will also incorporate human preference learning to adapt the plan as needed.

KoM Report

This report will collect the complete outcome of the kick-off meeti

Specifications and KPIs for the two robot prototypes

A report will describe all the specifications and KPIs that will be defined during the development of the robotic prototypes. Following the development of the robotic prototypes this report will be periodically updated during the project.

VR Farming Environment Specification

This deliverable will collect the outcomes of Task 2.6 and will comprise a detailed description of the requirements to the VR environment.

Robotic Navigation and Coordination Field Validation

This deliverable will be composed of a report along with a video describing the validation of the robotic functionalities as per Tasks 9.1 and 9.5, including navigation, and box-exchange manoeuvring.

Communication, Dissemination and Exploitation Plan

This deliverable will consist in the project plan for the communication, exploitation and dissemination activities, including: i) the setting of the strategy and objectives of both the dissemination and exploitation activities; ii) the designing of the relevant policy and rules; iii) the management of these activities; iv) the identification of the target user groups as well as the media and means to be used; v) Exploitation activities for paving the way to GISCAD-OV solution Business Development. D10.3 has been designed according to the European Commission guidelines applying to H2020 projects.

VR Multi-Robot Comp

This deliverable be a report describing VR Multi-Robot software module. It will include the software package for network-based communication and synchronization of robot positions and movements.

Simulated Farming Environment and Basic Robotic Components

This deliverable will be a report describing the first release of the Simulation environment. It will include the first revision of the 3D scene environment, initial models of the robots, and user interactions in VR.

VR Agronomic-Oriented Perception Component

This deliverable will consist of the release of the VR Agronomic-Oriented Perception software module. It will include virtual sensors generating data that will be integrated for initial recognition by robots.

Agronomic Quality Assessment

This report will describe the techniques used for grape quality assessment.

Requirements, Specifications and Benchmarks

This deliverable will collect the outcomes of Task 2.1 and will comprise the analysis of the requirements, the functional specifications, and the identification and dimensioning of appropriate performance indices for validating the project outcome.

Final Demo

This deliverable will be composed of a report along with a video describing the outcome of the final demo with respect to the CANOPIES objectives KPIs as per Task 9.7.

Risk Assessment and Contingency Plan

This deliverable will provide the detailed plan for the constant monitoring of proper synchronization of the partners contributions and of the project activities so to respect the project timeline and to assess actual risk and anticipate future criticalities by proposing adequate countermeasures and mitigationactions.

Project Management Guidelines

Such guidelines will instruct all partners on the procedures to be followed for fully complying with the EC procedures on scientific, technical and financial reporting.

Deliverable Agronomic target modelling, detection and localization

This report will describe the diverse techniques that will be developed and outcomes at lab conditions.

Box-Exchange Coordinated Manoeuvring

This deliverable will consist of a report describing the methodological results concerning the coordinated manoeuvring for the box-exchange operation along with numerical validations.

Human-Multi-Robot Task Planning Field Validation

This deliverable will be composed of a report along with a video describing the validation of the human-multi-robot task planning functionalities as per Task 9.6.

Multi-Robot Task Planning with Humans in the Shared Workspace

This deliverable describes the temporal logic-based strategy used to ensure safety of the human and multirobot system in the shared environment, while each robot accomplishes the specified agronomic task.

VR Mobile-Robot Component

This deliverable will be a report describing VR Mobile-Robot software module. It will allow robots and humans to move in the virtual environments, and the kinematic physics rules to apply in the scene.

VR Multi-Human-Multi-Robot Interaction Component

This deliverable we report the functionalities of the developed VR Multi-Human-Multi-Robot Interaction software module. It will include multi-user functionality, allowing several humans and robots to join via network.

Human-in-the-loop Task Demonstration and Transfer

This deliverable describes the learning framework used to teach the robot from human motion in a virtual reality environment and transfer the acquired knowledge to the real robotic setup to accomplish different agronomic tasks. The deliverables also include scientific articles to disseminate the machine learning advancements in two areas, (1) learning by demonstrations, and (2) transfer learning.

VR Human-Robot-Interaction Compo

This deliverable will be a report describing VR Human-Robot-Interaction software module. It will include software modules for connecting human actors via VR and robot actors via ROS.

Dimensioning of the Real-World Scenario for Final Demo

This deliverable will collect the outcomes of Task 2.4 and will comprise a detailed description of the dimensioning of the table-grape vineyard and of the agronomic operations to be considered for the final demo.

Validation of Human-Robot Interaction

This deliverable will be composed of a report along with a video describing the validation of the humanrobot interaction functionalities during harvesting and pruning as per Tasks 9.2, 9.3 and 9.4.

