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

Informations projet

CANOPIES

N° de convention de subvention: 101016906

DOI

10.3030/101016906

Projet clôturé

Date de signature de la CE 15 Decembre 2020

Date de début 1 Janvier 2021

Date de fin 31 Decembre 2024

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coût total

€ 6 904 940,00

Contribution de l’UE

€ 6 904 940,00

Coordonné par

UNIVERSITA DEGLI STUDI ROMA TRE
Italy

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Documents, reports (25)

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.

Websites, patent fillings, videos etc. (10)

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

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 concerning the human-robot safe interaction.

Mobile arms physical interaction

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 concerning the force control algorithms.

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.

Open Research Data Pilot (1)

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

Conference proceedings (63)

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

Auteurs: Victor Aladele, Carlos R. De Cos, Dimos V. Dimarogonas, Seth Hutchinson
Publié dans: 2022 IEEE 61st Conference on Decision and Control (CDC), Numéro 61st, 2022, Page(s) 100-106, ISBN 978-1-6654-6761-2
Éditeur: 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

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

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

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

Learning Geometric Representations of Objects via Interaction

Auteurs: Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Anastasiia Varava, Danica Kragic
Publié dans: Machine Learning and Knowledge Discovery in Databases: Research Track. ECML PKDD 2023, Numéro Lecture Notes in Computer Science(), vol 14172, 2023
Éditeur: 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

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

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

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

Body gesture recognition to control a social mobile robot

Auteurs: Javier Laplaza, Ramón Romero, Alberto Sanfeliu, Anaís Garrell
Publié dans: 2023 ACM/IEEE International Conference on Human-Robot Interaction, Numéro 2023, 2023, Page(s) 456-460
Éditeur: ACM/IEEE
DOI: 10.1145/3568294.3580126

Speech Act Classification in Collaborative Robotics

Auteurs: Sara Kaszuba; Sandeep Reddy Sabbella; Francesco Leotta; Daniele Nardi
Publié dans: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Numéro 32nd edition, 2023
Éditeur: 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

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

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

Auteurs: Kaszuba, S., Reddy S., Leotta, F., Serrarens, P. and Nardi, D.
Publié dans: Workshop at HRI 2023, Numéro 6th edition, 2023
Éditeur: ACM/IEEE

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

Auteurs: Kaszuba, S., Caposiena, J., Sabbella, S.R. Leotta, F. and Nardi, D.
Publié dans: International Conference on Social Robots (ICSR), Numéro 15th ed., 2023
Éditeur: Springer, Singapore
DOI: 10.1007/978-981-99-8718-4_9

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

Auteurs: Furchì, A., Lippi, M., Marino, A., Gasparri, A.
Publié dans: IEEE Conference on Decision and Control (CDC), 2023
Éditeur: IEEE
DOI: 10.1109/cdc49753.2023.10384085

Quest2ROS: An App to Facilitate Teleoperating Robots

Auteurs: Michael C. Welle, Nils Ingelhag, Martina Lippi, Maciej Wozniak, Andrea Gasparri, Danica Kragic
Publié dans: 7th International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions, 2024
Éditeur: VAM-HRI Proceedings

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

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

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

Auteurs: Lippi, M., Gallou, J., Palmieri, J., Gasparri, A., Marino, A.
Publié dans: 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023
Éditeur: IEEE
DOI: 10.1109/ro-man57019.2023.10309392

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

Auteurs: Saraceni, Leonardo; Motoi, Ionut M.; Nardi, Daniele; Ciarfuglia, Thomas A.
Publié dans: International Conference on Robotics and Automation (ICRA), Numéro Annual, 2024
Éditeur: IEEE
DOI: 10.48550/arxiv.2309.13393

Evaluating Gesture Recognition in Virtual Reality

Auteurs: Sabbella. S., Kaszuba, S., Leotta, F., Serrarens, P. and Nardi, D.
Publié dans: WYSD workshop at HRI 2023, Numéro 18th edition, 2023
Éditeur: ACM/IEEE

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

Auteurs: Robert Gieselmann; Alberta Longhini; Alfredo Reichlin; Danica Kragic; Florian T. Pokorny
Publié dans: NeurIPS 2021 - Workshop on Physical Reasoning and Inductive Biases for the Real World, Numéro Annual, 2021
Éditeur: NeurIPS

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

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

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

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

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

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

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

Auteurs: Ionut M. Motoi, Leonardo Saraceni, Daniele Nardi, Thomas A. Ciarfuglia
Publié dans: IGARSS 2024 - 2024 IEEE International Geoscience and Remote Sensing Symposium, 2024, Page(s) 9802-9806
Éditeur: 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*

