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

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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.

Pubblicazioni

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

Autori: Victor Aladele, Carlos R. De Cos, Dimos V. Dimarogonas, Seth Hutchinson
Pubblicato in: 2022 IEEE 61st Conference on Decision and Control (CDC), Numero 61st, 2022, Pagina/e 100-106, ISBN 978-1-6654-6761-2
Editore: 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

Autori: Leonardo Saraceni, Ionut M. Motoi, Daniele Nardi, Thomas A. Ciarfuglia
Pubblicato in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Pagina/e 71-77
Editore: IEEE
DOI: 10.1109/case59546.2024.10711594

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

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

Learning Geometric Representations of Objects via Interaction

Autori: Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Anastasiia Varava, Danica Kragic
Pubblicato in: Machine Learning and Knowledge Discovery in Databases: Research Track. ECML PKDD 2023, Numero Lecture Notes in Computer Science(), vol 14172, 2023
Editore: 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

Autori: J. E. Domínguez-Vidal, Alberto Sanfeliu
Pubblicato in: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Pagina/e 412-416
Editore: ACM
DOI: 10.1145/3610978.3640749

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

Autori: J. E. Domínguez-Vidal, Alberto Sanfeliu
Pubblicato in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Pagina/e 9307-9313
Editore: IEEE
DOI: 10.1109/iros58592.2024.10801981

Body gesture recognition to control a social mobile robot

Autori: Javier Laplaza, Ramón Romero, Alberto Sanfeliu, Anaís Garrell
Pubblicato in: 2023 ACM/IEEE International Conference on Human-Robot Interaction, Numero 2023, 2023, Pagina/e 456-460
Editore: ACM/IEEE
DOI: 10.1145/3568294.3580126

Speech Act Classification in Collaborative Robotics

Autori: Sara Kaszuba; Sandeep Reddy Sabbella; Francesco Leotta; Daniele Nardi
Pubblicato in: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Numero 32nd edition, 2023
Editore: 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

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

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

Autori: Kaszuba, S., Reddy S., Leotta, F., Serrarens, P. and Nardi, D.
Pubblicato in: Workshop at HRI 2023, Numero 6th edition, 2023
Editore: ACM/IEEE

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

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

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

Autori: Furchì, A., Lippi, M., Marino, A., Gasparri, A.
Pubblicato in: IEEE Conference on Decision and Control (CDC), 2023
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10384085

Quest2ROS: An App to Facilitate Teleoperating Robots

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

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

Autori: Jozsef Palmieri, Paolo Di Lillo, Stefano Chiaverini, Alessandro Marino
Pubblicato in: 2024 32nd Mediterranean Conference on Control and Automation (MED), 2024, Pagina/e 646-651
Editore: IEEE
DOI: 10.1109/med61351.2024.10566146

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

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

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

Autori: Saraceni, Leonardo; Motoi, Ionut M.; Nardi, Daniele; Ciarfuglia, Thomas A.
Pubblicato in: International Conference on Robotics and Automation (ICRA), Numero Annual, 2024
Editore: IEEE
DOI: 10.48550/arxiv.2309.13393

Evaluating Gesture Recognition in Virtual Reality

Autori: Sabbella. S., Kaszuba, S., Leotta, F., Serrarens, P. and Nardi, D.
Pubblicato in: WYSD workshop at HRI 2023, Numero 18th edition, 2023
Editore: ACM/IEEE

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

Autori: Robert Gieselmann; Alberta Longhini; Alfredo Reichlin; Danica Kragic; Florian T. Pokorny
Pubblicato in: NeurIPS 2021 - Workshop on Physical Reasoning and Inductive Biases for the Real World, Numero Annual, 2021
Editore: NeurIPS

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

Autori: J. E. Domínguez-Vidal, Alberto Sanfeliu
Pubblicato in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Pagina/e 957-962
Editore: IEEE
DOI: 10.1109/ro-man60168.2024.10731441

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

Autori: Andrea Miele, Martina Lippi, Andrea Gasparri
Pubblicato in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Pagina/e 84-89
Editore: IEEE
DOI: 10.1109/case59546.2024.10711389