Multi-Robot Distributed Protocols

This deliverable will consist of a report describing the distributed protocols that will be developed for achieving dynamical systems estimation, optimal field-coverage and dynamical systems desynchronization.

Cooperative arms and mobile base functionalities

This deliverable will consist of a report along with videos both in VR and real world describing the design of the adopted solutions, implementation details and quantitative results about obtained performance concerning: the coordinated motion of the arms with the base and the motion of the two arms for cooperative tasks execution.

Human body prediction and human-robot motion planning

This deliverable will include the methods for human body prediction and also for human-motion planning in agreement.

Mobile arms safety functionalities

Mobile arms physical interaction

Guidelines for the Integration of System Components

This deliverable will be composed of a Wiki page containing the guidelines to ensure the compatibility of software/hardware components and related documentation.

Final Release of Farming and Logistic Robot Prototypes

The final release of the two robotic prototypes are complete, work properly, and complies with the final set of specification defined by T2.2. Proof of the functioning prototypes will be provided in a video.

Human-Robot awareness

This deliverable will present the mental model characterized by a semantic representation of the environment and of the action plans for both user and robot.

Human-Robot Communication

This deliverable will report the communication protocol and the selected communication modalities, determined also through the experiments.

Project Website

This deliverable will consist in the publication of a website describing CANOPIES. The website will be regularly updated with the progress and achievements of the project.

First Release of Farming and Logistic Robot Prototypes

The first release of the two robotic prototypes are complete, work properly, and can perform the basic autonomous functionality (navigation, data acquisition and transmission). The robotic prototypes also include a first version of their respected BEM designs, as well as, the first versions of farming robot’s agronomic dual arm and end-effectors. Proof of the functioning prototypes will be provided in a video. Due to the continuous development of both prototypes this deliverable will be periodically updated during the project.

Data Management Plan

A Data Management Plan (DMP) will be produced detailing what data the project will generate, whether and how it will be exploited or made accessible for verification and re-use, and how it will be curated and preserved. A first version of the DMP will be issued at M0+6, and the plan will evolve during the lifetime of the project in order to present the status of the project's reflections on data management.

Publications

An Adaptive Cooperative Manipulation Control Framework for Multi-Agent Disturbance Rejection

Author(s): Victor Aladele, Carlos R. De Cos, Dimos V. Dimarogonas, Seth Hutchinson
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61st, 2022, Page(s) 100-106, ISBN 978-1-6654-6761-2
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/cdc51059.2022.9992478

Self-Supervised Data Generation for Precision Agriculture: Blending Simulated Environments with Real Imagery

Author(s): Leonardo Saraceni, Ionut M. Motoi, Daniele Nardi, Thomas A. Ciarfuglia
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 71-77
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711594

Enhancing Precision Agriculture Through Human-in-the-Loop Planning and Control

Author(s): Shankar A. Deka, Sujet Phodapol, Andreu Matoses Gimenez, Victor Nan Fernandez-Ayala, Rufus Wong, Pian Yu, Xiao Tan, Dimos V. Dimarogonas
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 78-83
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711319

Learning Geometric Representations of Objects via Interaction

Author(s): Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Anastasiia Varava, Danica Kragic
Published in: Machine Learning and Knowledge Discovery in Databases: Research Track. ECML PKDD 2023, Issue Lecture Notes in Computer Science(), vol 14172, 2023
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-43421-1_37

Voice Command Recognition for Explicit Intent Elicitation in Collaborative Object Transportation Tasks: a ROS-based Implementation

Author(s): J. E. Domínguez-Vidal, Alberto Sanfeliu
Published in: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Page(s) 412-416
Publisher: ACM
DOI: 10.1145/3610978.3640749

Force and Velocity Prediction in Human-Robot Collaborative Transportation Tasks through Video Retentive Networks

Author(s): J. E. Domínguez-Vidal, Alberto Sanfeliu
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 9307-9313
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10801981

Body gesture recognition to control a social mobile robot

Author(s): Javier Laplaza, Ramón Romero, Alberto Sanfeliu, Anaís Garrell
Published in: 2023 ACM/IEEE International Conference on Human-Robot Interaction, Issue 2023, 2023, Page(s) 456-460
Publisher: ACM/IEEE
DOI: 10.1145/3568294.3580126

Speech Act Classification in Collaborative Robotics

Author(s): Sara Kaszuba; Sandeep Reddy Sabbella; Francesco Leotta; Daniele Nardi
Published in: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Issue 32nd edition, 2023
Publisher: IEEE
DOI: 10.1109/ro-man57019.2023.10309308

