Research

My research mainly focuses on perception, sensor-based motion planning and control. What I love most is computer vision and its mathematics. 


Perception and motion planning  for UGVs
• Point cloud segmentation and 3D Reconstruction by using RGBD and LIDAR sensors 
• Sensor-based motion planning in challenging scenarios
• Robot dynamics/kinematics learning and control

DortmundPhoenix Traversability


Multi-robot systems
3D Patrolling with tracked robots
Coverage with an heterogeneous team of robots
• Exploration with mobile robots: the Multi-SRG Method


Computer vision and visual servoing for UAVs
During my experience in Selex ES MUAS (now Leonardo) I designed and developed advanced real-time applications and applied research projects for UAVs. In particular, one of these projects focused on near real-time 3D reconstruction from live video-stream. See more on my linkedin profile

ASIO_B


Computer vision and visual servoing for mobile robots
Intercepting a moving object with a mobile robot
Appearance-based nonholonomic navigation from a database of images

VisualInterceptionSoccer


Exploration of unknown environments
• With mobile robots: the SRT Method
• With a multi-robot system: the Multi-SRG Method
• With a general robotic system: the Sensor-based Exploration Tree

 SRG-sim    SET-3sensors-6+3


Robot navigation and mapping with limited sensing
In this work, we characterize the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed. See more in these papers
Learning combinatorial information from alignments of landmarks
Using a Robot to Learn Geometric Information from Permutations of Landmarks

SwapCells