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

Autori: Marc Dalmasso, Francisco Garcia-Ruiz, Thomas A. Ciarfuglia, Leonardo Saraceni, Ionut M. Motoi, Emilio Gil, Alberto Sanfeliu
Pubblicato in: 2024 7th Iberian Robotics Conference (ROBOT), 2024, Pagina/e 1-8
Editore: IEEE
DOI: 10.1109/robot61475.2024.10796941

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

Autori: Ionut M. Motoi, Leonardo Saraceni, Daniele Nardi, Thomas A. Ciarfuglia
Pubblicato in: IGARSS 2024 - 2024 IEEE International Geoscience and Remote Sensing Symposium, 2024, Pagina/e 9802-9806
Editore: 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*

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

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

Autori: Sabbella, S.R., Kaszuba, S., Leotta, F. and Nardi, D.
Pubblicato in: ACM International Conference on Intelligent Virtual Agents (ACM-IVA), Numero 23rd edition, 2023
Editore: ACM
DOI: 10.1145/3570945.3607333

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

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

Pseudo-Label Generation for Agricultural Robotics Applications

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

Exploring Preferences in Human-Robot Navigation Plan Proposal Representation

Autori: Marc Dalmasso, Víctor Sanchez-Anguix, Anaís Garrell, Pablo Jiménez, Alberto Sanfeliu
Pubblicato in: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Pagina/e 369-373
Editore: ACM
DOI: 10.1145/3610978.3640627

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

Autori: E. Repiso, A. Garrell Zulueta, A. Sanfeliu
Pubblicato in: IEEE International Symposium on Robot and Human Interactive Communication, Numero 32nd, 2023, ISBN 979-8-3503-3670-2
Editore: IEEE
DOI: 10.1109/ro-man57019.2023.10309529

A Task Allocation Framework for Human Multi-Robot Collaborative Settings

Autori: Lippi, Martina; Di Lillo, Paolo; Marino, Alessandro
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), 2023
Editore: 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

Autori: Antonio Furchì, Mauro Franceschelli, Andrea Gasparri
Pubblicato in: 2024 32nd Mediterranean Conference on Control and Automation (MED), 2024, Pagina/e 664-669
Editore: IEEE
DOI: 10.1109/med61351.2024.10566245

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

Autori: J. E. Domínguez-Vidal, Alberto Sanfeliu
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 3191-3197
Editore: IEEE
DOI: 10.1109/icra57147.2024.10611205

Classification of humans social relations within urban areas

Autori: Oscar Castro, Ely Repiso, Anaís Garrell, Alberto Sanfeliu
Pubblicato in: Iberian Robotics Conference, Vol 589 Lecture Notes in Networks and Systems, Numero 5th, 2022, Pagina/e 27-39, ISBN 978-3-031-21065-5
Editore: Springer Nature
DOI: 10.1007/978-3-031-21065-5_3

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

Autori: Lippi, M., Gallou, J., Gasparri, A., Marino, A.
Pubblicato in: 2023 Mediterranean Conference on Control and Automation, Numero 31st, 2023
Editore: IEEE
DOI: 10.1109/med59994.2023.10185899

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

Autori: Jorand Gallou, Martina Lippi, Mathieu Galle, Alessandro Marino, Andrea Gasparri
Pubblicato in: 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT), Numero 5, 2024, Pagina/e 2670-2675
Editore: IEEE
DOI: 10.1109/codit62066.2024.10708484

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

Autori: Yixiao Zhang, Victor Nan Fernandez-Ayala, Dimos V. Dimarogonas
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 4841-4847
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610123

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

Autori: Sandeep Reddy Sabbella, Pascal Serrarens, Francesco Leotta, Daniele Nardi
Pubblicato in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Pagina/e 2319-2326
Editore: 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

Autori: J.E. Domínguez, A. Sanfeliu
Pubblicato in: IEEE International Symposium on Robot and Human Interactive Communication, Numero 32nd, 2023, ISBN 979-8-3503-3670-2
Editore: IEEE
DOI: 10.1109/ro-man57019.2023.10309648

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

Autori: Arlotta, A; Lippi, M; Gasparri, A
Pubblicato in: European Conference on Mobile Robots, 2023
Editore: IEEE
DOI: 10.1109/ecmr59166.2023.10256338

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

Autori: Lippi, M., Welle, M.C., Poklukar, P., Marino, A., Kragic, D.
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Pagina/e 754-761
Editore: IEEE
DOI: 10.1109/iros47612.2022.9982199

