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+
+ Download the most recent version of my CV here.
+
+
+
Short biography
+
+
+
+ I was born in Benevento, Italy, in 1989. I received the bachelor’s degree in computer engineering (2012), the master’s degree in electronic
+ engineering (2016), and the doctorate in information engineering (2020) from the University of Sannio,
+ Benevento, Italy. From May to November 2016, I joined the automatic control group (GRACE) as a research fellow at the same university. During my
+ doctorate, I worked on the use of software-in-the-loop methodologies for the analysis and control design of small UAV systems, under the supervision
+ of Prof. Dr. Luigi Iannelli. From March to November 2019, I was a
+ visiting Ph.D. student at LAAS - CNRS, in Toulouse, working with Prof. Dr.
+ Antonio Franchi and his team. From June 2020 to July 2022, I was a post-doctoral research fellow at the Czech Technical University in Prague,
+ working with the Multi-robot System (MRS) Group together with Prof. Dr. Martin Saska. From November 17 to November 30, 2022, I was a visiting researcher at the University
+ of Twente together with the RAM group and Prof.
+ Dr. Antonio Franchi. Currently, I am a tenured researcher at the Ricerca sul Sistema Energetico (RSE)
+ S.p.A., a publicly controlled research organization, with the Department of Power Generation Technologies and Materials, and an associated researcher with
+ the Multi-robot System (MRS) Group working with Prof. Dr. Martin Saska. I serve as associate editor for the International Conference
+ on Unmanned Aircraft Systems (ICUAS) and the Mediterranean Conference on Control and Automation (MED).
+ My research interests are in simulation, control and motion planning problems for unmanned aerial vehicles, autonomous vehicles, formal methods in control and automation, human-robot
+ collaboration, communication-aware robotics, model predictive control techniques, nonlinear optimization, and robot manipulators.
+
+
+
Education
+
+
+
+ PhD in Information Technologies for Engineering (curriculum in Automatic Control), November 2020
+ Additional mention of
+ Doctor Europaeus
+ Thesis title: “Software-in-the-loop methodologies for the analysis and control design of small UAV systems”
+ University of Sannio in Benevento, Benevento, Italy
+ Advisor: Prof. Dr. Luigi Iannelli
+
+
+
+ Master Degree in Electronic Engineering (curriculum in Automatic Control), March 2016
+ Thesis title: “Development of a simulator aimed to detect and track moving objects for UAVs”
+ University of Sannio in Benevento, Benevento, Italy
+ Advisor: Prof. Dr. Luigi Iannelli
+
+
+
+ Bachelor Degree in Computer Engineering (curriculum in Automatic Control), July 2012
+ Thesis title: “An Object Oriented approach aimed to the creation of control software for industrial processes”
+ University of Sannio in Benevento, Benevento, Italy
+ Advisors: Prof. Dr. Luigi Iannelli and Eng. Paolo Rubino
+
+ 29 July 2023, News
+ Organazing a special issue on advanced control and path planning techniques for UAVs on
+ MPDI Machines
+
+
+
+
+ 1 April 2023, Paper
+ 2 conference papers have been accepted for publication at the 2023 International Conference on Unmanned Aircraft Systems (ICUAS). More info is available
+ on Publications.
+
+
+ 11 July 2022, News
+ I started a new tenured research position at the Ricerca sul Sistema Energetico (RSE) S.p.A.. This makes me sad because I had to leave
+ the Multi-robot System (MRS) Group where I spent the last two years, but on the other hand I am excited about the new
+ adventure that I have just started.
+
+
+
+
+ 6 May 2022, Paper
+ 3 conference papers have been accepted for publication at the 2022 International Conference on Unmanned Aircraft Systems (ICUAS). More info is available
+ on Publications.
+
+
+
+
+ 18 April 2021, Paper
+ 2 conference papers have been accepted for publication at the 2021 International Conference on Unmanned Aircraft Systems (ICUAS). More info is available
+ on Publications.
+
+
+
+
+ 10 November 2020, News
+ Today, I defended my thesis and got my PhD in Information Engineering. Thank you all for your support over the years.
+ Here is the link to my PhD Thesis.
+
+
+
+
+ 10 September 2020, News
+ At the 2020 edition of Automatica.it (the Italian Workshop on Automatic Control)
+ I presented my idea of a framework for a multi-robot system for power line inspection tasks starting from Signal Temporal Logic specifications.
+ Here is the link to my talk.
+
+
+
+
+ 16 July 2020, News
+ The UniSannio team is the winner of the
+
+ MathWorks Minidrone Competition at IFAC 2020. On 16th July 2020 Mario Terlizzi, Muhammad Aatif, Amin Basiri,
+ and Luigi Russo (virtually) competed with the other finalist teams, by proposing their own controller for the
+ Parrot Mambo drone that has to fulfill a lane following task using its on-board camera. Congratulations, to whole
+ UniSannio team!! :-) I am glad to have helped the team achieve this important result.
+
+
+
+
+ 15 June 2020, News
+ From June 2020, I am a Postdoctoral research fellow at the Czech Technical University (CTU) in Prague working with
+ Martin Saska and his team. More information
+ about the research activities, projects and publications are available on the
+ group website.
+
+
+
+
+ 31 January 2020, Software
+ MAT-Fly: an easy to use virtual reality environment based on the MathWorks Virtual Reality (VR) toolbox
+ aimed to simulate flying platforms together with detection and tracking algorithms
+ (code,
+ pdf,
+ poster,
+ video).
+
+
+
+
+ 1 December 2019, News
+ From March to November 2019, I was a visiting PhD student at LAAS-CNRS in Toulouse working with
+ Antonio Franchi
+ and his team. During my period abroad, I was among the participants of the Mohammed Bin Zayed robotics
+ Competition 2020. The LAAS Team has been
+ selected as a finalist of the competition.
+
+
+
+
+ 6 November 2019, Software
+ BebopS: a ROS package aimed to simulate the behavior of Parrot Bebop 2 by using SIL methodologies
+ (code,
+ pdf,
+ poster,
+ video).
+
+
+
+
+ 29 June 2019, Software
+ CrazyS: a software-in-the-loop simulation platform for the Crazyflie 2.0 nano-quadcopter
+ (pdf,
+ code,
+ video).
+
+
+
+
+ 17 May 2018, News
+ As member of the UniSannio team, I was selected as finalist of the
+ Aerial robotics control and perception challenge at the 26th Mediterranean Conference on Control and Automation 2018.
+ During the week 18th–23rd June 2018 Pasquale Oppido and I will compete with the other finalist team, by proposing own controller
+ for the Bebop drone that has to fulfill wind farm inspection tasks.
+
+
+
+
+ 16 April 2016, News
+ During the "Make & Share"
+ event organized by the Tech Coffee association, held in Palazzo Paolo V in Benevento, Italy, I will take a talk on "Advaced Drone Applications:
+ oppunities and issues".
+
+
+
+
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+ Giuseppe Silano - Home
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Contact details
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+
Ricerca sul Sistema Energetico (RSE) S.p.A.
+ Department of Power Generation Technologies and Materials
+ Via Raffaele Rubattino, 54
+ 20154 Milan, Italy
+
+ Tenure researcher with a strong interest in software and control of robots and embedded systems.
+ Currently working on motion planning and control solutions for Unmanned Aerial Vehicles (UAVs).
+ What excites me most about this field are the challenging and multidisciplinary problems that require me
+ to use my background in Electronic Engineering, Computer Science and Control Systems to develop integrated solutions.
+ Here you can find out more about me, my research activities, publications, and open-source projects.
+ If you are interested in knowing more, drop me a line.
+
+
+
+ The content and design of this website were based from an earlier version of Alexander W. Winkler's website.
+ If you want to know more about my use of cookies, take a look at the cookies policy. The cookies enabler (and the corresponding
+ banner) has been strongly inspired by the Nicholas Ruggeri's cookies-enabler.
+
+
+
+ When I decided to build my website (I thought it was a good idea to get to know myself and my work known on the web), I was looking for something easy to manage and
+ update. Something that was modern and that could help me to publish in a rapid way all my papers and new infos about my research and career. While considering websites
+ of my colleagues abroad, (e.g., Alexander W. Winkler, James Alan
+ Preiss), I found out static site generators, in particular jemdoc and Jekyll
+ .
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+ I realized the benefits of a static site:
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provide improved security over dynamic websites;
+
improve performance for end users compared to dynamic websites;
+
ensure fewer or no dependencies on systems such as databases or other application servers;
+
allow cost savings from utilizing cloud storage, as opposed to a hosted environment.
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+ Looking around websites using such technologies, I saw Alexander W. Winkler's site and I really enjoyed his style.
+ Therefore, I contacted Alexander expressing my appreciation and asked him to use its earlier style for my website using Jekyll.
+
+
+
+
+
The Mechanics
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+
+ Jekyll is a simple, extendable, static site generator. You give it text written in your favorite markup language (e.g., TeX or Markdown) and it churns through layouts
+ to createa static website. Throughout that process you can tweak how you want the site URLs to look, what data gets displayed in the layout, and more.
+
+
+ To learn the basics of using Jekyll - Static Site Generator, I followed the online course of Mike Dane,
+ available at the link. The course teaches you everything you need to know
+ to create a professional and scalable website or blog!