Auteurs: Pian Yu, Gianmarco Fedeli, Dimos V. Dimarogonas
Publié dans: 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT), Numéro 9th, 2023, ISBN 979-8-3503-1140-2
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/codit58514.2023.10284378

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

Auteurs: Sabbella, S.R., Kaszuba, S., Leotta, F. and Nardi, D.
Publié dans: ACM International Conference on Intelligent Virtual Agents (ACM-IVA), Numéro 23rd edition, 2023
Éditeur: ACM
DOI: 10.1145/3570945.3607333

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

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

Pseudo-Label Generation for Agricultural Robotics Applications

Auteurs: Thomas A. Ciarfuglia, Ionut Marian Motoi, Leonardo Saraceni, Daniele Nardi;
Publié dans: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops,, 2022
Éditeur: IEEE Xplore

Exploring Preferences in Human-Robot Navigation Plan Proposal Representation

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

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

Auteurs: E. Repiso, A. Garrell Zulueta, A. Sanfeliu
Publié dans: IEEE International Symposium on Robot and Human Interactive Communication, Numéro 32nd, 2023, ISBN 979-8-3503-3670-2
Éditeur: IEEE
DOI: 10.1109/ro-man57019.2023.10309529

A Task Allocation Framework for Human Multi-Robot Collaborative Settings

Auteurs: Lippi, Martina; Di Lillo, Paolo; Marino, Alessandro
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2023
Éditeur: 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

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

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

Auteurs: J. E. Domínguez-Vidal, Alberto Sanfeliu
Publié dans: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 3191-3197
Éditeur: IEEE
DOI: 10.1109/icra57147.2024.10611205

Classification of humans social relations within urban areas

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

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

Auteurs: Lippi, M., Gallou, J., Gasparri, A., Marino, A.
Publié dans: 2023 Mediterranean Conference on Control and Automation, Numéro 31st, 2023
Éditeur: IEEE
DOI: 10.1109/med59994.2023.10185899

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

Auteurs: Jorand Gallou, Martina Lippi, Mathieu Galle, Alessandro Marino, Andrea Gasparri
Publié dans: 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT), Numéro 5, 2024, Page(s) 2670-2675
Éditeur: IEEE
DOI: 10.1109/codit62066.2024.10708484

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

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

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

Auteurs: Sandeep Reddy Sabbella, Pascal Serrarens, Francesco Leotta, Daniele Nardi
Publié dans: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Page(s) 2319-2326
Éditeur: 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

Auteurs: J.E. Domínguez, A. Sanfeliu
Publié dans: IEEE International Symposium on Robot and Human Interactive Communication, Numéro 32nd, 2023, ISBN 979-8-3503-3670-2
Éditeur: IEEE
DOI: 10.1109/ro-man57019.2023.10309648

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

Auteurs: Arlotta, A; Lippi, M; Gasparri, A
Publié dans: European Conference on Mobile Robots, 2023
Éditeur: IEEE
DOI: 10.1109/ecmr59166.2023.10256338

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

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

Leader-Follower Cooperative Manipulation Under Spatio-Temporal Constraints

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

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

Auteurs: Dominguez-Vidal, J. E.; Rodriguez, Nicolas; Alquezar, Rene; Sanfeliu, Alberto
Publié dans: ACM/IEEE International Conference on Human-Robot Interaction, Numéro 2023, 2023, Page(s) 567-571
Éditeur: ACM/IEEE
DOI: 10.48550/arxiv.2206.00304

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

Auteurs: Martina Lippi; Alessandro Marino
Publié dans: 29th Mediterranean Conference on Control and Automation (MED), 2021, ISBN 978-1-6654-4660-0
Éditeur: IEEE
DOI: 10.1109/med51440.2021.9480187

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

Auteurs: Peron, D., Fernandez-Ayala, V.N., Vlahakis E.E. and Dimarogonas, D.V.
Publié dans: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Éditeur: IEEE

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

Auteurs: 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
Publié dans: 2022 ACM/IEEE International Conference on Human-Robot Interaction, Numéro 2022, 2022, Page(s) 860-864
Éditeur: ACM/IEEE
DOI: 10.1109/hri53351.2022.9889458

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

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

Navigation in Time-Varying Densities: An Operator Theoretic Approach

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

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

Auteurs: Martina Lippi; Alessandro Marino
Publié dans: 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, ISBN 978-1-7281-9078-5
Éditeur: 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

Auteurs: Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Publié dans: 2022 30th Mediterranean Conference on Control and Automation (MED), 2022
Éditeur: 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