Leader-Follower Cooperative Manipulation Under Spatio-Temporal Constraints

Autori: Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Pubblicato in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Pagina/e 10312-10317
Editore: IEEE
DOI: 10.1109/iros58592.2024.10802449

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

Autori: Dominguez-Vidal, J. E.; Rodriguez, Nicolas; Alquezar, Rene; Sanfeliu, Alberto
Pubblicato in: ACM/IEEE International Conference on Human-Robot Interaction, Numero 2023, 2023, Pagina/e 567-571
Editore: ACM/IEEE
DOI: 10.48550/arxiv.2206.00304

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

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

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

Autori: Peron, D., Fernandez-Ayala, V.N., Vlahakis E.E. and Dimarogonas, D.V.
Pubblicato in: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Editore: IEEE

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

Autori: 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
Pubblicato in: 2022 ACM/IEEE International Conference on Human-Robot Interaction, Numero 2022, 2022, Pagina/e 860-864
Editore: ACM/IEEE
DOI: 10.1109/hri53351.2022.9889458

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

Autori: Javier Laplaza, Anaís Garrell, Francesc Moreno-Noguer, Alberto Sanfeliu
Pubblicato in: IEEE International Symposium on Robot and Human Interactive Communication, Numero 31st, 2022, Pagina/e 630-635, ISBN 978-1-7281-8859-1
Editore: IEEE
DOI: 10.1109/ro-man53752.2022.9900743

Navigation in Time-Varying Densities: An Operator Theoretic Approach

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

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

Autori: Martina Lippi; Alessandro Marino
Pubblicato in: 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, ISBN 978-1-7281-9078-5
Editore: 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

Autori: Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Pubblicato in: 2022 30th Mediterranean Conference on Control and Automation (MED), 2022
Editore: 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

Autori: J. Laplaza, A. Pumarola, F. Moreno-Noguer and A. Sanfeliu
Pubblicato in: 2021 30th IEEE International Conference on Robot and Human Interactive Communication, 2021, Pagina/e 161-166
Editore: IEEE
DOI: 10.1109/ro-man50785.2021.9515402

Body Gestures Recognition for Social Human-Robot Interaction

Autori: Javier Laplaza, Joan Jaume Oliver Caraballo, Alberto Sanfeliu, Anaís Garrell
Pubblicato in: 2024 7th Iberian Robotics Conference (ROBOT), 2024, Pagina/e 1-6
Editore: IEEE
DOI: 10.1109/robot61475.2024.10797349

Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning

Autori: Martina Lippi, Michael C. Welle, Andrea Gasparri, Danica Kragic
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 2638-2644
Editore: IEEE
DOI: 10.1109/icra57147.2024.10611385

On the Subspace Structure of Gradient-Based Meta-Learning

Autori: Gustaf Tegnér, Alfredo Reichlin, Hang Yin, Mårten Björkman, Danica Kragic
Pubblicato in: International Conference on Machine Learning (ICML 2022), Numero 39th, 2022
Editore: ACM
DOI: 10.48550/arxiv.2207.03804

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

Autori: J.E. Domínguez, A. Sanfeliu
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023
Editore: IEEE
DOI: 10.1109/iros55552.2023.10342517

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

Autori: Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Ali Ghadirzadeh, Danica Kragic
Pubblicato in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Editore: 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

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

Gesture Recognition for Human-Robot Interaction through Virtual Characters

Autori: Sabbella, S.R., Kaszuba, S., Leotta, F. and Nardi, D.
Pubblicato in: International Conference on Social Robots (ICSR), Numero 15th edition, 2023, ISBN 978-981-99-8717-7
Editore: 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

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

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

Autori: J. Laplaza, F. Moreno-Noguer, A. Sanfeliu
Pubblicato in: Iberian Robotics Conference, Numero 5th, 2022, Pagina/e 102-112, ISBN 978-3-031-21064-8
Editore: Springer
DOI: 10.1007/978-3-031-21065-5_9

Compatibility checking of multiple control barrier functions for input constrained systems

Autori: Xiao Tan, Dimos V. Dimarogonas
Pubblicato in: 2022 IEEE 61st Conference on Decision and Control (CDC), Numero 61st, 2022, Pagina/e 939-944, ISBN 978-1-6654-6761-2
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/cdc51059.2022.9993001