When Local Optimization is Bad:Learning What to (Not) Maximize in the Null-spacefor Redundant Robot Control

Author(s): Giacomo Golluccio, Paolo Di Lillo, Alessandro Marino, Gianluca Antonelli
Published in: 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT), 2023, Page(s) 506-511, ISBN 979-8-3503-1140-2
Publisher: IEEE
DOI: 10.1109/codit58514.2023.10284456

Testing Human-Robot Interaction in Virtual Reality: Experience from a Study on Speech Act Classification

Author(s): Kaszuba, S., Reddy S., Leotta, F., Serrarens, P. and Nardi, D.
Published in: Workshop at HRI 2023, Issue 6th edition, 2023
Publisher: ACM/IEEE

Empowering Collaboration: A Pipeline for Human-Robot Spoken Interaction in Collaborative Scenarios

Author(s): Kaszuba, S., Caposiena, J., Sabbella, S.R. Leotta, F. and Nardi, D.
Published in: International Conference on Social Robots (ICSR), Issue 15th ed., 2023
Publisher: Springer, Singapore
DOI: 10.1007/978-981-99-8718-4_9

Distributed Finite-Time Supremum/Infimum Dynamic Consensus under Directed Network Topology

Author(s): Furchì, A., Lippi, M., Marino, A., Gasparri, A.
Published in: IEEE Conference on Decision and Control (CDC), 2023
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10384085

Quest2ROS: An App to Facilitate Teleoperating Robots

Author(s): Michael C. Welle, Nils Ingelhag, Martina Lippi, Maciej Wozniak, Andrea Gasparri, Danica Kragic
Published in: 7th International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions, 2024
Publisher: VAM-HRI Proceedings

A Simple and Effective Human-Robot Shared Control Approach for Agricultural Robots Employed in Table-Grape Vineyards

Author(s): Jozsef Palmieri, Paolo Di Lillo, Stefano Chiaverini, Alessandro Marino
Published in: 2024 32nd Mediterranean Conference on Control and Automation (MED), 2024, Page(s) 646-651
Publisher: IEEE
DOI: 10.1109/med61351.2024.10566146

Human-Multi-Robot Task Allocation in Agricultural Settings: a Mixed Integer Linear Programming Approach

Author(s): Lippi, M., Gallou, J., Palmieri, J., Gasparri, A., Marino, A.
Published in: 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023
Publisher: IEEE
DOI: 10.1109/ro-man57019.2023.10309392

AgriSORT: A Simple Online Real-time Tracking-by-Detection framework for robotics in precision agriculture

Author(s): Saraceni, Leonardo; Motoi, Ionut M.; Nardi, Daniele; Ciarfuglia, Thomas A.
Published in: International Conference on Robotics and Automation (ICRA), Issue Annual, 2024
Publisher: IEEE
DOI: 10.48550/arxiv.2309.13393

Evaluating Gesture Recognition in Virtual Reality

Author(s): Sabbella. S., Kaszuba, S., Leotta, F., Serrarens, P. and Nardi, D.
Published in: WYSD workshop at HRI 2023, Issue 18th edition, 2023
Publisher: ACM/IEEE

DLO@Scale: A Large-scale Meta Dataset for Learning Non-rigid Object Pushing Dynamics

Author(s): Robert Gieselmann; Alberta Longhini; Alfredo Reichlin; Danica Kragic; Florian T. Pokorny
Published in: NeurIPS 2021 - Workshop on Physical Reasoning and Inductive Biases for the Real World, Issue Annual, 2021
Publisher: NeurIPS

Anticipation and Proactivity. Unraveling Both Concepts in Human-Robot Interaction through a Handover Example

Author(s): J. E. Domínguez-Vidal, Alberto Sanfeliu
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Page(s) 957-962
Publisher: IEEE
DOI: 10.1109/ro-man60168.2024.10731441

A Framework Based on Control Barrier Functions for Time-Varying Connectivity Maintenance

Author(s): Andrea Miele, Martina Lippi, Andrea Gasparri
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 84-89
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711389

Human-Robot Harvesting Plan Negotiation: Perception, Grape Mapping and Shared Planning

Author(s): Marc Dalmasso, Francisco Garcia-Ruiz, Thomas A. Ciarfuglia, Leonardo Saraceni, Ionut M. Motoi, Emilio Gil, Alberto Sanfeliu
Published in: 2024 7th Iberian Robotics Conference (ROBOT), 2024, Page(s) 1-8
Publisher: IEEE
DOI: 10.1109/robot61475.2024.10796941

