From 5e4f81a47848d470fc79724128823d287e46f809 Mon Sep 17 00:00:00 2001 From: Giuseppe Silano Date: Sun, 24 Sep 2023 10:54:54 +0200 Subject: [PATCH] Other minors --- _bibliography/refs.bib | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/_bibliography/refs.bib b/_bibliography/refs.bib index aca2444..543557b 100644 --- a/_bibliography/refs.bib +++ b/_bibliography/refs.bib @@ -8,7 +8,7 @@ @INPROCEEDINGS{Silano2023IROS_WS_I pages = {1-5}, preprint = {publications/iros2023_hsi_ws.pdf}, note = {contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction Workshop", Detroit, Michigan, USA}, - abstract = {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.}, + abstract = {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.} } @INPROCEEDINGS{Silano2023IROS_WS_II, @@ -23,7 +23,7 @@ @INPROCEEDINGS{Silano2023IROS_WS_II 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}, - abstract = {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.}, + abstract = {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.} } @INPROCEEDINGS{Silano2023ICRA_WS_I, @@ -38,7 +38,7 @@ @INPROCEEDINGS{Silano2023ICRA_WS_I 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}, - abstract = {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.}, + abstract = {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.} } @ARTICLE{Silano2022BirdDiverter,