Risultati finali
Consists of (1) the software modules wrapped in the ROS middleware containing the main functionalities developed within T4.1 and (2) a compact technical report.
Representative test mockupRepresentative test mockup development completed, based on use case defined in WP2.Ready for deployment at sea.
Advanced Underwater Localization & Perception FrameworkSoftware (and supporting documentation) related to the third and last release of the perception framework: will include all expected perception and modeling features, and will in particular provide the consolidated capability for 6 DoF registration, 3D mapping and 3D object modeling (T3.3).
Early Underwater Localization & Perception FrameworkSoftware (and supporting documentation) related to the first release of the perception framework: focusing on online localization through low-cost methods (T3.1), and early outcomes related to 3D data acquisition and fusion (T3.2).
Cognitive engineCognitive engine with operational learning and control of manipulation skills, and latencies mitigation handling.
Manipulation arm integrated in the skid and ready to be mounted on the ROVManipulation arms (2 arms and grippers) integrated in the skid and ready to be mounted on the ROV - operational for deep water operations.
Autonomous arm primitivesConsists of (1) the software modules wrapped in the ROS middleware containing the main functionalities developed within T4.2 and refinement of modules developed within T4.1, and (2) compact technical report.
Ground truth simulation setup: final releaseWill include latest models / updates as made available by partners at that stage of the project.
Movement and feedback primitives softwareSoftware package with the design of the representation for movement and feedback primitives in the immersed virtual environment, and report on results of associated evaluation of the robustness in face of various transmission delays.
Main control center infrastructuresDedicated space with consoles, computers, screen walls, communication channels provision.
Dexterous grippers developed and testedDexterous effector release, tested and operational for deep water operations.
Coordinated ROV+arms strategy, and grasping strategyConsists of (1) the overall software developed in final version and (2) a compact technical report.
Visual user interfaceMain release of the immersive visual interface as detailed in T6.3.
Ground truth simulation setup: initial releaseGround truth simulation setup: initial release (relates to T8.3).
Protocols for offline training and preparation of a missionSoftware and report on the offline training protocol (as worked out in T7.1).
Simulation environment main releaseOverall simulation framework enabling force feedback and visual feedback through dedicated engines.
Ground truth simulation setup: intermediate releaseGround truth simulation setup: intermediary release (relates to T8.3). Updated partners models, and simulation setup minor fixes/improvements if deemed necessary.
Dexterous arms developed and testedDexterous manipulator release, tested and operational for deep water operations.
Haptic arms and hands exoskeletonsMain release of the force feedback interfaces for each operators' arms and hands. Developed, tested, and operational.
Operational Satellite communications systemDevelopment, integration and testing of the satellite communication solution. Required hardware should be installed on COMEX vessel and ready for the main test campaign.
Intermediary Underwater Localization & Perception FrameworkSoftware (and supporting documentation) related to the second release of the perception framework: will focus on a consolidated system for data acquisition and fusion (T3.2) and early outcomes for 6 DoF registration, 3D mapping and 3D object modeling (T3.3).
Reporting on the first integration step and first evaluation campaign.
System requirements elicitation and operational conceptWill report on the elicited system requirements and will provide details on the operational concept and operational architecture of the system
Report on integration step 3 and 3rd evaluation campaignReporting on the outcomes of integration step 3 and results of the 3rd (main) campaign at sea, + lessons learnt and recommendations.
Interface Control DocumentWill contain formal specification of every subsystems interface – both hardware and software (including communication protocols, data formalisms, etc.).
Report on integration step 2 and 2nd evaluation campaignReporting on the 2nd integration step and 2nd evaluation campaign.
Reference DexROV use casesWill report on the collected user requirements and consolidated reference use cases.
Functional and physical architectureWill contain the specification of the functional architecture and physical architecture of the whole system, with a first iteration on subsystem detailed specification (to be further addressed in detail in WPs addressing respective subsystems).
System integration and evaluation planDetail of the system integration and evaluation plan (may be subject to revisions/adaptations, as the results of the project are released).
Dissemination package to be used by the consortium during Y3: : leaflet, posters, project presentation slides, etc
Communication and dissemination package for Y2Dissemination package to be used by the consortium during Y2: : leaflet, posters, project presentation slides, etc
Project web site and media channelsProject website release, electronic channels enabled, project identity material: logo, color palette, templates for documents and presentation, etc.
Customer websiteCustomer oriented, dedicated web site to showcase commercially exploitable results
Professional short movie of project achievementsProfessional short movie of project achievements.
Communication and dissemination package for Y4Dissemination package to be used by the consortium during Y4: leaflet, posters, project presentation slides, etc
Pubblicazioni
Autori:
Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf
Pubblicato in:
Frontiers in Robotics and AI, Numero 3, 2016, ISSN 2296-9144
Editore:
Frontiers
DOI:
10.3389/frobt.2016.00016
Autori:
Paolo Augusto Di Lillo, Enrico Simetti, Daniela De Palma, Elisabetta Cataldi, Giovanni Indiveri, Gianluca Antonelli, Giuseppe Casalino
Pubblicato in:
Marine Technology Society Journal, Numero 50/4, 2016, Pagina/e 67-80, ISSN 0025-3324
Editore:
Marine Technology Society, Inc.