Evaluating the Efficacy of Cut-and-Paste Data Augmentation in Semantic Segmentation for Satellite Imagery

Author(s): Ionut M. Motoi, Leonardo Saraceni, Daniele Nardi, Thomas A. Ciarfuglia
Published in: IGARSS 2024 - 2024 IEEE International Geoscience and Remote Sensing Symposium, 2024, Page(s) 9802-9806
Publisher: IEEE
DOI: 10.1109/igarss53475.2024.10640734

Reactive and Human-in-the-Loop Planning and Control of Multi-Robot Systems under LTL Specifications in Dynamic Environments*

Author(s): Pian Yu, Gianmarco Fedeli, Dimos V. Dimarogonas
Published in: 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT), Issue 9th, 2023, ISBN 979-8-3503-1140-2
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/codit58514.2023.10284378

Virtual Reality Applications for Enhancing Human-Robot Interaction: A Gesture Recognition Perspective

Author(s): Sabbella, S.R., Kaszuba, S., Leotta, F. and Nardi, D.
Published in: ACM International Conference on Intelligent Virtual Agents (ACM-IVA), Issue 23rd edition, 2023
Publisher: ACM
DOI: 10.1145/3570945.3607333

A Preliminary Study on Virtual Reality Tools in Human-Robot Interaction

Author(s): Kaszuba, S., Leotta, F., Nardi, D.
Published in: De Paolis, L.T., Arpaia, P., Bourdot, P. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2021., Issue Lecture Notes in Computer Science(), vol 12980, 2021, Page(s) 81-90, ISBN 978-3-030-87594-7
Publisher: Springer
DOI: 10.1007/978-3-030-87595-4_7

Pseudo-Label Generation for Agricultural Robotics Applications

Author(s): Thomas A. Ciarfuglia, Ionut Marian Motoi, Leonardo Saraceni, Daniele Nardi;
Published in: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops,, 2022
Publisher: IEEE Xplore

Exploring Preferences in Human-Robot Navigation Plan Proposal Representation

Author(s): Marc Dalmasso, Víctor Sanchez-Anguix, Anaís Garrell, Pablo Jiménez, Alberto Sanfeliu
Published in: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Page(s) 369-373
Publisher: ACM
DOI: 10.1145/3610978.3640627

Real-life experiment metrics for evaluating human-robot collaborative navigation tasks

Author(s): E. Repiso, A. Garrell Zulueta, A. Sanfeliu
Published in: IEEE International Symposium on Robot and Human Interactive Communication, Issue 32nd, 2023, ISBN 979-8-3503-3670-2
Publisher: IEEE
DOI: 10.1109/ro-man57019.2023.10309529

A Task Allocation Framework for Human Multi-Robot Collaborative Settings

Author(s): Lippi, Martina; Di Lillo, Paolo; Marino, Alessandro
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161458

A MILP Scheduling Problem for Multi-Robot Logistics Systems in a Precision Farming Application and a Polynomial Time Optimal Algorithm

Author(s): Antonio Furchì, Mauro Franceschelli, Andrea Gasparri
Published in: 2024 32nd Mediterranean Conference on Control and Automation (MED), 2024, Page(s) 664-669
Publisher: IEEE
DOI: 10.1109/med61351.2024.10566245

Exploring Transformers and Visual Transformers for Force Prediction in Human-Robot Collaborative Transportation Tasks

Author(s): J. E. Domínguez-Vidal, Alberto Sanfeliu
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 3191-3197
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10611205

Classification of humans social relations within urban areas

Author(s): Oscar Castro, Ely Repiso, Anaís Garrell, Alberto Sanfeliu
Published in: Iberian Robotics Conference, Vol 589 Lecture Notes in Networks and Systems, Issue 5th, 2022, Page(s) 27-39, ISBN 978-3-031-21065-5
Publisher: Springer Nature
DOI: 10.1007/978-3-031-21065-5_3

An Optimal Allocation and Scheduling Method in Human-Multi-Robot Precision Agriculture Settings

Author(s): Lippi, M., Gallou, J., Gasparri, A., Marino, A.
Published in: 2023 Mediterranean Conference on Control and Automation, Issue 31st, 2023
Publisher: IEEE
DOI: 10.1109/med59994.2023.10185899

Modeling and Control of the Vitirover Robot for Weed Management in Precision Agriculture

Author(s): Jorand Gallou, Martina Lippi, Mathieu Galle, Alessandro Marino, Andrea Gasparri
Published in: 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT), Issue 5, 2024, Page(s) 2670-2675
Publisher: IEEE
DOI: 10.1109/codit62066.2024.10708484