+
+
+
+
+
License
+
+
+
+ Unless specified otherwise, all design and content within this site is licensed under an Apache License 2.01.
+ The main site design was not done by me, but rather Alexander W. Winkler, so you should contact
+ him if you want to use it. The cookies enabler (and the corresponding banner) has been strongly inspired by the
+ Nicholas Ruggeri's cookies-enabler.
+
+
+
+
+
+
+ 1. A permissive license whose main conditions require preservation of copyright and license notices. Contributors provide an express grant of patent rights.
+ Licensed works, modifications, and larger works may be distributed under different terms and without source code.↩
+
+
+
+ FLOW is an Horizon Europe project. FLOW boosts and demonstrates multifaceted Electric
+ Vehicle (EV) smart charging and Vehile-to-Everything (V2X) integration into energy systems thanks to a range of comprehensive solutions providing answers to
+ the needs of all actors involved. These solutions include highly replicable user-centric products, concepts, configurations and mechanisms to optimize the
+ operations. Cross-sector harmonization and standardization is delivered to facilitate activities of stakeholders and EV users. Advanced interoperable solutions
+ enhance planning, operation and assessment of EV charging for seamless integration into the energy system and identification of the most appropriate scenario based
+ on a multi-criteria model, leveraging appropriate business models and tailored services. FLOW also delivers multi-actor orchestration to ensure data exchange and
+ synchronisation across actors for Vehicle-Grid-Integration (VGI) and EV flexibility services. Within the project, my role was that of leader from RSE's
+ Department side (T4.3 leader).
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+ October 2022 - Today
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+ ERIGrid2 is an Horizon 2020 INFRAIA project. Based on the results from the
+ ERIGrid-1 project, the successor project ERIGrid 2.0 expanses the research services
+ and tools of European research infrastructures for validating smart energy networks with the electric power grid as the main backbone.
+ Committed to the holistic and cyber-physical systems-based validation approach, ERIGrid 2.0 fosters system-level support and education
+ for industrial and academic researchers in power and energy systems research and technology development. Within the project, my role
+ was that of work package leader (WP13 - JRA4).
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+ June 2020 - December 2023
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+ Aerial-Core is an ICT project. It aims to develop core technology
+ modules and an integrated aerial cognitive robotic system that will have unprecedented capabilities on the operational range and safety
+ in the interaction with people, or Aerial Co-Workers (ACWs) for applications such as the inspection and maintenance of large linear
+ infrastructures. The system will integrate aerial robots with different characteristics and will be able to meet the requirements of:
+ (1) Long range (several kilometres) and local very accurate (subcentimetre) inspection of the infrastructure, (2) maintenance activities
+ based on aerial manipulation involving force interactions, and (3) aerial co-working safely and efficiently helping human workers in
+ inspection and maintenance. Within the project, my role was that of leader from CTU side (June 2020 - July 2022, T2.3 and T7.4 leader)
+ and participant (July 2022 - December 2023).
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+ October 2019 - May 2023
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+ Comp4Drones is an ECSEL JU project with the aim of providing a framework of key enabling
+ technologies for safe and autonomous drones. It brings to bear a holistically designed ecosystem from application to electronic components, realized as a
+ tightly integrated multi-vendor and compositional UAV embedded architecture solution and a tool chain complementing the compositional architecture principles.
+ The ecosystem aims at supporting (1) efficient customization and incremental assurance of drone embedded platforms, (2) safe autonomous decision making concerning
+ individual or cooperative missions, (3) trustworthy drone-to-drone and drone-to-ground communications even in presence of malicious attackers and under the
+ intrinsic platform constraints, and (4) agile and cost-effective compositional design and assurance of drone modules and systems. Within the project,
+ my role was that of participant.
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+ March 2019 - February 2020
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+ The Mohamed Bin Zayed International Robotic Challenge (MBZIRC) is a biennial international
+ robotics competition that provides an ambitious and technologically demanding set of challenges and is open to all teams from all countries. Also, the MBZIRC
+ competition aims to inspire future robotics through innovative solutions and technological excellence. Within the competition, specifically the “challenge 2”,
+ autonomous aerial and ground robots have been carried out for navigation and manipulation tasks, in unstructured, outdoor and indoor environments. In particular,
+ a team of UAVs (Unmanned Aerial Vehicles) and a UGV (Unmanned Ground Vehicle) collaborating to autonomously locate, pick, transport and assemble different types
+ of brick shaped objects to build pre-defined structures, in an outdoor environment. Those challenge is motivated by construction automation and autonomous robot
+ based 3D printing of large structures. Within the competition, my role was that of participant. More information about the challenges, the partecipants
+ and the achivied results can be found at http://mbzirc2020team.laas.fr/.
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+ September 2018 - November 2021
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+
+ AFarCloud is an ECSEL JU project with the aim of providing a distributed platform for autonomous
+ farming that will allow the integration and cooperation of agriculture Cyber Physical Systems in real-time in order to increase efficiency, productivity, animal
+ health, food quality and reduce farm labour costs. This platform will be integrated with farm management software and will support monitoring and decision-making
+ solutions based on big data and real time data mining techniques. The AFarCloud project also aims to make farming robots accessible to more users by enabling farming
+ vehicles to work in a cooperative mesh, thus opening up new applications and ensuring re-usability, as heterogeneous standard vehicles can combine their capabilities
+ in order to lift farmer revenue and reduce labour costs. Within the project, my role was that of leader from UniSannio side (T3.2 leader).
+
+
G. Silano and L. Iannelli, “CrazyS: a software-in-the-loop simulation platform for the Crazyflie 2.0 nano-quadcopter,” in “Robot Operating System (ROS): The Complete Reference (Volume 4),” A. Koubaa, Ed. , Cham: Springer International Publishing, pp. 81–115, 2020.
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+@inbook{Silano2019ROSVolume4,
+ author = {Silano, G. and Iannelli, L.},
+ editor = {Koubaa, A.},
+ title = {Robot Operating System (ROS): The Complete Reference (Volume 4)},
+ chapter = {{CrazyS: a software-in-the-loop simulation platform for the Crazyflie 2.0 nano-quadcopter}},
+ publisher = {Springer International Publishing},
+ group = {book-chapters},
+ address = {Cham},
+ pages = {81-115},
+ isbn = {978-3-030-20190-6},
+ doi = {10.1007/978-3-030-20190-6_4},
+ preprint = {publications/rosChapter19.pdf},
+ link = {https://link.springer.com/chapter/10.1007/978-3-030-20190-6_4},
+ year = {2020},
+ code = {http://github.com/gsilano/CrazyS}
+}
+
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+
+
+
This chapter proposes a typical use case dealing with the physical simulation of autonomous robots (specifically, quadrotors) and their interfacing through ROS (Robot Operating System). In particular, we propose CrazyS, an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano-quadcopter in the physics based simulation environment Gazebo. Such simulation platform allows to understand quickly the behavior of the flight control system by comparing and evaluating different indoor and outdoor scenarios, with a details level quite close to reality. The proposed extension, running on Kinetic Kame ROS version but fully compatible with the Indigo Igloo one, expands the RotorS capabilities by considering the Crazyflie 2.0 physical model, its flight control system and the Crazyflie’s on-board IMU, as well. A simple case study has been considered in order to show how the package works and how the dynamical model interacts with the control architecture of the quadcopter. The contribution can be also considered as a reference guide for expanding the RotorS functionalities in the UAVs field, by facilitating the integration of new aircrafts. We released the software as open-source code, thus making it available for scientific and educational activities.
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Preprints
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V. Kratky, G. Silano, M. Vrba, C. Papaioannidis, I. Mademlis, R. Penicka, I. Pitas, and M. Saska, “Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications,” pp. 1–8, 2024.
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+@inproceedings{Silano2024IROS,
+ author = {{Kratky}, Vit and {Silano}, Giuseppe and {Vrba}, Matous and {Papaioannidis}, Christos and {Mademlis}, Ioannis and {Penicka}, Robert and {Pitas}, Ioannis and {Saska}, Martin},
+ title = {{Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications}},
+ year = {2024},
+ group = {preprints},
+ pages = {1-8},
+ preprint = {publications/2403.15333.pdf},
+ link = {https://arxiv.org/abs/2403.15333},
+ doi = {10.48550/arXiv.2403.15333}
+}
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+
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is intended for monitoring the safety of human workers, especially those working at heights. In the proposed dynamic formation scheme, one UAV acts as the leader of the formation and is equipped with sensors for human worker detection and gesture recognition. The follower UAVs maintain a predetermined formation relative to the worker’s position, thereby providing additional perspectives of the monitored scene. Hand gestures allow the human worker to specify movements and action commands for the UAV team and initiate other mission-related commands without the need for an additional communication channel or specific markers. Together with a novel unified human detection and tracking algorithm, human pose estimation approach and gesture detection pipeline, the proposed approach forms a first instance of an HSI system incorporating all these modules onboard real-world UAVs. Simulations and field experiments with three UAVs and a human worker in a mock-up scenario showcase the effectiveness and responsiveness of the proposed approach.
