01762nas a2200169 4500008004500000245012900045210006900174260001200243520119400255653002101449653001301470100001401483700001401497700001301511700001901524856004901543 2016 engldsh 00aA game theoretic approach for antagonistic-task coordination of underwater autonomous robots in asymmetric threats scenarios0 agame theoretic approach for antagonistictask coordination of und c12/20163 a

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.

10aEmbedded Control10aRobotics1 aNardi, S.1 aFabbri, T1 aCaiti, A1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7761346/01664nas a2200193 4500008003900000245010400039210006900143260004400212300001400256490006900270520096300339653002101302653001301323100001601336700001901352700001401371700001901385856006601404 2016 d00aIndoor Real-Time Localisation for Multiple Autonomous Vehicles Fusing Vision, Odometry and IMU Data0 aIndoor RealTime Localisation for Multiple Autonomous Vehicles Fu aRome, Italy, June 15-16, 2016bSpringer a288 - 2970 v9991 of the book series Lecture Notes in Computer Science (LNCS)3 a

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’ 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.

 

10aEmbedded Control10aRobotics1 aFaralli, A.1 aGiovannini, N.1 aNardi, S.1 aPallottino, L. uhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_2401790nas a2200181 4500008003900000245005400039210005400093260005000147300001600197520124300213653001301456100001601469700001401485700001501499700001401514700001901528856006101547 2016 d00aMulti–object handling for robotic manufacturing0 aMulti–object handling for robotic manufacturing aFlorence, Italy, October 24-27bIEEEc12/2016 a6887 - 68933 a

The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as manipulators, mobile robots and conveyor belts.
The proposed approach allows different objects to be handled by different robots simultaneously in an efficient way and avoiding collisions with the environment and self–collisions between robots. In particular, the integrated system will be capable of planning paths for a set of objects from various starting points in the environment (e.g. shelves) to their respective final destinations. The proposed approach unifies the active (e.g., grasping by a hand) and passive (e.g., holding by a table) steps involved in moving the objects in the environment by treating them as end–effectors with constraints and capabilities.
Time varying graphs will be introduced to model the problem for simultaneous handling of objects by different end–effectors.
Optimal exploration of such graphs will be used to determine paths for each object with time constraints. Results will be validated through simulations.

10aRobotics1 aFerrati, M.1 aMarino, H1 aSettimi, A1 aNardi, S.1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7793936/?reload=true01896nas a2200169 4500008003900000245013800039210006900177260004400246300001400290490006900304520122000373653002101593653001301614100001401627700001901641856006601660 2016 d00aNoStop: An Open Source Framework for Design and Test of Coordination Protocol for Asymmetric Threats Protection in Marine Environment0 aNoStop An Open Source Framework for Design and Test of Coordinat aRome, Italy, June 15-16, 2016bSpronger a176 - 1850 v9991 of the book series Lecture Notes in Computer Science (LNCS)3 a

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–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.

10aEmbedded Control10aRobotics1 aNardi, S.1 aPallottino, L. uhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_1401295nas a2200169 4500008003900000020002200039245007900061210006900140260003400209520075400243653001300997100001401010700001801024700001501042700001901057856004901076 2015 d a978-1-4799-8736-800aCoordination of unmanned marine vehicles for asymmetric threats protection0 aCoordination of unmanned marine vehicles for asymmetric threats  aMay 18-21, Genoa, ItalybIEEE3 a

A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such as open sea, bay, and harbours. Performance of the approach is evaluated in terms of a security index that will allow us to obtain a tool for team sizing. The tool provides the minimum number of marine vehicles to be used in the system, given a desired security level to be guaranteed and the maximum threat velocity.

10aRobotics1 aNardi, S.1 aDella Santina1 aMeucci, D.1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7271413/