Multi-robot Human-in-the-loop Control under Spatiotemporal Specifications

Author(s): Yixiao Zhang, Victor Nan Fernandez-Ayala, Dimos V. Dimarogonas
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 4841-4847
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610123

Generating and Evaluating Synthetic Data in Virtual Reality Simulation Environments for Pose Estimation

Author(s): Sandeep Reddy Sabbella, Pascal Serrarens, Francesco Leotta, Daniele Nardi
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Page(s) 2319-2326
Publisher: IEEE
DOI: 10.1109/ro-man60168.2024.10731179

Inference vs. explicitness. Do we really need the perfect predictor? The human-robot collaborative object transportation case

Author(s): J.E. Domínguez, A. Sanfeliu
Published in: IEEE International Symposium on Robot and Human Interactive Communication, Issue 32nd, 2023, ISBN 979-8-3503-3670-2
Publisher: IEEE
DOI: 10.1109/ro-man57019.2023.10309648

An EKF-Based Multi-Object Tracking Framework for a Mobile Robot in a Precision Agriculture Scenario

Author(s): Arlotta, A; Lippi, M; Gasparri, A
Published in: European Conference on Mobile Robots, 2023
Publisher: IEEE
DOI: 10.1109/ecmr59166.2023.10256338

Augment-connect-explore: a paradigm for visual action planning with data scarcity

Author(s): Lippi, M., Welle, M.C., Poklukar, P., Marino, A., Kragic, D.
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Page(s) 754-761
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9982199

Leader-Follower Cooperative Manipulation Under Spatio-Temporal Constraints

Author(s): Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 10312-10317
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802449

Perception-Intention-Action Cycle in Human-Robot Collaborative Tasks

Author(s): Dominguez-Vidal, J. E.; Rodriguez, Nicolas; Alquezar, Rene; Sanfeliu, Alberto
Published in: ACM/IEEE International Conference on Human-Robot Interaction, Issue 2023, 2023, Page(s) 567-571
Publisher: ACM/IEEE
DOI: 10.48550/arxiv.2206.00304

A Control Barrier Function Approach to Human-multi-robot Safe Interaction

Author(s): Martina Lippi; Alessandro Marino
Published in: 29th Mediterranean Conference on Control and Automation (MED), 2021, ISBN 978-1-6654-4660-0
Publisher: IEEE
DOI: 10.1109/med51440.2021.9480187

Efficient Coordination and Synchronization of Multi-Robot Systems Under Recurring Linear Temporal Logic

Author(s): Peron, D., Fernandez-Ayala, V.N., Vlahakis E.E. and Dimarogonas, D.V.
Published in: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Publisher: IEEE

IVO Robot: a new social robot for human-robot collaboration

Author(s): Laplaza Galindo, Javier; Rodríguez Linares, Nicolás Adrián|||0000-0003-4834-223X; Domínguez Vidal, José Enrique; Herrero Cotarelo, Fernando|||0000-0003-4116-0265; Hernández Juan, Sergi; López Gestoso, Alejandro; Sanfeliu Cortés, Alberto|||0000-0003-3868-9678; Garrell Zulueta, Anais|||0000-0002-4629-0723
Published in: 2022 ACM/IEEE International Conference on Human-Robot Interaction, Issue 2022, 2022, Page(s) 860-864
Publisher: ACM/IEEE
DOI: 10.1109/hri53351.2022.9889458

Context and intention for 3D human motion prediction: Experimentation and user study in handover tasks

Author(s): Javier Laplaza, Anaís Garrell, Francesc Moreno-Noguer, Alberto Sanfeliu
Published in: IEEE International Symposium on Robot and Human Interactive Communication, Issue 31st, 2022, Page(s) 630-635, ISBN 978-1-7281-8859-1
Publisher: IEEE
DOI: 10.1109/ro-man53752.2022.9900743

Navigation in Time-Varying Densities: An Operator Theoretic Approach

Author(s): Shankar A. Deka, Umesh Vaidya, Dimos V. Dimarogonas
Published in: 2023 European Control Conference (ECC), 2023, ISBN 978-3-907144-08-4
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.23919/ecc57647.2023.10178189

A Mixed-Integer Linear Programming Formulation for Human Multi-Robot Task Allocation

Author(s): Martina Lippi; Alessandro Marino
Published in: 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, ISBN 978-1-7281-9078-5
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ro-man50785.2021.9515362

Finite-Time Distributed Protocol for Tracking the Upper (Lower) Bound For a Set of Time-Varying Reference Signals