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C. A. Dimmig, G. Silano, K. McGuire, C. Gabellieri, W. Honig, J. Moore, and M. Kobilarov, “Survey of Simulators for Aerial Robots,” pp. 1–8, November, 2023.
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+@article{Silano2023SurveySimulator,
+ title = {{Survey of Simulators for Aerial Robots}},
+ author = {{Dimmig}, C. A. and {Silano}, G. and {McGuire}, K. and {Gabellieri}, C. and {Honig}, W. and {Moore}, J. and Kobilarov, M.},
+ group = {preprints},
+ year = {2023},
+ preprint = {publications/survey_simulators.pdf},
+ pages = {1-8},
+ month = nov,
+ doi = {10.48550/arXiv.2311.02296},
+ link = {https://arxiv.org/abs/2311.02296}
+}
+
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+
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the development and evaluation of novel perception and control algorithms. However, the large number of available simulators poses a significant challenge for researchers to determine which simulator best suits their specific use-case, based on each simulator’s limitations and customization readiness. This paper analyzes existing UAV simulators and decision factors for their selection, aiming to enhance the efficiency and safety of research endeavors.
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Journals
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A. Caballero and G. Silano, “A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems,” IEEE Access, vol. 11, pp. 81361–81377, July, 2023. Impact factor: 3.9.
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+@article{Silano2022BirdDiverter,
+ title = {{A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems}},
+ author = {{Caballero}, Alvaro and {Silano}, Giuseppe},
+ journal = {IEEE Access},
+ group = {journals},
+ year = {2023},
+ preprint = {publications/birdDiverter.pdf},
+ status = {Impact factor: 3.9.},
+ volume = {11},
+ pages = {81361-81377},
+ month = jul,
+ doi = {10.1109/ACCESS.2023.3300240},
+ link = {https://ieeexplore.ieee.org/document/10197369}
+}
+
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+
This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained trajectories, considering payload capacity limitations and recharging constraints. Signal Temporal Logic (STL) specifications are employed to encode the mission objectives and temporal requirements. Additionally, an event-based replanning strategy is introduced to handle unforeseen failures. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation operations. The effectiveness and validity of the approach are demonstrated through simulations in MATLAB and Gazebo, as well as field experiments carried out in a mock-up scenario.
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+
D. Hert et al., “MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems,” Journal of Intelligent & Robotic Systems, vol. 108, no. 64, pp. 1–34, July, 2023. Impact factor: 3.3.
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+@article{Silano2023JINT_HW,
+ author = {{Hert}, D. and {Baca}, T. and {Petracek}, P. and {Kratky}, V. and {Penicka}, R. and {Spurny}, V. and {Petrlik}, M. and {Vrba}, M. and {Zaitlik}, D. and {Stoudek}, P. and {Walter}, V. and {Stepan}, P. and {Horyna}, J. and {Pritzl}, V. and {Sramek}, M. and {Ahmad}, A. and {Silano}, G. and {Bonilla Licea}, D. and {Stibinger}, P. and {Nascimento}, T. and {Saska}, M.},
+ journal = {Journal of Intelligent & Robotic Systems},
+ title = {{MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems}},
+ year = {2023},
+ group = {journals},
+ status = {Impact factor: 3.3.},
+ preprint = {publications/JINT_HW_2023.pdf},
+ volume = {108},
+ pages = {1-34},
+ doi = {10.1007/s10846-023-01879-2},
+ number = {64},
+ month = jul,
+ code = {https://github.com/ctu-mrs/mrs_uav_system},
+ link = {https://link.springer.com/article/10.1007/s10846-023-01879-2}
+}
+
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+
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechancal and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.
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A. Ahmad, D. Bonilla Licea, G. Silano, T. Baca, and M. Saska, “PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization,” Bioinspiration & Biomimetics, vol. 17, no. 6, pp. 1–19, November, 2022. Impact factor: 2.985.
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+@article{Silano2022Bioinspired,
+ title = {{PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization}},
+ author = {{Ahmad}, Afzal and {Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Baca}, Tomas and {Saska}, Martin},
+ doi = {10.1088/1748-3190/ac98e6},
+ group = {journals},
+ status = {Impact factor: 2.985.},
+ journal = {Bioinspiration & Biomimetics},
+ year = {2022},
+ organization = {IOP Science},
+ month = nov,
+ pages = {1-19},
+ volume = {17},
+ number = {6},
+ preprint = {publications/Bioinspired22.pdf},
+ code = {https://github.com/ctu-mrs/pacnav},
+ link = {https://iopscience.iop.org/article/10.1088/1748-3190/ac98e6}
+}
+
+
+
+
+
This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is based on the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. As global and concurrent information of all swarm members is not available in natural swarms, these systems use local observations to achieve the desired behavior. Similarly, PACNav relies only on local observations of relative positions of UAVs, making it suitable for large swarms deprived of communication capabilities and external localization systems. We introduce the novel concepts of path persistence and path similarity that allow each swarm member to analyze the motion of other members in order to determine its own future motion. PACNav is based on two main principles: (1) UAVs with little variation in motion direction have high path persistence, and are considered by other UAVs to be reliable leaders; (2) groups of UAVs that move in a similar direction have high path similarity, and such groups are assumed to contain a reliable leader. The proposed approach also embeds a reactive collision avoidance mechanism to avoid collisions with swarm members and environmental obstacles. This collision avoidance ensures safety while reducing deviations from the assigned path. Along with several simulated experiments, we present a real-world experiment in a natural forest, showcasing the validity and effectiveness of the proposed collective navigation approach in challenging environments. The source code is released as open-source, making it possible to replicate the obtained results and facilitate the continuation of research by the community.
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+
A. Basiri, V. Mariani, G. Silano, M. Aatif, L. Iannelli, and L. Glielmo, “A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture,” The Journal of Navigation, vol. 75, no. 2, pp. 364–383, January, 2022. Impact factor: 1.995.
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+
+
+
+@article{Silano2021JournalOfNavigation,
+ title = {{A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture}},
+ author = {{Basiri}, Amin and {Mariani}, Valerio and {Silano}, Giuseppe and {Aatif}, Muhammad and {Iannelli}, Luigi and {Glielmo}, Luigi},
+ doi = {10.1017/S0373463321000825},
+ group = {journals},
+ status = {Impact factor: 1.995.},
+ journal = {The Journal of Navigation},
+ pages = {364-383},
+ volume = {75},
+ number = {2},
+ year = {2022},
+ organization = {Cambridge University Press Press},
+ month = jan,
+ link = {https://www.cambridge.org/core/journals/journal-of-navigation/article/abs/survey-on-the-application-of-pathplanning-algorithms-for-multirotor-uavs-in-precision-agriculture/981803D6E3E22A40069B69BFDACDF6B4}
+}
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+
Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.
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+
G. Silano and L. Iannelli, “MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects,” IEEE Access, vol. 9, pp. 39333–39343, March, 2021. Impact factor: 3.745.
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+
+
+@article{Silano2021MATFly,
+ author = {{Silano}, G. and {Iannelli}, L.},
+ title = {{MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects}},
+ group = {journals},
+ year = {2021},
+ volume = {9},
+ pages = {39333-39343},
+ status = {Impact factor: 3.745.},
+ code = {https://github.com/gsilano/MAT-Fly},
+ preprint = {publications/MAT-Fly.pdf},
+ doi = {10.1109/ACCESS.2021.3064758},
+ month = mar,
+ journal = {IEEE Access},
+ link = {https://ieeexplore.ieee.org/document/9373417}
+}
+
+
+
+
+
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described MAT-Fly, a numerical simulation platform for multi-rotor aircraft characterized by the ease of use and control development. The platform is based on Matlab and the MathWorks Virtual Reality (VR) and Computer Vision System (CVS) toolboxes that work together to simulate the behavior of a quad-rotor while tracking a car that moves along a nontrivial path. The VR toolbox has been chosen due to the familiarity that students have with Matlab and because it does not require a notable effort by the user for the learning and development phase thanks to its simple structure. The overall architecture is quite modular so that each block can be easily replaced with others simplifying the code reuse and the platform customization. Some simple testbeds are presented to show the validity of the approach and how the platform works. The simulator is released as open-source, making it possible to go through any part of the system, and available for educational purposes.
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+
G. Silano, T. Baca, R. Penicka, D. Liuzza, and M. Saska, “Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 4169–4176, April, 2021. Impact factor: 3.608. Accepted also to ICRA’21.
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+
+@article{Silano2021RAL,
+ author = {{Silano}, G. and {Baca}, T. and {Penicka}, R. and {Liuzza}, D. and {Saska}, M.},
+ title = {{Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications}},
+ group = {journals},
+ year = {2021},
+ volume = {6},
+ number = {2},
+ pages = {4169-4176},
+ status = {Impact factor: 3.608. Accepted also to ICRA'21},
+ preprint = {publications/ral21.pdf},
+ doi = {10.1109/LRA.2021.3068114},
+ month = apr,
+ journal = {IEEE Robotics and Automation Letters},
+ link = {https://ieeexplore.ieee.org/document/9384182}
+}
+
+
+
+
+
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the planned mission. An optimization problem is set to generate optimal strategies that satisfy these specifications and also take vehicle constraints into account. Further, an event-triggered replanner is proposed to reply to unforeseen events and external disturbances. An energy minimization term is also considered to implicitly save quad-rotors battery life while carrying out the mission. Numerical simulations in MATLAB and experimental results show the validity and the effectiveness of the proposed approach, and demonstrate its applicability in real-world scenarios.