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

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

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

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

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

Autori: Jozsef Palmieri, Paolo Di Lillo, Alberto Sanfeliu, Alessandro Marino
Pubblicato in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Pagina/e 9328-9334
Editore: IEEE
DOI: 10.1109/iros58592.2024.10802454

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

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

Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics

Autori: Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Pubblicato in: IEEE Robotics and Automation Letters, Numero Volume: 7, Numero: 4, October 2022, 2022, Pagina/e 11561 - 11568, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3200760

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

Autori: Wenceslao Shaw Cortez; Xiao Tan; Dimos V. Dimarogonas
Pubblicato in: IEEE Control Systems Letters, Numero Volume: 6, 2021, Pagina/e 1742-1747, ISSN 2475-1456
Editore: 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

Autori: Jozsef Palmieri; Paolo Di Lillo; Martina Lippi; Stefano Chiaverini; Alessandro Marino
Pubblicato in: A Control Architecture for Safe Trajectory Generation in Human–Robot Collaborative Settings, 2024, Pagina/e 1-16, ISSN 1545-5955
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3350976

2-D Directed Formation Control Based on Bipolar Coordinates

Autori: Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, Dimos V. Dimarogonas
Pubblicato in: IEEE Transactions on Automatic Control, Numero Volume: 68, Numero: 7, July 2023, 2023, Pagina/e 4175 - 4190, ISSN 0018-9286
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3206603

Event-based line SLAM in real-time

Autori: William Oswaldo hamorro, Joan Solà, Juan Andrade-Cetto
Pubblicato in: IEEE Robotics and Automation Letters, Numero 7(3), 2022, Pagina/e 8146-8153, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3187266

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

Autori: Xiao Tan, Dimos V. Dimarogonas
Pubblicato in: Automatica, Numero 159, 2023, Pagina/e 111359, ISSN 0005-1098
Editore: 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

Autori: J. E. Domínguez-Vidal, Nicolás Rodríguez, Alberto Sanfeliu
Pubblicato in: International Journal of Social Robotics, 2024, ISSN 1875-4791
Editore: Springer Verlag
DOI: 10.1007/s12369-024-01103-7

Distributed Mode Computation in Open Multi-Agent Systems

Autori: Zoreh Al Zahra Sanai Dashti; Gabriele Oliva; Carla Seatzu; Andrea Gasparri; Mauro Franceschelli
Pubblicato in: IEEE Control Systems Letters, Numero Volume 6, 2020, Pagina/e 3481 - 3486, ISSN 2475-1456
Editore: 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

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

Human Multi-Robot Physical Interaction: a Distributed Framework

Autori: Martina Lippi; Alessandro Marino
Pubblicato in: Journal of Intelligent & Robotic Systems, 2021, ISSN 0921-0296
Editore: Kluwer Academic Publishers
DOI: 10.1007/s10846-020-01277-y

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

Autori: 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
Pubblicato in: IEEE Robotics and Automation Letters, Numero 7(4), 2022, Pagina/e 10184-10191, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3193240

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

Autori: Oscar Gil, Alberto Sanfeliu
Pubblicato in: IEEE Robotics and Automation Letters, Numero 9, 2024, Pagina/e 10216-10223, ISSN 2377-3766
Editore: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2024.3471451

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

Autori: Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Pubblicato in: IEEE Control Systems Letters, Numero Volume 7, 2022, Pagina/e 401 - 406, ISSN 2475-1456
Editore: 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

Autori: Shankar A. Deka, Dimos V. Dimarogonas
Pubblicato in: IEEE Control Systems Letters, Numero Volume: 7, 2023, Pagina/e 3072 - 3077, ISSN 2475-1456
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lcsys.2023.3291657

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

Autori: Wenceslao Shaw Cortez; Christos K. Verginis; Dimos V. Dimarogonas
Pubblicato in: IEEE Transactions on Robotics, Numero Volume: 39, Numero: 4, 2023, Pagina/e 3120 - 3133, ISSN 1552-3098
Editore: 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

Autori: G. Coll, I.J. Torres, A. Grau, E. Guerra, A. Sanfeliu
Pubblicato in: Computers and Electronics in Agriculture, Numero 215, 2023, Pagina/e 108362, ISSN 0168-1699
Editore: Elsevier BV
DOI: 10.1016/j.compag.2023.108362

