@conference {2818, title = {A game theoretic approach for antagonistic-task coordination of underwater autonomous robots in asymmetric threats scenarios}, booktitle = {OCEANS 2016}, year = {2016}, month = {12/2016}, abstract = {

This work proposes a game theoretic approach
to tackle the problem of multi-robot coordination
in critical scenarios where communication is
limited and the robots must accomplish different tasks
simultaneously. An important application falls in underwater
robotic framework where robots are used to
protect a ship against asymmetric threats guaranteeing
simultaneously the coverage of the area around the ship
and the tracking of a possible intruder. The problem is
modelled as a potential game for which novel learning
protocols are introduced. Indeed, a general extension
of pay-off based algorithms is herein proposed where
the main difference with state-of-the-art protocols is
that the trajectory optimization is considered instead
of single action optimization. Moreover, the proposed
T-algorithms, steer the robots toward Nash equilibria
that will be shown to correspond to the accomplishment
of different, possibly antagonistic, goals. Finally, performances
of the algorithms, under different scenarios,
have been evaluated in simulations.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7761346/}, author = {S. Nardi and T. Fabbri and A. Caiti and L. Pallottino} } @conference {2879, title = {Indoor Real-Time Localisation for Multiple Autonomous Vehicles Fusing Vision, Odometry and IMU Data}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {288 - 297}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

Due to the increasing usage of service and industrial autonomous vehicles, a precise localisation is an essential component required in many applications, e.g. indoor robot navigation. In open outdoor environments, differential GPS systems can provide precise positioning information. However, there are many applications in which GPS cannot be used, such as indoor environments. In this work, we aim to increase robot autonomy providing a localisation system based on passive markers, that fuses three kinds of data through extended Kalman filters. With the use of low cost devices, the optical data are combined with other robots{\textquoteright} sensor signals, i.e. odometry and inertial measurement units (IMU) data, in order to obtain accurate localisation at higher tracking frequencies. The entire system has been developed fully integrated with the Robotic Operating System (ROS) and has been validated with real robots.

}, keywords = {Embedded Control, Robotics}, doi = { 10.1007/978-3-319-47605-6_24}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_24}, author = {A. Faralli and N. Giovannini and S. Nardi and L. Pallottino} } @conference {2877, title = {NoStop: An Open Source Framework for Design and Test of Coordination Protocol for Asymmetric Threats Protection in Marine Environment}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {176 - 185}, publisher = {Spronger}, organization = {Spronger}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

NoStop\ is an open source simulator dedicated to distributed and cooperative mobile robotics systems. It has been designed as a framework to design and test multi{\textendash}agent collaborative algorithms in terms of performance and robustness. The particular application scenario of a team of autonomous guards that coordinate to protect an area from asymmetric threat is considered. NoStop\ system is an integrated tool able to both evaluate the coordination protocol performance and to design the team of guards involved in the asymmetric threat protection. Moreover, NoStop\ is designed to validate robustness of coordination protocol through the use of a remote pilot that control the intruder motion to escape from the guards that monitor the area and accomplish its mission. The project core is a simulation server with a dynamic engine and a synchronization facility. Different coordination protocol can be designed and easily integrated in NoStop. The framework is fully integrated with the Robot Operating System (ROS) and it is completed by a control station where the remote pilot moves the intruder following the guards evolution in a 3D viewer.

}, keywords = {Embedded Control, Robotics}, doi = {10.1007/978-3-319-47605-6_14}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_14}, author = {S. Nardi and L. Pallottino} }