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Conferences
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+
V. Rajkumar et al., “Laboratory Middleware for the Cyber-Physical Integration of Energy Research Infrastructures,” pp. 1–5, 2024.
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+
+
+@inproceedings{Silano2024MSCPES,
+ author = {{Rajkumar}, Vetrivel and {Silano}, Giuseppe and {Gehrke}, Oliver and {Vogel}, Steffen and {Widl}, Edmund and {Paludetto}, Gabriele and {Rikos}, Evangelos and {Zerihun}, Tesfaye Amare and {Stefanov}, Alexandru and {Palensky}, Peter and {Strasser}, Thomas I.},
+ title = {{Laboratory Middleware for the Cyber-Physical Integration of Energy Research Infrastructures}},
+ year = {2024},
+ group = {conferences},
+ pages = {1-5}
+}
+
+
+
+
+
The virtual integration of geographically distributed Research Infrastructures (RIs) for joint experiments in the domain of power and energy systems poses numerous challenges, particularly in terms of tool compatibility and userfriendliness. To address some of these challenges, this work presents the development and implementation of a laboratorybased middleware and data exchange service as part of the H2020 ERIGrid 2.0 project. The middleware comprises a suite of shared software tools and services designed to seamlessly integrate RIs including transport protocols as well as interface semantics. Specifically, this work details the development of a simplified and standardised interface known as the Universal Application Programming Interface (UAPI). It eliminates the need for users to grapple with the diverse intricacies of each individual RI, offering instead a tool-agnostic and standardised interface for conducting joint experiments. The work also presents and discusses the results of a real-world case study of a geographically distributed, sector-coupling experiment conducted between laboratories in Denmark, Greece, Italy, Netherlands, and Norway utilising the developed middleware.
+
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+
+
D. Bonilla Licea, G. Silano, M. Ghogho, and M. Saska, “Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security,” in 2024 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), pp. 9021–9025, April, 2024, Seoul, Korea.
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+
+
+@inproceedings{Silano2024ICASSP,
+ author = {{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Ghogho}, Mounir and {Saska}, Martin},
+ booktitle = {2024 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
+ title = {{Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security}},
+ year = {2024},
+ group = {conferences},
+ month = apr,
+ pages = {9021-9025},
+ preprint = {publications/ICASSP-2024.pdf},
+ link = {https://ieeexplore.ieee.org/document/10447876},
+ doi = {10.1109/ICASSP48485.2024.10447876},
+ note = {Seoul, Korea}
+}
+
+
+
+
+
The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics, exploring the interplay between robotics and communications, but also makes the MRAVs susceptible to malicious attacks, such as jamming. One traditional approach to counter these attacks is the use of beamforming on the MRAVs to apply physical layer security techniques. In this paper, we explore pose optimization as an alternative approach to countering jamming attacks on MRAVs. This technique is intended for omnidirectional MRAVs, which are drones capable of independently controlling both their position and orientation, as opposed to the more common under-actuated MRAVs whose orientation cannot be controlled independently of their position. In this paper, we consider an omnidirectional MRAV serving as a Base Station (BS) for legitimate ground nodes, under attack by a malicious jammer. We optimize the MRAV pose (i.e., position and orientation) to maximize the minimum Signal-to-Interference-plus-Noise Ratio (SINR) over all legitimate nodes.
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+
+
+
G. Silano, A. Afifi, M. Saska, and A. Franchi, “A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration,” in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 328–335, June, 2023, Lazarski University, Warsaw, Poland.
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+
+
+
+
+@inproceedings{SilanoICUAS23_II,
+ author = {{Silano}, Giuseppe and {Afifi}, Amr and {Saska}, Martin and {Franchi}, Antonio},
+ booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration}},
+ year = {2023},
+ group = {conferences},
+ month = jun,
+ pages = {328-335},
+ doi = {10.1109/ICUAS57906.2023.10156559},
+ link = {https://ieeexplore.ieee.org/document/10156559},
+ preprint = {publications/ICUAS23-II.pdf},
+ note = {Lazarski University, Warsaw, Poland}
+}
+
+
+
+
+
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
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+
D. Bonilla Licea, G. Silano, M. Ghogho, and M. Saska, “Communications-Aware Robotics: Challenges and Opportunities,” in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 366–371, June, 2023, Lazarski University, Warsaw, Poland.
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+
+
+@inproceedings{SilanoICUAS23_I,
+ author = {{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Ghogho}, Mounir and {Saska}, Martin},
+ booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{Communications-Aware Robotics: Challenges and Opportunities}},
+ year = {2023},
+ group = {conferences},
+ month = jun,
+ pages = {366-371},
+ doi = {10.1109/ICUAS57906.2023.10155882},
+ link = {https://ieeexplore.ieee.org/document/10155882},
+ preprint = {publications/ICUAS23-I.pdf},
+ note = {Lazarski University, Warsaw, Poland}
+}
+
+
+
+
+
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents are equipped with communication systems that are essential for completing certain tasks successfully. This has led to the emergence of a new interdisciplinary field at the intersection of robotics and communications, which has been further driven by the integration of UAVs into 5G and 6G communication networks. However, one of the main challenges in this research area is how many researchers tend to oversimplify either the robotics or the communications aspects, hindering the full potential of this new interdisciplinary field. In this paper, we present some of the necessary modeling tools for addressing these problems from both a robotics and communications perspective, using the UAV communications relay as an example.
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+
V. Cataffo, G. Silano, L. Iannelli, V. Puig, and L. Glielmo, “A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles,” in 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 100–105, October, 2022, Prague, Czech Republic.
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+
+
+@inproceedings{Silano2022SMC,
+ author = {{Cataffo}, V. and {Silano}, G. and {Iannelli}, L. and {Puig}, V. and {Glielmo}, L.},
+ booktitle = {2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
+ title = {{A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles}},
+ year = {2022},
+ group = {conferences},
+ month = oct,
+ preprint = {publications/SMC22.pdf},
+ pages = {100-105},
+ link = {https://ieeexplore.ieee.org/document/9945279},
+ note = {Prague, Czech Republic},
+ doi = {10.1109/SMC53654.2022.9945279},
+ code = {https://github.com/vittoriocataffo/A-Nonlinear-Model-Predictive-Control-Strategy-for-Autonomous-Racing-of-Scale-Vehicles}
+}
+
+
+
+
+
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while keeping the vehicle within track boundaries. The optimization problem considers both the vehicle’s actuation limits and the lateral and longitudinal forces acting on the car modeled through the Pacejka’s magic formula and a simple drivetrain model. Furthermore, the approach allows to safely race on a track populated by static obstacles generating collision-free trajectories and tracking them while enhancing the lap timing performance. Gazebo simulations using the F1/10 simulator showcase the feasibility and validity of the proposed control strategy. The code is released as open-source making it possible to replicate the obtained results.
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+
+
+
D. Hert et al., “MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1264–1273, June, 2022, Dubrovnik, Croatia.
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+
+
+@inproceedings{Silano2022ICUAS_III,
+ author = {{Hert}, D. and {Baca}, T. and {Petracek}, P. and {Kratky}, V. and {Spurny}, V. and {Petrlik}, M. and {Vrba}, M. and {Zaitlik}, D. and {Stoudek}, P. and {Walter}, V. and {Stepan}, P. and {Horyna}, J. and {Pritzl}, V. and {Silano}, G. and {Bonilla Licea}, D. and {Stibinger}, P. and {Penicka}, R. and {Nascimento}, T. and {Saska}, M.},
+ booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments}},
+ year = {2022},
+ group = {conferences},
+ month = jun,
+ preprint = {publications/ICUAS22_Silano_III.pdf},
+ note = {Dubrovnik, Croatia},
+ pages = {1264-1273},
+ link = {https://ieeexplore.ieee.org/document/9836083},
+ doi = {10.1109/ICUAS54217.2022.9836083},
+ code = {https://github.com/ctu-mrs/mrs_uav_system}
+}
+
+
+
+
+
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We present mechanical designs, electric configurations, and dynamic models of the UAVs, followed by numerous recommendations and technical details required for building such a fully autonomous UAV system for experimental verification of scientific achievements. To show strength and high variability of the proposed system, we present results of tens of completely different real-robot experiments in various environments using distinct actuator and sensory configurations.
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+
A. Calvo, G. Silano, and J. Capitan, “Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1644–1649, June, 2022, Dubrovnik, Croatia.
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+
+
+@inproceedings{Silano2022ICUAS_II,
+ author = {{Calvo}, A. and {Silano}, G. and {Capitan}, J.},
+ booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations}},
+ year = {2022},
+ group = {conferences},
+ month = jun,
+ preprint = {publications/ICUAS22_Silano_II.pdf},
+ note = {Dubrovnik, Croatia},
+ link = {https://ieeexplore.ieee.org/document/9836234},
+ pages = {1644-1649},
+ code = {https://github.com/grvcTeam/aerialcore_planning},
+ doi = {10.1109/ICUAS54217.2022.9836234}
+}
+
+
+
+
+
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles’ capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.