Author(s): Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Published in: 2022 30th Mediterranean Conference on Control and Automation (MED), 2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/med54222.2022.9837239

Attention deep learning based model for predicting the 3D Human Body Pose using the Robot Human Handover Phases

Author(s): J. Laplaza, A. Pumarola, F. Moreno-Noguer and A. Sanfeliu
Published in: 2021 30th IEEE International Conference on Robot and Human Interactive Communication, 2021, Page(s) 161-166
Publisher: IEEE
DOI: 10.1109/ro-man50785.2021.9515402

Body Gestures Recognition for Social Human-Robot Interaction

Author(s): Javier Laplaza, Joan Jaume Oliver Caraballo, Alberto Sanfeliu, Anaís Garrell
Published in: 2024 7th Iberian Robotics Conference (ROBOT), 2024, Page(s) 1-6
Publisher: IEEE
DOI: 10.1109/robot61475.2024.10797349

Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning

Author(s): Martina Lippi, Michael C. Welle, Andrea Gasparri, Danica Kragic
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 2638-2644
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10611385

On the Subspace Structure of Gradient-Based Meta-Learning

Author(s): Gustaf Tegnér, Alfredo Reichlin, Hang Yin, Mårten Björkman, Danica Kragic
Published in: International Conference on Machine Learning (ICML 2022), Issue 39th, 2022
Publisher: ACM
DOI: 10.48550/arxiv.2207.03804

Improving human-robot interaction effectiveness in human-robot collaborative object transportation using force prediction

Author(s): J.E. Domínguez, A. Sanfeliu
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10342517

Back to the Manifold: Recovering from Out-of-Distribution States

Author(s): Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Ali Ghadirzadeh, Danica Kragic
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2207.08673

A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration

Author(s): Martina Lippi; Giuseppe Gillini; Alessandro Marino; Filippo Arrichiello
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9078-5
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561827

Gesture Recognition for Human-Robot Interaction through Virtual Characters

Author(s): Sabbella, S.R., Kaszuba, S., Leotta, F. and Nardi, D.
Published in: International Conference on Social Robots (ICSR), Issue 15th edition, 2023, ISBN 978-981-99-8717-7
Publisher: Springer, Singapore
DOI: 10.1007/978-981-99-8718-4_14

Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation

Author(s): Martina Lippi, Michael C. Welle, Maciej K. Wozniak, Andrea Gasparri, Danica Kragic
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Page(s) 1963-1969
Publisher: IEEE
DOI: 10.1109/ro-man60168.2024.10731383

Context attention: Human motion prediction using context information and deep learning attention models

Author(s): J. Laplaza, F. Moreno-Noguer, A. Sanfeliu
Published in: Iberian Robotics Conference, Issue 5th, 2022, Page(s) 102-112, ISBN 978-3-031-21064-8
Publisher: Springer
DOI: 10.1007/978-3-031-21065-5_9

Compatibility checking of multiple control barrier functions for input constrained systems

Author(s): Xiao Tan, Dimos V. Dimarogonas
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61st, 2022, Page(s) 939-944, ISBN 978-1-6654-6761-2
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/cdc51059.2022.9993001

Back to the Manifold: Recovering from Out-of-Distribution States

Author(s): A. Reichlin, G. L. Marchetti, H. Yin, A. Ghadirzadeh and D. Kragic
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981315

A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks

Author(s): Robin Baran; Xiao Tan; Peter Varnai; Pian Yu; Sofie Ahlberg; Meng Guo; Wenceslao Shaw Cortez; Dimos V. Dimarogonas
Published in: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), Issue 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, Page(s) 2182-2187, ISSN 2161-8089
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/case49439.2021.9551648

Perception-Driven Shared Control Architecture for Agricultural Robots Performing Harvesting Tasks

Author(s): Jozsef Palmieri, Paolo Di Lillo, Alberto Sanfeliu, Alessandro Marino
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 9328-9334
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802454

Distributed barrier function-enabled human-in-the-loop control for multi-robot systems

Author(s): Victor Nan Fernandez-Ayala, Xiao Tan, Dimos V. Dimarogonas
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, ISBN 979-8-3503-2365-8
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra48891.2023.10160974

Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics

Author(s): Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Published in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 4, October 2022, 2022, Page(s) 11561 - 11568, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3200760

A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

Author(s): Wenceslao Shaw Cortez; Xiao Tan; Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue Volume: 6, 2021, Page(s) 1742-1747, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2021.3133418

A Control Architecture for Safe Trajectory Generation in Human–Robot Collaborative Settings