DOI:
10.4031/MTSJ.50.4.8
Autori:
Sylvain Calinon
Pubblicato in:
Intelligent Service Robotics, Numero 9/1, 2016, Pagina/e 1-29, ISSN 1861-2776
Editore:
Springer Verlag
DOI:
10.1007/s11370-015-0187-9
Autori:
Leonel Rozo, Sylvain Calinon, Darwin G. Caldwell, Pablo Jimenez, Carme Torras
Pubblicato in:
IEEE Transactions on Robotics, Numero 32/3, 2016, Pagina/e 513-527, ISSN 1552-3098
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/TRO.2016.2540623
Autori:
Leonel Rozo, João Silvério, Sylvain Calinon, Darwin G. Caldwell
Pubblicato in:
Frontiers in Robotics and AI, Numero 3, 2016, ISSN 2296-9144
Editore:
Frontiers
DOI:
10.3389/frobt.2016.00030
Autori:
Enrico Simetti, Giuseppe Casalino
Pubblicato in:
Journal of Intelligent & Robotic Systems, 2016, ISSN 0921-0296
Editore:
Kluwer Academic Publishers
DOI:
10.1007/s10846-016-0368-6
Autori:
Ajay Kumar Tanwani, Sylvain Calinon
Pubblicato in:
IEEE Robotics and Automation Letters, Numero 1/1, 2016, Pagina/e 235-242, ISSN 2377-3766
Editore:
IEEE
DOI:
10.1109/LRA.2016.2517825
Autori:
Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzokvitz, Peter Weiss, Frederic Gauch, Gianluca Antonelli, Giovanni Indiveri, Giuseppe Casalino, Andreas Birk, Max Folkert Pfingsthorn, Sylvain Calinon, Ajay Tanwani, Alessio Turetta, Cees Walen, Lisa Guilpain
Pubblicato in:
IFAC-PapersOnLine, Numero 48/2, 2015, Pagina/e 218-223, ISSN 2405-8963
Editore:
Elsevier
DOI:
10.1016/j.ifacol.2015.06.036
Autori:
Martijn J. A. Zeestraten, Ioannis Havoutis, Joao Silverio, Sylvain Calinon, Darwin G. Caldwell
Pubblicato in:
IEEE Robotics and Automation Letters, Numero 2/3, 2017, Pagina/e 1240-1247, ISSN 2377-3766
Editore:
IEEE
DOI:
10.1109/LRA.2017.2657001
Autori:
Ioannis Havoutis, Sylvain Calinon
Pubblicato in:
Autonomous Robots, 2018, ISSN 0929-5593
Editore:
Kluwer Academic Publishers
DOI:
10.1007/s10514-018-9745-2
Autori:
Jeremi Gancet, Peter Weiss, Gianluca Antonelli, Max Folkert Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Diego Urbina, Shashank Govindaraj, Pierre Letier, Xavier Martinez, Joseph Salini, Bertrand Chemisky, Giovanni Indiveri, Giuseppe Casalino, Paolo Di Lillo, Enrico Simetti, Daniel De Palma, Andreas Birk, Tobias Fromm, Christian Mueller, Ajay Tanwani, Ioannis Havoutis, Andrea Caffaz,
Pubblicato in:
IFAC-PapersOnLine, Numero 49/23, 2016, Pagina/e 414-419, ISSN 2405-8963
Editore:
IFAC
DOI:
10.1016/j.ifacol.2016.10.439
Autori:
Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon
Pubblicato in:
IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 1848-1855, ISSN 2377-3766
Editore:
IEEE
DOI:
10.1109/LRA.2018.2805105
Autori:
Enrico Simetti, Giuseppe Casalino
Pubblicato in:
IEEE Journal of Oceanic Engineering, Numero 42/4, 2017, Pagina/e 782-799, ISSN 0364-9059
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/JOE.2016.2618182
Autori:
E. Simetti, G. Casalino, F. Wanderlingh, M. Aicardi
Pubblicato in:
Ocean Engineering, Numero 164, 2018, Pagina/e 40-54, ISSN 0029-8018
Editore:
Pergamon Press Ltd.
DOI:
10.1016/j.oceaneng.2018.06.026
Autori:
E. Simetti, G. Casalino
Pubblicato in:
Annual Reviews in Control, Numero 40, 2015, Pagina/e 191-200, ISSN 1367-5788
Editore:
Pergamon Press Ltd.