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+
A. Dmytruk, G. Silano, D. Bicego, D. Bonilla Licea, and M. Saska, “A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1668–1673, June, 2022, Dubrovnik, Croatia.
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+@inproceedings{Silano2022ICUAS_I,
+ author = {{Dmytruk}, Andriy and {Silano}, Giuseppe and {Bicego}, Davide and {Bonilla Licea}, Daniel and {Saska}, Martin},
+ booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV}},
+ year = {2022},
+ group = {conferences},
+ month = jun,
+ preprint = {publications/ICUAS22_Silano_I.pdf},
+ note = {Dubrovnik, Croatia},
+ pages = {1668-1673},
+ doi = {10.1109/ICUAS54217.2022.9836071},
+ link = {https://ieeexplore.ieee.org/document/9836071}
+}
+
+
+
+
+
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.
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+
L. Demkiv, M. Ruffo, G. Silano, J. Bednar, and M. Saska, “An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs,” in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), pp. 1–8, October, 2021, Biograd na Moru, Croatia.
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+@inproceedings{Silano2021AIRPHARO,
+ author = {{Demkiv}, Lyubomyr and {Ruffo}, Massimiliano and {Silano}, Giuseppe and {Bednar}, Jan and {Saska}, Martin},
+ booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
+ title = {{An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs}},
+ year = {2021},
+ group = {conferences},
+ month = oct,
+ preprint = {publications/airpharo_2021_Silano.pdf},
+ doi = {10.1109/AIRPHARO52252.2021.9571025},
+ link = {https://ieeexplore.ieee.org/document/9571025},
+ pages = {1-8},
+ note = {Biograd na Moru, Croatia}
+}
+
+
+
+
+
An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the major causes of power outages. The stereo vision complements the GPS information by finely detecting the potential source of damage while also providing a measure of the harm extension. The reduced sizes and the light weight of the vehicle enable to survey areas otherwise difficult to access with standard UAVs. Gazebo simulations and real flight experiments demonstrate the feasibility and effectiveness of the proposed setup.
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D. Bonilla Licea, G. Silano, M. Ghogho, and M. Saska, “Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations,” in 29th European Signal Processing Conference (EUSIPCO), pp. 1586–1590, September, 2021, Dublin, Ireland.
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+
+@inproceedings{Silano2021Eusipco,
+ author = {{Bonilla Licea}, D. and {Silano}, G. and {Ghogho}, Mounir and {Saska}, M.},
+ booktitle = {29th European Signal Processing Conference (EUSIPCO)},
+ title = {{Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations}},
+ year = {2021},
+ group = {conferences},
+ month = sep,
+ preprint = {publications/EUSIPCO_2021.pdf},
+ doi = {10.23919/EUSIPCO54536.2021.9616232},
+ link = {https://ieeexplore.ieee.org/document/9616232},
+ pages = {1586-1590},
+ note = {Dublin, Ireland}
+}
+
+
+
+
+
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV’s antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering its motion dynamics and the motion-induced changes of the antenna orientation. The UAV relay’s trajectory is optimized to maximize the end-to-end number of bits transmitted. Numerical simulations in MATLAB and Gazebo show the benefits of accounting for the antenna orientation variations due to the UAV tilt.
+
+
+
+
M. Terlizzi, G. Silano, L. Russo, M. Aatif, A. Basiri, V. Mariani, L. Iannelli, and L. Glielmo, “A Vision-Based Algorithm for a Path Following Problem,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1630–1635, June, 2021, Athens, Greece.
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+
+
+
+
+@inproceedings{Silano2021ICUAS_II,
+ author = {{Terlizzi}, M. and {Silano}, G. and {Russo}, L. and {Aatif}, M. and {Basiri}, A. and {Mariani}, V. and {Iannelli}, L. and {Glielmo}, L.},
+ booktitle = {2021 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{A Vision-Based Algorithm for a Path Following Problem}},
+ year = {2021},
+ group = {conferences},
+ month = jun,
+ pages = {1630-1635},
+ preprint = {publications/ICUAS21_Silano_II.pdf},
+ note = {Athens, Greece},
+ doi = {10.1109/ICUAS51884.2021.9476777},
+ link = {https://ieeexplore.ieee.org/document/9476777},
+ code = {https://www.mathworks.com/matlabcentral/fileexchange/91475-vision-based-path-following-algorithm?s_tid=srchtitle}
+}
+
+
+
+
+
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path fora quad-rotor UAV is obtained by using downward facing camera images implementing an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB together with the MathWorks Virtual Reality (VR) toolbox demonstrate the validity and the effectiveness of the proposed solution. The code is released as open-source making it possible to go through any part of the system and to replicate the obtained results.
+
+
+
+
G. Silano, J. Bednar, T. Nascimento, J. Capitan, M. Saska, and A. Ollero, “A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1624–1629, June, 2021, Athens, Greece.
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+
+
+
+
+@inproceedings{Silano2021ICUAS_I,
+ author = {{Silano}, G. and {Bednar}, J. and {Nascimento}, T. and {Capitan}, J. and {Saska}, M. and {Ollero}, A.},
+ booktitle = {2021 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks}},
+ year = {2021},
+ group = {conferences},
+ pages = {1624-1629},
+ month = jun,
+ preprint = {publications/ICUAS21_Silano_I.pdf},
+ note = {Athens, Greece},
+ doi = {10.1109/ICUAS51884.2021.9476813},
+ link = {https://ieeexplore.ieee.org/document/9476813},
+ code = {https://github.com/ctu-mrs/icuas_2021_sw_architecture_acws}
+}
+
+
+
+
+
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations.
+
+
+
+
G. Silano, P. Oppido, and L. Iannelli, “Software-in-the-loop simulation for improving flight control system design: a quadrotor case study,” in 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 466–471, October, 2019, Bari, Italy.
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+
+
+
+@inproceedings{Silano2019SMC,
+ author = {Silano, G. and Oppido, P. and Iannelli, L.},
+ booktitle = {2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
+ title = {{Software-in-the-loop simulation for improving flight control system design: a quadrotor case study}},
+ year = {2019},
+ pages = {466-471},
+ group = {conferences},
+ doi = {10.1109/SMC.2019.8914154},
+ month = oct,
+ preprint = {publications/smc19.pdf},
+ code = {http://github.com/gsilano/BebopS},
+ link = {https://ieeexplore.ieee.org/document/8914154},
+ note = {Bari, Italy}
+}
+
+
+
+
+
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations. The use of the SIL technique allows to understand the behavior of the flight control system by comparing and evaluating different scenarios, with a details level quite close to reality. At the same time, it is possible to discover issues that a model-in-the-loop (MIL) simulation does not necessarily detect, even if carried out through a multi-physics co-simulation approach. The paper aims to give the reader a practical and concrete evidence of such considerations through the case study of a micro quadrotor.
+
+
+
+
P. Daponte, L. De Vito, L. Glielmo, L. Iannelli, D. Liuzza, F. Picariello, and G. Silano, “A review on the use of drones for precision agriculture,” in 2018 1st Workshop - Metrology for Agriculture and Foresty (MetroAgriFor), pp. 1–11, October, 2018, Ancona, Italy.
+
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+
+
+
+
+@inproceedings{Silano2018MetroAgriFor,
+ author = {Daponte, P. and De Vito, L. and Glielmo, L. and Iannelli, L. and Liuzza, D. and Picariello, F. and Silano, G.},
+ booktitle = {2018 1st Workshop - Metrology for Agriculture and Foresty (MetroAgriFor)},
+ title = {{A review on the use of drones for precision agriculture}},
+ year = {2018},
+ pages = {1-11},
+ group = {conferences},
+ doi = {10.1088/1755-1315/275/1/012022},
+ issn = {1755-1315},
+ month = oct,
+ preprint = {publications/metroagrifor18.pdf},
+ link = {https://iopscience.iop.org/article/10.1088/1755-1315/275/1/012022},
+ note = {Ancona, Italy}
+}
+
+
+
+
+
In recent years, there has been a strong activity in the so-called precision agriculture, particularly the monitoring aspect, not only to improve productivity, but also to meet demand of a growing population. At a large scale, precise monitoring of cultivated fields is a quite challenging task. Therefore, this paper aims to propose a survey on techniques, applied to precision agriculture monitoring, through the use of drones equipped with multispectral, thermal and visible cameras. For each application, the main limitations are highlighted and the parameters to be considered before to perform a flight are reported.
+
+
+
+
G. Silano, E. Aucone, and L. Iannelli, “CrazyS: A Software-In-The-Loop Platform for the Crazyflie 2.0 Nano-Quadcopter,” in 2018 26th Mediterranean Conference on Control and Automation (MED), pp. 352–357, June, 2018, Zadar, Croatia.