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

Body Gestures Recognition for Social Human-Robot Interaction

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

Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning

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

On the Subspace Structure of Gradient-Based Meta-Learning

Auteurs: Gustaf Tegnér, Alfredo Reichlin, Hang Yin, Mårten Björkman, Danica Kragic
Publié dans: International Conference on Machine Learning (ICML 2022), Numéro 39th, 2022
Éditeur: ACM
DOI: 10.48550/arxiv.2207.03804

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

Auteurs: J.E. Domínguez, A. Sanfeliu
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023
Éditeur: IEEE
DOI: 10.1109/iros55552.2023.10342517

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

Auteurs: Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Ali Ghadirzadeh, Danica Kragic
Publié dans: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: 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

Auteurs: Martina Lippi; Giuseppe Gillini; Alessandro Marino; Filippo Arrichiello
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9078-5
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561827

Gesture Recognition for Human-Robot Interaction through Virtual Characters

Auteurs: Sabbella, S.R., Kaszuba, S., Leotta, F. and Nardi, D.
Publié dans: International Conference on Social Robots (ICSR), Numéro 15th edition, 2023, ISBN 978-981-99-8717-7
Éditeur: 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

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

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

Auteurs: J. Laplaza, F. Moreno-Noguer, A. Sanfeliu
Publié dans: Iberian Robotics Conference, Numéro 5th, 2022, Page(s) 102-112, ISBN 978-3-031-21064-8
Éditeur: Springer
DOI: 10.1007/978-3-031-21065-5_9

Compatibility checking of multiple control barrier functions for input constrained systems

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

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

Auteurs: A. Reichlin, G. L. Marchetti, H. Yin, A. Ghadirzadeh and D. Kragic
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: IEEE
DOI: 10.1109/iros47612.2022.9981315

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

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

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

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

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

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

Peer reviewed articles (32)

Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics

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

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

Auteurs: Wenceslao Shaw Cortez; Xiao Tan; Dimos V. Dimarogonas
Publié dans: IEEE Control Systems Letters, Numéro Volume: 6, 2021, Page(s) 1742-1747, ISSN 2475-1456
Éditeur: 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

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

2-D Directed Formation Control Based on Bipolar Coordinates

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

Event-based line SLAM in real-time

Auteurs: William Oswaldo hamorro, Joan Solà, Juan Andrade-Cetto
Publié dans: IEEE Robotics and Automation Letters, Numéro 7(3), 2022, Page(s) 8146-8153, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3187266

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

Auteurs: Xiao Tan, Dimos V. Dimarogonas
Publié dans: Automatica, Numéro 159, 2023, Page(s) 111359, ISSN 0005-1098
Éditeur: 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

Auteurs: J. E. Domínguez-Vidal, Nicolás Rodríguez, Alberto Sanfeliu
Publié dans: International Journal of Social Robotics, 2024, ISSN 1875-4791
Éditeur: Springer Verlag
DOI: 10.1007/s12369-024-01103-7

Distributed Mode Computation in Open Multi-Agent Systems

Auteurs: Zoreh Al Zahra Sanai Dashti; Gabriele Oliva; Carla Seatzu; Andrea Gasparri; Mauro Franceschelli
Publié dans: IEEE Control Systems Letters, Numéro Volume 6, 2020, Page(s) 3481 - 3486, ISSN 2475-1456
Éditeur: 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

Auteurs: Paolo Di Lillo; Daniele Di Vito; Gianluca Antonelli
Publié dans: IEEE Transactions on Automation Science and Engineering, 2022, ISSN 1545-5955
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2022.3178266

Human Multi-Robot Physical Interaction: a Distributed Framework

Auteurs: Martina Lippi; Alessandro Marino
Publié dans: Journal of Intelligent & Robotic Systems, 2021, ISSN 0921-0296
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10846-020-01277-y

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

Auteurs: 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
Publié dans: IEEE Robotics and Automation Letters, Numéro 7(4), 2022, Page(s) 10184-10191, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3193240

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

Auteurs: Oscar Gil, Alberto Sanfeliu
Publié dans: IEEE Robotics and Automation Letters, Numéro 9, 2024, Page(s) 10216-10223, ISSN 2377-3766
Éditeur: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2024.3471451

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

Auteurs: Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Publié dans: IEEE Control Systems Letters, Numéro Volume 7, 2022, Page(s) 401 - 406, ISSN 2475-1456
Éditeur: 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

Auteurs: Shankar A. Deka, Dimos V. Dimarogonas
Publié dans: IEEE Control Systems Letters, Numéro Volume: 7, 2023, Page(s) 3072 - 3077, ISSN 2475-1456
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lcsys.2023.3291657