DOI:
10.1016/j.arcontrol.2015.09.011
Autori:
Elisabetta Cataldi, Gianluca Antonelli
Pubblicato in:
2015 International Conference on Advanced Robotics (ICAR), 2015, Pagina/e 524-529, ISBN 978-1-4673-7509-2
Editore:
IEEE
DOI:
10.1109/ICAR.2015.7251506
Autori:
Gianluca Antonelli, Elisabetta Cataldi
Pubblicato in:
OCEANS 2015 - Genova, 2015, Pagina/e 1-9, ISBN 978-1-4799-8736-8
Editore:
IEEE
DOI:
10.1109/OCEANS-Genova.2015.7271645
Autori:
Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzkovitz, Peter Weiss, Fred Gauch, Bertrand Chemisky, Gianluca Antonelli, Giuseppe Casalino, Giovanni Indiveri, Andreas Birk, Max F. Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Lisa Guilpain
Pubblicato in:
OCEANS 2015 - Genova, 2015, Pagina/e 1-6, ISBN 978-1-4799-8736-8
Editore:
IEEE
DOI:
10.1109/OCEANS-Genova.2015.7271691
Autori:
Signe Moe, Andrew R. Teel, Gianluca Antonelli, Kristin Y. Pettersen
Pubblicato in:
2015 54th IEEE Conference on Decision and Control (CDC), 2015, Pagina/e 171-178, ISBN 978-1-4799-7886-1
Editore:
IEEE
DOI:
10.1109/CDC.2015.7402104
Autori:
Leonel Rozo, Danilo Bruno, Sylvain Calinon, Darwin G. Caldwell
Pubblicato in:
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Pagina/e 1024-1030, ISBN 978-1-4799-9994-1
Editore:
IEEE
DOI:
10.1109/IROS.2015.7353496
Autori:
Joao Silverio, Leonel Rozo, Sylvain Calinon, Darwin G. Caldwell
Pubblicato in:
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Pagina/e 464-470, ISBN 978-1-4799-9994-1
Editore:
IEEE
DOI:
10.1109/IROS.2015.7353413
Autori:
Gianluca Antonelli, Signe Moe, Kristin Y. Pettersen
Pubblicato in:
2015 23rd Mediterranean Conference on Control and Automation (MED), 2015, Pagina/e 1092-1097, ISBN 978-1-4799-9936-1
Editore:
IEEE
DOI:
10.1109/MED.2015.7158902
Autori:
Signe Moe, Gianluca Antonelli, Kristin Y. Pettersen, Johannes Schrimpf
Pubblicato in:
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015, Pagina/e 1233-1239, ISBN 978-1-4673-9675-2
Editore:
IEEE
DOI:
10.1109/ROBIO.2015.7418940
Autori:
Max Pfingsthorn, Ravi Rathnam, Tomasz Luczynski, Andreas Birk
Pubblicato in:
OCEANS 2016 - Shanghai, 2016, Pagina/e 1-6, ISBN 978-1-4673-9724-7
Editore:
IEEE
DOI:
10.1109/OCEANSAP.2016.7485520
Autori:
Arturo Gomez Chavez, Max Pfingsthorn, Ravi Rathnam, Andreas Birk
Pubblicato in:
OCEANS 2016 - Shanghai, 2016, Pagina/e 1-6, ISBN 978-1-4673-9724-7
Editore:
IEEE
DOI:
10.1109/OCEANSAP.2016.7485710
Autori:
Enrico Simetti, Stefano Galeano, Giuseppe Casalino
Pubblicato in:
OCEANS 2016 - Shanghai, 2016, Pagina/e 1-7, ISBN 978-1-4673-9724-7
Editore:
IEEE
DOI:
10.1109/OCEANSAP.2016.7485690
Autori:
Enrico Simetti, Francesco Wanderlingh, Giuseppe Casalino, Giovanni Indiveri, Gianluca Antonelli
Pubblicato in:
OCEANS 2017 - Aberdeen, 2017, Pagina/e 1-6, ISBN 978-1-5090-5278-3
Editore:
IEEE
DOI:
10.1109/OCEANSE.2017.8084888
Autori:
Elisabetta Cataldi, Stefano Chiaverini, Gianluca Antonelli
Pubblicato in:
2018 26th Mediterranean Conference on Control and Automation (MED), 2018, Pagina/e 161-166, ISBN 978-1-5386-7890-9
Editore:
IEEE
DOI:
10.1109/med.2018.8442760
Autori:
Daniele Di Vito, Paolo Di Lillo, Filippo Arrichiello, Gianluca Antonelli
Pubblicato in:
2018 26th Mediterranean Conference on Control and Automation (MED), 2018, Pagina/e 364-369, ISBN 978-1-5386-7890-9
Editore:
IEEE
DOI:
10.1109/med.2018.8442460
Autori:
Paolo Di Lillo, Daniele Di Vito, Enrico Simetti, Giuseppe Casalino, Gianluca Antonelli
Pubblicato in:
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Pagina/e 7504-7509, ISBN 978-1-5386-3081-5
Editore:
IEEE
DOI:
10.1109/icra.2018.8462976
Autori:
Sylvain Calinon
Pubblicato in:
2018, Pagina/e 111-126
Editore:
Springer International Publishing
DOI:
10.1007/978-3-319-60916-4_7
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