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+
+
+
+
+
+@inproceedings{Silano2018MED,
+ author = {Silano, G. and Aucone, E. and Iannelli, L.},
+ booktitle = {2018 26th Mediterranean Conference on Control and Automation (MED)},
+ title = {{CrazyS: A Software-In-The-Loop Platform for the Crazyflie 2.0 Nano-Quadcopter}},
+ year = {2018},
+ pages = {352-357},
+ group = {conferences},
+ doi = {10.1109/MED.2018.8442759},
+ issn = {2473-3504},
+ month = jun,
+ preprint = {publications/med18.pdf},
+ link = {https://ieeexplore.ieee.org/document/8442759},
+ code = {http://github.com/gsilano/CrazyS},
+ note = {Zadar, Croatia}
+}
+
+
+
+
+
In this paper we propose CrazyS, an extension of the ROS (Robot Operating System) package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano-quadcopter in the physics based simulation environment Gazebo. Such simulation platform allows to understand quickly the behavior of the flight control system by comparing and evaluating different indoor and outdoor scenarios, with a details level quite close to reality. The proposed extension expands RotorS capabilities by considering the Crazyflie 2.0 physical model and its flight control system, as well. A simple case study has been considered in order to show how the package works. The use of open-source software makes the platform available for scientific and educational activities.
+
+
+
+
G. Silano and L. Iannelli, “An educational simulation platform for GPS-denied unmanned Aerial Vehicles aimed to the detection and tracking of moving objects,” in 2016 IEEE Conference on Control Applications (CCA), pp. 1018–1023, September, 2016, Buenos Aires, Argentina.
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+@inproceedings{Silano2016CCA,
+ author = {Silano, G. and Iannelli, L.},
+ booktitle = {2016 IEEE Conference on Control Applications (CCA)},
+ title = {{An educational simulation platform for GPS-denied unmanned Aerial Vehicles aimed to the detection and tracking of moving objects}},
+ year = {2016},
+ pages = {1018-1023},
+ group = {conferences},
+ doi = {10.1109/CCA.2016.7587947},
+ month = sep,
+ preprint = {publications/cca16.pdf},
+ code = {http://github.com/gsilano/MAT-Fly},
+ link = {https://ieeexplore.ieee.org/document/7587947},
+ note = {Buenos Aires, Argentina}
+}
+
+
+
+
+
The main motivation of this work is to show, for educational purposes, that the visual based object tracking problem can be illustrated through the simulation-in-the-loop approach: by using the MathWorks Virtual Reality Toolbox together with Matlab, it is possible to simulate the behavior of a drone in a 3D environment when detection and control algorithms are run. Matlab VR is used due to the familiarity that students have with. In this way the attention can be moved to the classifier, the references generator and the trajectory tracking control. Each block is decoupled and independent, so it can be easily replaced with others thus simplifying the development phase.
+
+
+
+
+
+
+
+
Posters
+
+
+
+
G. Silano, P. Oppido, and L. Iannelli, “Software-in-the-loop simulation for improving flight control system design: a quadrotor case study,” in SIDRA (Italian Society of Automatic Control), National Meeting, September, 2019, Ancona, Italy.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+@inproceedings{Silano2019SIDRA,
+ author = {Silano, G. and Oppido, P. and Iannelli, L.},
+ booktitle = {SIDRA (Italian Society of Automatic Control), National Meeting},
+ title = {{Software-in-the-loop simulation for improving flight control system design: a quadrotor case study}},
+ year = {2019},
+ group = {posters},
+ doi = {10.13140/RG.2.2.31583.61603},
+ month = sep,
+ preprint = {publications/automaticaIT_2019.pdf},
+ code = {http://github.com/gsilano/BebopS},
+ note = {Ancona, Italy}
+}
+
+
+
+
+
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations discovering issues that a model-in-the-loop (MIL) simulation does not necessarily detect. The paper aims to give the reader a practical and concrete evidence of such considerations through the case study of a micro quadrotor.
+
+
+
+
G. Silano and L. Iannelli, “An educational simulation platform for Unmanned Aerial Vehicles aimed to detect and track moving objects,” in SIDRA (Italian Society of Automatic Control), National Meeting, September, 2017, Milan, Italy.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+@inproceedings{Silano2017SIDRA,
+ author = {Silano, G. and Iannelli, L.},
+ booktitle = {SIDRA (Italian Society of Automatic Control), National Meeting},
+ title = {{An educational simulation platform for Unmanned Aerial Vehicles aimed to detect and track moving objects}},
+ year = {2017},
+ group = {posters},
+ doi = {10.13140/RG.2.2.14878.43849},
+ month = sep,
+ preprint = {publications/automaticaIT_2017.pdf},
+ code = {http://github.com/gsilano/MAT-Fly},
+ note = {Milan, Italy}
+}
+
+
+
+
+
The main motivation of this work is to show, for educational purposes, that the visual based object tracking problem can be illustrated through the simulation-in-the-loop approach: by using the MathWorks Virtual Reality Toolbox together with Matlab, it is possible to simulate the behavior of a drone in a 3D environment when detection and control algorithms are run. Matlab VR is used due to the familiarity that students have with. In this way the attention can be moved to the classifier, the references generator and the trajectory tracking control. Each block is decoupled and independent, so it can be easily replaced with others thus simplifying the development phase.
+
+
+
+
+
+
+
+
Workshop Contributions
+
+
+
+
G. Silano, V. Kratky, M. Vrba, C. Papaioannidis, I. Mademlis, R. Penicka, I. Pitas, and M. Saska, “Human-Swarm Interaction with a Gesture-Controlled Aerial Robot Formation for Safety Monitoring Applications,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1–5, October, 2023, Contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction Workshop", Detroit, Michigan, USA.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+@inproceedings{Silano2023IROS_WS_I,
+ author = {{Silano}, G. and {Kratky}, V. and {Vrba}, M. and {Papaioannidis}, C. and {Mademlis}, I. and {Penicka}, R. and {Pitas}, I. and {Saska}, M.},
+ booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+ title = {{Human-Swarm Interaction with a Gesture-Controlled Aerial Robot Formation for Safety Monitoring Applications}},
+ year = {2023},
+ group = {workshops},
+ month = oct,
+ pages = {1-5},
+ link = {https://sites.google.com/view/hmri-2023/home},
+ preprint = {publications/iros2023_hsi_ws.pdf},
+ note = {contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction Workshop", Detroit, Michigan, USA}
+}
+
+
+
+
+
This paper presents a formation control approach for contactless Human-Swarm Interaction (HSI) using hand gestures with a team of multi-rotor Unmanned Aerial Vehicles (UAVs). The approach aims to monitor the safety of human workers, especially those working at heights. In the proposed scheme, one UAV acts as the leader of the formation and is equipped with sensors for human worker detection and gesture recognition. The follower UAVs maintain a predetermined formation relative to the worker’s position, thereby providing additional perspectives of the monitored scene. The use of hand gestures allows the human worker to specify movements and action commands for the UAV team, without the need for an additional communication channel or specific markers including the relative distance. Field experiments with three UAVs and a human worker in a mock-up scenario showcase the effectiveness and responsiveness of the proposed approach.
+
+
+
+
A. Caballero and G. Silano, “Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1–2, October, 2023, Contribution accepted for discussion at the workshop session: "Formal methods techniques in robotics systems: Design and control", Detroit, Michigan, USA.
+
+
+
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+
+
+
+
+
+
+@inproceedings{Silano2023IROS_WS_II,
+ author = {{Caballero}, A. and {Silano}, G.},
+ booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+ title = {{Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications}},
+ year = {2023},
+ group = {workshops},
+ month = oct,
+ pages = {1-2},
+ link = {https://arxiv.org/abs/2309.10406},
+ doi = {10.48550/arXiv.2309.10406},
+ preprint = {publications/IROS_2023_WORKSHOP_STL_bird_diverter.pdf},
+ note = {contribution accepted for discussion at the workshop session: "Formal methods techniques in robotics systems: Design and control", Detroit, Michigan, USA}
+}
+
+
+
+
+
This paper tackles the task assignment and trajectory generation problem for bird diverter installation using a fleet of multi-rotors. The proposed motion planner considers payload capacity, recharging constraints, and utilizes Signal Temporal Logic (STL) specifications for encoding mission objectives and temporal requirements. An event-based replanning strategy is introduced to handle unexpected failures and ensure operational continuity. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation. Simulations in MATLAB and Gazebo, as well as field experiments, demonstrate the effectiveness and validity of the approach in a mock-up scenario.
+
+
+
+
G. Silano, A. Afifi, M. Saska, and A. Franchi, “Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective,” in 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1–4, June, 2023, Contribution accepted for discussion at the workshop session: "Energy Efficient Aerial Robotic Systems", ExCeL, London, UK.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+@inproceedings{Silano2023ICRA_WS_I,
+ author = {{Silano}, G. and {Afifi}, A. and {Saska}, M. and {Franchi}, A.},
+ booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
+ title = {{Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective}},
+ year = {2023},
+ group = {workshops},
+ month = jun,
+ link = {https://arxiv.org/abs/2306.02454},
+ pages = {1-4},
+ doi = {10.48550/arXiv.2306.02454},
+ preprint = {publications/ICRA_2023_Energy_Efficient_Aerial_Ro.pdf},
+ note = {contribution accepted for discussion at the workshop session: "Energy Efficient Aerial Robotic Systems", ExCeL, London, UK}
+}
+
+
+
+
+
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as Signal Temporal Logic (STL) specifications to automatically synthesize task assignments and trajectories. The focus is on a specific task where a Multi-Rotor Aerial Vehicle (MRAV) performs object handovers in a power line setting. The motion planner takes into account constraints such as payload capacity and refilling, while ensuring that the generated trajectories are feasible. The approach also allows users to specify robot behaviors that prioritize human comfort, including ergonomics and user preferences. The method is validated through numerical analyses in MATLAB and realistic Gazebo simulations in a mock-up scenario.
