The activity of the University of Bologna will be conducted at the Research Centre CASY (Center for research on complex Automated Systems, www.casy.deis.unibo.it/), which is a research centre within the Department of Electric, Electronics and Computer Science (DEI) at the University of Bologna – ITALY.
Among the different research activities conducted within CASY, the most pertinent with the Euroc challenge 3 is the design, modeling and control of unmanned aerial vehicles. The group has been involved in the last years in several National / International research projects in which it has matured a remarkable experience in actively collaborating with international research groups. Relevant EU projects are SHERPA (coordinated, www.sherpa‐project.eu/), on combined ground/ aerial search and rescue, AIRobots (coordinated, www.airobots.eu), on inspection‐by‐contact with unmanned aerial vehicles, TRIDENT (www.irs.uji.es/trident), on underwater manipulation, “GEOPLEX”, on modelling and control of complex physical systems, and “DEXMART”, on advanced manipulation.
The team will participate to the Challenge 3 cooperating with ACTLAB (a team coordinated by Luca Consolini).
The team is composed of researchers from the University of Bologna and a SME (Aslatech, www.aslatech.com). The team members have experience in the field of aerial robotics, in particular in the modelling, design and prototyping of aerial vehicles, planning and navigation algorithms.
Among the previous experiences, it is worth to point out how the team has coordinated the European Project AIRobots, realising a ducted‐fan aerial vehicle equipped with a robotic manipulator suitable for inspection‐by‐contact of power‐plants. During the AIRobots project and the ongoing SHERPA project, the team has developed algorithms for the control, guidance and navigation of aerial vehicles considering real world environments potentially cluttered with obstacles (requiring sense‐and‐avoid algorithms) and characterized by aerodynamic disturbances (wind and turbulences while flying close to infrastructures).
Relevant publications are:
L. Marconi and R. Naldi, “Control of Aerial Robots. Hybrid force/position feedback for a ducted‐fan”, IEEE Control System Magazine, vol. 32, issue 4, pp. 43‐65, 2012. ‐
R. Naldi, A. Torre and L. Marconi, “Robust Control of a Miniature Ducted‐Fan Aerial Robot for “Blind” Navigation in Unknown Populated Environments”, IEEE TCST, 2014
R. Naldi and L. Marconi, "A Prototype of Ducted‐Fan Aerial Robot with Redundant Control Surfaces", Journal of Intelligent and Robotic Systems, 2013.
M. Fumagalli, R. Naldi, A. Macchelli, F. Forte, A. Q.L. Keemink, S. Stramigioli, R. Carloni, L. Marconi, "An aerial manipulator prototype for physical interaction with the environment", IEEE Robotics Automation Magazine, 2014.
L. Marconi and R. Naldi, "Robust Full Degree‐of‐Freedom Tracking Control of an Helicopter", Automatica, Full Paper, vol. 43, issue 11, December 2007.
Melega, M., Lazarus, S., Savvaris, A., Tsourdos, A. (2014), “Multiple Threats Sense and Avoid Algorithm for Static and Dynamic Obstacles”, Journal of Intelligent & Robotic Systems, to appear, 2014.