Author(s): Jozsef Palmieri; Paolo Di Lillo; Martina Lippi; Stefano Chiaverini; Alessandro Marino
Published in: A Control Architecture for Safe Trajectory Generation in Human–Robot Collaborative Settings, 2024, Page(s) 1-16, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3350976

2-D Directed Formation Control Based on Bipolar Coordinates

Author(s): Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 7, July 2023, 2023, Page(s) 4175 - 4190, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3206603

Event-based line SLAM in real-time

Author(s): William Oswaldo hamorro, Joan Solà, Juan Andrade-Cetto
Published in: IEEE Robotics and Automation Letters, Issue 7(3), 2022, Page(s) 8146-8153, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187266

On the undesired equilibria induced by control barrier function based quadratic programs

Author(s): Xiao Tan, Dimos V. Dimarogonas
Published in: Automatica, Issue 159, 2023, Page(s) 111359, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111359

Perception–Intention–Action Cycle in Human–Robot Collaborative Tasks: The Collaborative Lightweight Object Transportation Use-Case

Author(s): J. E. Domínguez-Vidal, Nicolás Rodríguez, Alberto Sanfeliu
Published in: International Journal of Social Robotics, 2024, ISSN 1875-4791
Publisher: Springer Verlag
DOI: 10.1007/s12369-024-01103-7

Distributed Mode Computation in Open Multi-Agent Systems

Author(s): Zoreh Al Zahra Sanai Dashti; Gabriele Oliva; Carla Seatzu; Andrea Gasparri; Mauro Franceschelli
Published in: IEEE Control Systems Letters, Issue Volume 6, 2020, Page(s) 3481 - 3486, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3185419

Merging Global and Local Planners: Real-Time Replanning Algorithm of Redundant Robots Within a Task-Priority Framework

Author(s): Paolo Di Lillo; Daniele Di Vito; Gianluca Antonelli
Published in: IEEE Transactions on Automation Science and Engineering, 2022, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2022.3178266

Human Multi-Robot Physical Interaction: a Distributed Framework

Author(s): Martina Lippi; Alessandro Marino
Published in: Journal of Intelligent & Robotic Systems, 2021, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-020-01277-y

ACHORD: Communication-aware multi-robot coordination with intermittent connectivity

Author(s): M. Saboia Da Silva, L. Clark, V. Thangavelu, J. Edlund, K. Otsu, G.J. Correa, V.S. Varadharajan, A. Santamaria-Navarro, T. Touma, A. Bouman, H. Melikyan, T. Pailevanian, S. Kim, A. Archanian, T.S. Vaquero, G. Beltrame, N. Napp, G. Pessin and A. Agha-Mohammadi
Published in: IEEE Robotics and Automation Letters, Issue 7(4), 2022, Page(s) 10184-10191, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3193240

Human-Robot Collaborative Minimum Time Search Through Sub-Priors in Ant Colony Optimization

Author(s): Oscar Gil, Alberto Sanfeliu
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, Page(s) 10216-10223, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2024.3471451

An Adaptive Distributed Protocol for Finite-Time Infimum or Supremum Dynamic Consensus

Author(s): Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Published in: IEEE Control Systems Letters, Issue Volume 7, 2022, Page(s) 401 - 406, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3188941

Supervised Learning of Lyapunov Functions Using Laplace Averages of Approximate Koopman Eigenfunctions

Author(s): Shankar A. Deka, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue Volume: 7, 2023, Page(s) 3072 - 3077, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lcsys.2023.3291657

A Distributed, Event-Triggered, Adaptive Controller for Cooperative Manipulation With Rolling Contacts

Author(s): Wenceslao Shaw Cortez; Christos K. Verginis; Dimos V. Dimarogonas
Published in: IEEE Transactions on Robotics, Issue Volume: 39, Issue: 4, 2023, Page(s) 3120 - 3133, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3268595

Accurate detection and depth estimation of table grapes and peduncles for robot harvesting, combining monocular depth estimation and CNN methods

Author(s): G. Coll, I.J. Torres, A. Grau, E. Guerra, A. Sanfeliu
Published in: Computers and Electronics in Agriculture, Issue 215, 2023, Page(s) 108362, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2023.108362

A survey on socially aware robot navigation: Taxonomy and future challenges

Author(s): Phani Teja Singamaneni, Pilar Bachiller-Burgos, Luis J. Manso, Anaís Garrell, Alberto Sanfeliu, Anne Spalanzani, Rachid Alami
Published in: The International Journal of Robotics Research, Issue 43, 2025, Page(s) 1533-1572, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649241230562

Social robot navigation tasks: Combining machine learning techniques and Social Force Model