+
+
+
+
G. Silano et al., “Coordination of a Heterogeneous Team of Aerial Robots to Support Power Line Inspection Operations,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), June, 2022, Contribution accepted for discussion at the tutorial session: "AERIAL-CORE – Boosting the adoption of aerial robotics in real-world applications", Drubovnik, Croatia.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+@inproceedings{Silano2022ICUAS_WS,
+ author = {{Silano}, G. and {Kratky}, V. and {Bednar}, J. and {Vrba}, M. and {Nekovar}, F. and {Bonilla Licea}, D. and {Baca}, T. and {Stoudek}, P. and {Hert}, D. and {Petrlik}, M. and {Smrcka}, D. and {Nascimento}, T. and {Saska}, M.},
+ booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
+ title = {{Coordination of a Heterogeneous Team of Aerial Robots to Support Power Line Inspection Operations}},
+ year = {2022},
+ group = {workshops},
+ month = jun,
+ link = {https://mega.nz/file/N0kUVJAa#SDUbvWUi7n_fKGI9yALhTkfjdBkFqDHc-pVAcmsIci0},
+ note = {contribution accepted for discussion at the tutorial session: "AERIAL-CORE – Boosting the adoption of aerial robotics in real-world applications", Drubovnik, Croatia}
+}
+
+
+
+
+
Contribution accepted for discussion at the tutorial session: "AERIAL-CORE – Boosting the adoption of aerial robotics in real-world applications".
+
+
+
+
G. Silano, D. Liuzza, L. Iannelli, and M. Saska, “A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications,” in SIDRA (Italian Society of Automatic Control), National Meeting, September, 2020, Cagliari, Italy.
+
+
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+
+
+
+
+
+@inproceedings{Silano2020SIDRA,
+ author = {{Silano}, G. and {Liuzza}, D. and {Iannelli}, L. and {Saska}, M.},
+ booktitle = {SIDRA (Italian Society of Automatic Control), National Meeting},
+ title = {{A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications}},
+ year = {2020},
+ group = {workshops},
+ month = sep,
+ preprint = {publications/automaticaIT_2020.pdf},
+ doi = {10.48550/arXiv.2103.02999},
+ link = {https://arxiv.org/abs/2103.02999},
+ note = {Cagliari, Italy}
+}
+
+
+
+
+
Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking for strategies that satisfy different requirements expressed in terms of potential damage and faults detection. This problem comes up with the need of safe planning and control techniques for autonomous robots to perform visual inspection tasks. Such an application becomes even more interesting and of critical importance when considering a multi-robot extension. In this paper, we propose to compute feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications. The planner allows to formulate rather complex missions avoiding obstacles and forbidden areas along the path. Simulations results achieved in MATLAB show the effectiveness of the proposed approach leading the way to experimental tests on the hardware.
+
+
+
+
A. Afifi, G. Silano, M. Tognon, G. Oriolo, and A. Franchi, “A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Aerial Vehicles,” in MBZIRC Symposium 2020, the First International Robotic Challenges Symposium, February, 2020, Abu Dhabi, United Arab Emirates.
+
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+
+
+
+
+
+
+
+
+@inproceedings{Silano2020MBZIRC,
+ author = {Afifi, A. and Silano, G. and Tognon, M. and Oriolo, G. and Franchi, A.},
+ booktitle = {MBZIRC Symposium 2020, the First International Robotic Challenges Symposium},
+ title = {{A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Aerial Vehicles}},
+ year = {2020},
+ group = {workshops},
+ month = feb,
+ note = {Abu Dhabi, United Arab Emirates}
+}
+
+
+
+
+
This paper presents a general control architecture for using fully actuated aerial robots in tasks that require both visual servoing and physical interaction with the environment. We make use of a novel paradigm for physical interaction in aerial robotics called "The Flying End-Effector" and integrate it with a hybrid visual servoing scheme. The proposed control architecture allows a fully actuated aerial robot to be visually driven to a goal using an on-board camera while achieving bounded force exchange with the environment without the need for a force/torque sensor. The hybrid visual servoing scheme is integrated with an admittance filter, while a wrench observer is used to get an estimate for the interaction wrench. We intend to make use of this control architecture for pick and place operations within the Mohamed Bin Zayed International Robotics Competition (MBZIRC). In particular, the proposed framework will be used to build a wall composed by different bricks. The overall control scheme is validated experimentally on a picking task. The experiments show the viability of the proposed control architecture and provide insights on the present limitations.
+
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+
+
+
+
Miscellaneous
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+
+
+
T. Příhodová, G. Silano, A. Ahmad, V. Krátký, T. Báča, P. Petráček, V. Sasková, J. Bednář, and M. Saska, “2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education],” IEEE Robotics & Automation Magazine, vol. 30, no. 1, pp. 104–106, March, 2023. Impact factor: 5.229.
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+
+
+
+
+
+
+@article{SilanoRAM2023,
+ author = {Příhodová, Tat’ána and Silano, Giuseppe and Ahmad, Afzal and Krátký, Vít and Báča, Tomáš and Petráček, Pavel and Sasková, Věra and Bednář, Jan and Saska, Martin},
+ journal = {IEEE Robotics & Automation Magazine},
+ title = {{2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education]}},
+ year = {2023},
+ volume = {30},
+ number = {1},
+ month = mar,
+ pages = {104-106},
+ doi = {10.1109/MRA.2023.3238213},
+ group = {miscellaneous},
+ status = {Impact factor: 5.229.},
+ code = {https://github.com/ctu-mrs/summer-school-2022},
+ link = {https://ieeexplore.ieee.org/document/10084390},
+ preprint = {publications/2023_IEEE_RAM.pdf}
+}
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In recent decades, robotic systems have been used for an increasing number of applications, often involving multiple robots. Although multi-robot systems (MRS) provide benefits like redundancy, robustness, and fault tolerance, they come with numerous challenges. These challenges present new research possibilities and are of great interest to the IEEE Robotics and Automation Society (RAS). The IEEE RAS Summer School on MRS aims to gather the knowledge and expertise of the robotics community and bridge the gap between theory and practice.
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PhD Thesis
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G. Silano, “Software-in-the-loop Methodologies for the Analysis and Control Design of Small UAV Systems,” PhD thesis, University of Sannio in Benevento, July, 2020.
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+@phdthesis{Silano2020PhDThesis,
+ author = {Silano, Giuseppe},
+ title = {{Software-in-the-loop Methodologies for the Analysis and Control Design of Small UAV Systems}},
+ school = {University of Sannio in Benevento},
+ year = {2020},
+ month = jul,
+ link = {https://www.researchgate.net/publication/345767635_Giuseppe_Silano's_PhD_Thesis_-_Advisor_Prof_Dr_Luigi_Iannelli},
+ group = {phdthesis}
+}
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Aerial robotics is a fast-growing field of robotics and in particular multirotor aircraft, like quad-rotors, are rapidly increasing in popularity also out of the scientific community. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to perform tasks with complete autonomy, they are now a standard platform for numerous military and civilian applications, e.g., inspections of power lines, bridges and pipelines, soil and field analysis, crop monitoring. Among different advantages offered by such class of Unmanned Aerial Vehicles (UAVs), there is the capacity to perform tasks with complete autonomy thus minimizing costs and risks involved with the direct intervention of human operators. However, designing autopilots for UAVs is a challenging task, which involves multiple interconnected aspects. Numerous researchers are currently addressing the problem of designing autonomous guidance and navigation systems as well as control systems for multi-rotor vehicles. Therefore, having tools able to show what it happens when some new applications are going to be developed in unknown or critical situations is more and more important. Simulation is one of such helpful tools, widely used in robotics, enabling not only to verify the components integration and to evaluate their behavior under different circumstances but also to simplify the development and validation processes. Furthermore, simulation is cheaper than experiments with real robots, in terms of time and human resources. It can also provide more flexibility, by allowing testing under conditions that would be unfeasible otherwise: a simulated environment can be significantly more complex and larger than a lab environment, and meanwhile ensure a perfect repeatability. Moreover, it makes possible simulating multiple robots when the hardware may not be available. Finally, bugs and mistakes in simulation cost virtually nothing: it is possible to crash a vehicle several times and thereby getting a better understanding of implemented methods under various conditions. Different solutions, typically based on dedicated robotic simulators such as Gazebo, V-REP, AirSim, MORSE, are available to this purpose. They employ recent advances in computation and computer graphics in order to simulate physical phenomena (gravity, magnetism, atmospheric conditions) and perception (e.g., providing sensor models) in such a way that the environment realistically reflects the actual world. Definitely, it comes out that software platforms able to test algorithms for UAVs moving in a simulated 3D environment are becoming an indispensable part of the design phase. The aim of this thesis is to show the role and the effectiveness of robotics simulators in flight control system design for multi-rotor aircraft (especially, quad-rotors) proposing a Software-in-the-loop (SIL) methodology. In particular it will be explained, by using rather complex examples, how a SIL approach allows to detect and to manage instabilities that otherwise might not arise when considering only MATLAB/Simulink simulations. On the other hand such instabilities may not be just related to the complexity, accuracy or detailed modeling of the simulated plant, but rather they may appear due to peculiar features of the final realization and, in particular, the software that will implement the control strategy. Indeed, aspects like synchronization, overflow, tasks communication, are all managed by libraries or tools available during the control design phase and yet they are specific of the final code implementation. From such perspective, SIL simulation has to be considered a valuable tool for discovering, in an earlier phase of the usual V-model process, those issues that Model-in-the-loop (MIL) simulation does not necessarily detect. At the same time, a SIL simulation, obtained by using realistic and detailed simulators, gives the opportunity of validating in an easy way the effects of modifying the control strategy for complex missions. That represents quite often the easiest way to tune the flight control system and to check its validity. Although advantages of such methodology are reasonable for the scientific community from a very general viewpoint, illustrative case studies can be of interest in particular if declined to the specific application, and when the code is provided as open-source for scientific and educational. activities. Thus, the thesis aims to give the reader practical and concrete evidence of the above considerations by looking at an up-to-date control application, i.e., the flight control system of small quad-rotors and rather complex platforms, providing a complete SIL simulation methodology.