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

Auteurs: Wenceslao Shaw Cortez; Christos K. Verginis; Dimos V. Dimarogonas
Publié dans: IEEE Transactions on Robotics, Numéro Volume: 39, Numéro: 4, 2023, Page(s) 3120 - 3133, ISSN 1552-3098
Éditeur: 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

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

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

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

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

Auteurs: Oscar Gil, Anaís Garrell, Alberto Sanfeliu
Publié dans: Sensors, Numéro 21 (7087), 2021, Page(s) 23, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21217087

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

Auteurs: Matteo Santilli, Mauro Franceschelli, and Andrea Gasparri
Publié dans: Automatica, Numéro Volume 143, 2022, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110456

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

Auteurs: Xiao Tan; Wenceslao Shaw Cortez; Dimos V. Dimarogonas
Publié dans: IEEE Transactions on Automatic Control, Numéro Volume: 67, Numéro: 6, 2021, ISSN 0018-9286
Éditeur: 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

Auteurs: Giacomo Golluccio; Paolo Di Lillo; Daniele Di Vito; Alessandro Marino; Gianluca Antonelli
Publié dans: Journal of Intelligent \& Robotic Systems, Numéro 13, 2022, ISSN 1573-0409
Éditeur: Springer
DOI: 10.1007/s10846-022-01719-9

Distributed Implementation of Control Barrier Functions for Multi-agent Systems

Auteurs: Xiao Tan; Dimos V. Dimarogonas
Publié dans: IEEE Control Systems Letters, Numéro Vol. 6, 2022, Page(s) 1879-1884, ISSN 2475-1456
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2021.3133802

Efficient hand gesture recognition for human-robot interaction

Auteurs: Marc Peral, Alberto Sanfeliu, Anaís Garrell
Publié dans: IEEE Robotics and Automation Letters, Numéro 7(4), 2022, Page(s) 10272-10279, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3193251

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

Auteurs: Antonio Furchì, Martina Lippi, Alessandro Marino, Andrea Gasparri
Publié dans: Systems & Control Letters, Numéro 186, 2024, Page(s) 105754, ISSN 0167-6911
Éditeur: Elsevier BV
DOI: 10.1016/j.sysconle.2024.105754

Enabling Visual Action Planning for Object Manipulation Through Latent Space Roadmap

Auteurs: Martina Lippi; Petra Poklukar; Michael C. Welle; Anastasia Varava;Hang Yin; Alessandro Marino; Danica Kragic
Publié dans: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3188163

Distributed Motion Coordination for Multirobot Systems Under LTL Specifications

Auteurs: Pian Yu; Dimos V. Dimarogonas
Publié dans: IEEE Transactions on robotics, Numéro Vol. 38, no 2, 2022, Page(s) 1047-1062, ISSN 1552-3098
Éditeur: 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

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

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

Auteurs: Pian Yu; Dimos V. Dimarogonas
Publié dans: IEEE Transactions on Control of Network Systems, Numéro Vol. 9, no 1, 2022, Page(s) 367-379, ISSN 2325-5870
Éditeur: 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

Auteurs: Thomas A. Ciarfuglia; Ionut M. Motoi; Leonardo Saraceni; Mulham Fawakherji; Alberto Sanfeliu; Daniele Nardi
Publié dans: Computer and Electronics in Agriculture, Numéro volume 205, 2023, ISSN 0168-1699
Éditeur: Elsevier BV
DOI: 10.1016/j.compag.2023.107624

Adaptive Cooperative Control for Human-Robot Load Manipulation

Auteurs: Carlos Rodriguez de Cos; Dimos V. Dimarogonas
Publié dans: IEEE Robotics and Automation Letters, Numéro Volume: 7, Numéro: 2, April 2022, 2022, Page(s) 5623-5630, ISSN 1949-3045
Éditeur: 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

Auteurs: Mojtaba Kaheni, Martina Lippi, Andrea Gasparri, Mauro Franceschelli
Publié dans: IEEE Transactions on Cybernetics, Numéro 54, 2024, Page(s) 4402-4415, ISSN 2168-2267
Éditeur: IEEE Advancing Technology for Humanity
DOI: 10.1109/tcyb.2024.3350387

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

Auteurs: Alfredo Reichlin, Gustaf Tegnér, Miguel Vasco, Hang Yin, Mårten Björkman, Danica Kragic
Publié dans: Transactions on Machine Learning Research, 2024, ISSN 2835-8856
Éditeur: Transactions on Machine Learning Research