Author(s): Oscar Gil, Anaís Garrell, Alberto Sanfeliu
Published in: Sensors, Issue 21 (7087), 2021, Page(s) 23, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21217087

Secure rendezvous and static containment in multi-agent systems with adversarial intruders

Author(s): Matteo Santilli, Mauro Franceschelli, and Andrea Gasparri
Published in: Automatica, Issue Volume 143, 2022, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110456

High-order Barrier Functions: Robustness, Safety and Performance-Critical Control

Author(s): Xiao Tan; Wenceslao Shaw Cortez; Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, Issue Volume: 67, Issue: 6, 2021, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2021.3089639

Objects Relocation in Clutter with Robot Manipulators via Tree-based Q-Learning Algorithm: Analysis and Experiments

Author(s): Giacomo Golluccio; Paolo Di Lillo; Daniele Di Vito; Alessandro Marino; Gianluca Antonelli
Published in: Journal of Intelligent \& Robotic Systems, Issue 13, 2022, ISSN 1573-0409
Publisher: Springer
DOI: 10.1007/s10846-022-01719-9

Distributed Implementation of Control Barrier Functions for Multi-agent Systems

Author(s): Xiao Tan; Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue Vol. 6, 2022, Page(s) 1879-1884, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2021.3133802

Efficient hand gesture recognition for human-robot interaction

Author(s): Marc Peral, Alberto Sanfeliu, Anaís Garrell
Published in: IEEE Robotics and Automation Letters, Issue 7(4), 2022, Page(s) 10272-10279, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3193251

A distributed protocol for finite-time supremum or infimum dynamic consensus: The directed graph case

Author(s): Antonio Furchì, Martina Lippi, Alessandro Marino, Andrea Gasparri
Published in: Systems & Control Letters, Issue 186, 2024, Page(s) 105754, ISSN 0167-6911
Publisher: Elsevier BV
DOI: 10.1016/j.sysconle.2024.105754

Enabling Visual Action Planning for Object Manipulation Through Latent Space Roadmap

Author(s): Martina Lippi; Petra Poklukar; Michael C. Welle; Anastasia Varava;Hang Yin; Alessandro Marino; Danica Kragic
Published in: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3188163

Distributed Motion Coordination for Multirobot Systems Under LTL Specifications

Author(s): Pian Yu; Dimos V. Dimarogonas
Published in: IEEE Transactions on robotics, Issue Vol. 38, no 2, 2022, Page(s) 1047-1062, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3088764

A Distributed Framework for Integrated Task Allocation and Safe Coordination in Networked Multi-robot Systems

Author(s): Andrea Miele, Martina Lippi, Andrea Gasparri
Published in: IEEE Transactions on Automation Science and Engineering, 2025, Page(s) 1-1, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2025.3532023

Time-Constrained Leader-Follower Multiagent Task Scheduling and Control Synthesis

Author(s): Pian Yu; Dimos V. Dimarogonas
Published in: IEEE Transactions on Control of Network Systems, Issue Vol. 9, no 1, 2022, Page(s) 367-379, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2021.3106452

Weakly and semi-supervised detection, segmentation and tracking of table grapes with limited and noisy data

Author(s): Thomas A. Ciarfuglia; Ionut M. Motoi; Leonardo Saraceni; Mulham Fawakherji; Alberto Sanfeliu; Daniele Nardi
Published in: Computer and Electronics in Agriculture, Issue volume 205, 2023, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2023.107624

Adaptive Cooperative Control for Human-Robot Load Manipulation

Author(s): Carlos Rodriguez de Cos; Dimos V. Dimarogonas
Published in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 2, April 2022, 2022, Page(s) 5623-5630, ISSN 1949-3045
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3158435

Selective Trimmed Average: A Resilient Federated Learning Algorithm With Deterministic Guarantees on the Optimality Approximation

Author(s): Mojtaba Kaheni, Martina Lippi, Andrea Gasparri, Mauro Franceschelli
Published in: IEEE Transactions on Cybernetics, Issue 54, 2024, Page(s) 4402-4415, ISSN 2168-2267
Publisher: IEEE Advancing Technology for Humanity
DOI: 10.1109/tcyb.2024.3350387

Reducing Variance in Meta-Learning via Laplace Approximation for Regression Tasks

Author(s): Alfredo Reichlin, Gustaf Tegnér, Miguel Vasco, Hang Yin, Mårten Björkman, Danica Kragic
Published in: Transactions on Machine Learning Research, 2024, ISSN 2835-8856
Publisher: Transactions on Machine Learning Research

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