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+ Giuseppe Silano - Research
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Recent activites
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+ In my current research, I am focusing on Model Predictive Control (MPC) applied to multi-rotor aerial systems with arbitrarily positioned and
+ oriented rotors. The objective is to leverage MPC as a high-performance constrained and predictive control technique in this context.
+ Moreover, I am investigating the application of Temporal Logic, specifically Signal Temporal Logic (STL), as a mission specification language for
+ path planning problems. STL allows for the incorporation of explicit timing constraints, effectively translating the entire problem into a nonlinear
+ non-convex non-smooth max-min challenge.
+ Additionally, I am exploring the exciting field of Human-Robot Interaction (HRI). My research aims to develop systems that assist human
+ technicians in hard-to-reach locations, with a particular focus on scenarios involving maintenance and inspection operations.
+ Furthermore, the area of communication-aware robotics intrigues me due to its interdisciplinary nature, addressing the challenges of
+ maintaining connectivity and robust information flow in robotic networks.
+ This scientific research seeks to contribute valuable insights and advancements to the fields of robotics, control systems, and
+ human-robot collaboration.
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Doctorate topic
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+ The aim of my research was to illustrate the role and the effectiveness of software-in-the-loop (SIL) methodologies for the analysis
+ and control design of flight controllers for small UAV systems. The research proposes a novel SIL methodology to detect and manage instabilities
+ of multi-rotor systems that otherwise might not arise when considering only MATLAB/Simulink simulations. The use of the SIL methodology
+ allows to understand the behavior of the flight control system by comparing and evaluating different scenarios, with a details level quite close
+ to reality thanks to the use of the Gazebo robotics simulator. At the same time, it is possible to discover issues that a model-in-the-loop (MIL)
+ simulation does not necessarily detect, even if carried out through a multi-physics co-simulation approach.
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Thesis topics
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+ Students interested on automatic control topics for their thesis (both Bachelor and Master degrees) can drop me an
+ e-mail.
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+
Info
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+ If you would like to know more about me, please stay tuned on this web page, or feel free to contact me.
+ Also, check out my Publications and Software pages for my latest publications and repositories,
+ respectively.
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+ December 28, 2021 · v4.0.13, v5.0.9, v6.0.9, and v7.0.1
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+
+ CrazyS is an extension of the ROS package RotorS, aimed at modeling, developing, and integrating the Crazyflie 2.0 nano-quadcopter in the
+ physics based simulation environment Gazebo. Such simulation platform allows to understand quickly the behavior of the
+ flight control system by comparing and evaluating different indoor and outdoor scenarios, with a details level quite close
+ to reality. The proposed extension, running on Kinetic Kame (Ubuntu 16.04 along with Gazebo 7 and 9, v5.0.9 and v6.0.9) ROS release but fully
+ compatible with the Indigo Igloo (Ubuntu 14.04 along with Gazebo 5, v4.0.13), Melodic Morenia (Ubuntu 18.04 along with Gazebo 9, v6.0.9) and
+ Noetic Ninjemys (Ubuntu 20.04 along with Gazebo 11, v7.0.1) ones, expands the RotorS capabilities by considering the Crazyflie 2.0
+ physical model, its flight control system and the Crazyflie's on-board IMU, as well. The contribution can be also considered as
+ a reference guide for expanding the RotorS functionalities in the UAVs field, by facilitating the integration of new aerial robots.
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+ February 1, 2024 · v2024.02.01
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+
+ EuopeCV is an unofficial LaTeX implementation of the standard model for curricula vitae (the Europass CV) as
+ recommended by the European Commission. The Europass CV replaces the European CV, launched in 2002, and defines both the content
+ and the layout of a curriculum vitae. Therefore, the europecv class created by
+ Nicola Vitacolonna and now maintained by me, provides support for the latter, and for the former as far as personal
+ information and spoken languages are concerned. This class tries to be as close as possible to the standard model without sacrificing
+ flexibility. Although it is primarily intended for users of the European Union, the class can be used for any kind of curriculum vitae
+ (possibly with the options \texttt{notitle} and \texttt{nologo}), or even for other kinds of documents: for example,
+ the official documentation file has been typeset using the \textsf{europecv} class. The source files are included in the package so, please,
+ feel free to contribute. Finally, the package is available on CTAN pages.
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+ August 21, 2018 · v2018.07.21
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+
+ MAT-Fly is a numerical simulation platform for multi-rotors characterized by the ease of use and control development. The platform is based
+ on MATLAB and the MathWorks Virtual Reality (VR) Toolbox that work together
+ to simulate the behavior of a drone (quadrotor) in a 3D environment while tracking a car that moves along a non trivial path. The VR toolbox has been chosen due
+ to the familiarity that students have with MATLAB and because it allows to move the attention to the classifier, the tracker, the reference generator
+ and the trajectory tracking control thanks to its simple structure. The overall architecture is quite modular so that each block can be easily replaced
+ with others by simplifying the development phase and by allowing to add even more functionalities. The platform has been developed using the 2015b release
+ of MATLAB but it is compatible with any other successive MATLAB release.
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+ December 27, 2019 · v0.2.2, v1.0.1 and v2.0.1
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+
+ BebopS contains the developed ROS code for the Industrial Challenge of the 26th Mediterranean Conference on Control and Automation
+ (MED’18)1. The code aimed at simulating the dynamics of the
+ Parrot Bebop 2 together with the flight controller (both high and low levels) when external disturbances (e.g., wind gusts) acting on it. The control algorithms
+ were designed in MATLAB/Simulink and validated in Gazebo by using the MathWorks Robotics System Toolbox (RST). Therefore, the repository contains both ROS
+ nodes and launch files needed to simulate the drone behavior when a tracking algorithm is run. Also, on GitHub the glue code written during the challenge to make able
+ the control algorithm to exchange data on the ROS network is available. Such code was needed for sending commands to and receiving data from the vehicle and the
+ Motion Capture (MoCap) systems Vicon. Furthermore, the repository contains the developing ROS code to connect the controller to the
+ Parrot Sphinx simulator by including the Parrot Bebop onboard firmware in the loop.
+ In this way, details like synchronization, timing issues, fixed-point computation, overflow, divisions-by-zero, can be isolated and investigated in detail.
+
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+ July 25, 2022 · v0.0.1 and v1.0.0
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+ NMPC strategy for Autonomous Racing of Scale Vehicles is an extension of the F1TENTH simulator.
+ The F1TENTH simulator mirrors the behavior of autonomous racing scale vehicles. The repository is endowed with the necessary files to run the Nonlinear Model Predictive
+ Control (NMPC) strategy described in the paper accepted for publication to the 2022 IEEE International Conference on Systems, Man,
+ and Cybernetics (SMC). The contribution can be also considered as a reference guide for expanding the F1TENTH simulator functionalities by facilitating the
+ integration of the new control algorithms and features. Some simple case studies are considered to evaluate the performance of the retrieve controller. The code is
+ released under Apache license, thus making it available for scientific and educational activities. The platform was developed using Ubuntu 18.04 and the Melodic
+ Morenia version of ROS, but it is also fully compatible with Ubuntu 20.04 along with the Noetic Ninjemys distribution of ROS. Although backwards compatibility is
+ guarantee, i.e., the platform is fully compatible with Melodic Morenia version of ROS and Ubuntu 18.04, such configuration is not recommended since the ROS support
+ is expected to be closed in April 2023.
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+ 1. The MED'18 conference report is available on the IEEE Xplore portal.↩
+
+ 2. Overleaf is an online LaTeX editor that allows real-time collaboration and online compiling of projects to PDF format.↩
+
+ 3. It is aimed for UniSannio's students and was written in Italian.↩
+