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

Autori: Phani Teja Singamaneni, Pilar Bachiller-Burgos, Luis J. Manso, Anaís Garrell, Alberto Sanfeliu, Anne Spalanzani, Rachid Alami
Pubblicato in: The International Journal of Robotics Research, Numero 43, 2025, Pagina/e 1533-1572, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/02783649241230562

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

Autori: Oscar Gil, Anaís Garrell, Alberto Sanfeliu
Pubblicato in: Sensors, Numero 21 (7087), 2021, Pagina/e 23, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21217087

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

Autori: Matteo Santilli, Mauro Franceschelli, and Andrea Gasparri
Pubblicato in: Automatica, Numero Volume 143, 2022, ISSN 0005-1098
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110456

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

Autori: Xiao Tan; Wenceslao Shaw Cortez; Dimos V. Dimarogonas
Pubblicato in: IEEE Transactions on Automatic Control, Numero Volume: 67, Numero: 6, 2021, ISSN 0018-9286
Editore: 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

Autori: Giacomo Golluccio; Paolo Di Lillo; Daniele Di Vito; Alessandro Marino; Gianluca Antonelli
Pubblicato in: Journal of Intelligent \& Robotic Systems, Numero 13, 2022, ISSN 1573-0409
Editore: Springer
DOI: 10.1007/s10846-022-01719-9

Distributed Implementation of Control Barrier Functions for Multi-agent Systems

Autori: Xiao Tan; Dimos V. Dimarogonas
Pubblicato in: IEEE Control Systems Letters, Numero Vol. 6, 2022, Pagina/e 1879-1884, ISSN 2475-1456
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2021.3133802

Efficient hand gesture recognition for human-robot interaction

Autori: Marc Peral, Alberto Sanfeliu, Anaís Garrell
Pubblicato in: IEEE Robotics and Automation Letters, Numero 7(4), 2022, Pagina/e 10272-10279, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3193251

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

Autori: Antonio Furchì, Martina Lippi, Alessandro Marino, Andrea Gasparri
Pubblicato in: Systems & Control Letters, Numero 186, 2024, Pagina/e 105754, ISSN 0167-6911
Editore: Elsevier BV
DOI: 10.1016/j.sysconle.2024.105754

Enabling Visual Action Planning for Object Manipulation Through Latent Space Roadmap

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

Distributed Motion Coordination for Multirobot Systems Under LTL Specifications

Autori: Pian Yu; Dimos V. Dimarogonas
Pubblicato in: IEEE Transactions on robotics, Numero Vol. 38, no 2, 2022, Pagina/e 1047-1062, ISSN 1552-3098
Editore: 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

Autori: Andrea Miele, Martina Lippi, Andrea Gasparri
Pubblicato in: IEEE Transactions on Automation Science and Engineering, 2025, Pagina/e 1-1, ISSN 1545-5955
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2025.3532023

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

Autori: Pian Yu; Dimos V. Dimarogonas
Pubblicato in: IEEE Transactions on Control of Network Systems, Numero Vol. 9, no 1, 2022, Pagina/e 367-379, ISSN 2325-5870
Editore: 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

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

Adaptive Cooperative Control for Human-Robot Load Manipulation

Autori: Carlos Rodriguez de Cos; Dimos V. Dimarogonas
Pubblicato in: IEEE Robotics and Automation Letters, Numero Volume: 7, Numero: 2, April 2022, 2022, Pagina/e 5623-5630, ISSN 1949-3045
Editore: 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

Autori: Mojtaba Kaheni, Martina Lippi, Andrea Gasparri, Mauro Franceschelli
Pubblicato in: IEEE Transactions on Cybernetics, Numero 54, 2024, Pagina/e 4402-4415, ISSN 2168-2267
Editore: IEEE Advancing Technology for Humanity
DOI: 10.1109/tcyb.2024.3350387

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

Autori: Alfredo Reichlin, Gustaf Tegnér, Miguel Vasco, Hang Yin, Mårten Björkman, Danica Kragic
Pubblicato in: Transactions on Machine Learning Research, 2024, ISSN 2835-8856
Editore: Transactions on Machine Learning Research

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