Publications

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International Journal Papers              

Learning Combinatorial Map Information from Permutations of Landmarks
B. Tovar, L. Freda and S. M. LaValle
The International Journal of Robotics Research, 2011

The SRG Method: A Decentralized Strategy for Cooperative Robot Exploration
A. Franchi, L. Freda, G. Oriolo and M. Vendittelli
IEEE/ASME Transaction on Mechatronics, 2009
IEEE RAS Italian Chapter Young Author Best Paper Award 2010

Vision-based Interception of a Moving Target with a Nonholonomic Mobile Robot
L. Freda and G. Oriolo
Robotics and Autonomous Systems, 2007


International Workshops

An Approach to Retrieve from Communication Loss in Field Robots
Ramviyas Parasuraman, Sergio Caccamo, Luigi Freda, Petter Ogren, Byung-Cheol Min
RSS 2017 Workshop on Communications in the Wild


International Conference Papers

RCAMP: Resilient Communication-Aware Motion Planner and Autonomous Repair of Wireless Connectivity in Mobile Robots
Sergio Caccamo, Ramviyas Parasuraman, Luigi Freda, Mario Gianni, Petter Ogren
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

Deployment of Ground and Aerial Robots in Earthquake-Struck Amatrice in Italy (brief Report)
Ivana Kruijff-Korbayova, Luigi Freda, Mario Gianni, Valsamis Ntouskos, Vaclav Hlavac, Vladimir Kubelka, Erik Zimmermann, Hartmut Surmann, Kresimir Dulic, Wolfgang Rottner, Emanuele Gissi
2016 IEEE International Symposium on Safety, Security and Rescue Robotics

3D Localization, Mapping and Path Planning for Search and Rescue Operations
Renaud Dubé, Abel Roman Gawel, Luigi Freda, Mario Gianni, Cesar Dario Cadena Lerma, Roland Siegwart
2016 IEEE International Symposium on Safety, Security and Rescue Robotics  (Best LBR Award)

An Exploration Method for General Robotic Systems Equipped with Multiple Sensors
L. Freda, G. Oriolo, F. Vecchioli
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Comparing appearance-based controllers for nonholonomic navigation from a visual memory
A. Cherubini, M. Colafrancesco, G. Oriolo, L. Freda and F. Chaumette
ICRA09 Workshop on Safe navigation in open and dynamic environments: Application to autonomous vehicles

Sensor-based Exloration for General Robotic Systems
L. Freda, G. Oriolo, F. Vecchioli
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Decentralized Cooperative Exploration: Implementation and Experiments
A. Franchi, L. Freda, G. Oriolo and M. Vendittelli
2008 The 10th International Conference on Intelligent Autonomous Systems

A Decentralized Strategy for Cooperative Robot Exploration
A. Franchi, L. Freda, G. Oriolo and M. Vendittelli
First International Conference on Robot Communication and Coordination

A Randomized Strategy for Cooperative Robot Exploration
A. Franchi, L. Freda, G. Oriolo and M. Vendittelli
2007 IEEE International Conference on Robotics and Automation

Learning Combinatorial Information from Alignments of Landmarks
L. Freda, B. Tovar and S. M. LaValle
2007 IEEE International Conference on Robotics and Automation

Using a Robot to Learn Geometric Information from Permutations of Landmarks
B. Tovar, L. Freda and S. M. LaValle
AMS Contemporary Mathematics Proc.

A Randomized Method for Integrated Exploration
L. Freda, F. Loiudice, G. Oriolo
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Frontier-based probabilistic strategies for sensor-based exploration
L. Freda and G. Oriolo
2005 IEEE International Conference on Robotics and Automation

Visual Servoing of a Wheeled Mobile Robot for Intercepting a Moving Object
F. Capparella, L. Freda, M. Malagnino and G. Oriolo
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Probabilistic strategies for sensor-based exploration
L. Freda, G. Oriolo and M. Vendittelli
WAC International Symposium on Robotics and Applications, 2004

The SRT Method: Randomized strategies for exploration
G. Oriolo, M. Vendittelli, L. Freda and G. Troso
2004 IEEE International Conference on Robotics and Automation


Internal Reports                                                            

Exploration Strategies for General Robotic Systems
L. Freda, G. Oriolo and F. Vecchioli
DIS Robotics Laboratory Working Paper
This report presents a novel method for sensor-based exploration of unknown environments by a general robotic system equipped with multiple sensors. The method is based on the incremental generation of a configuration-space data structure called Sensor-based Exploration Tree (SET). The expansion of the SET is driven by information at the world level, where the perception process takes place. In particular, the frontiers of the explored region efficiently guide the search for informative view configurations. Different exploration strategies may be obtained by instantiating the general SET method with different sampling techniques. Two such strategies are presented and compared by simulations in non-trivial 2D and 3D worlds. A completeness analysis of SET method is given in the paper.