The team is composed by the aggregation of two Italian teams, respectively belonging to the GRAAL lab @DIBRIS-University of Genoa, and RIMLab @DII-University of Parma.
GRAAL (Genoa Robotics And Automation Lab) is active since the end of the eighties on researches regarding multi-robot cooperation (cooperative multi-arm mobile manipulators) having received support from many national research projects, as well as many EU funded ones.
In particular, among the EU Funded projects it seems noteworthy to mention the pioneering project AMADEUS (1998-2000) as one of the first projects where cooperative bi-manual cooperation were established within underwater application; as well as the most recent one TRIDENT (2011-2013), where Task-priority based vehicle-arm coordination were developed and experimented for underwater floating manipulators.
RIMLab (Robotics and Intelligent Machines Laboratory) has been established in 1990 and has proven experience in the field of robotics and virtual reality technologies. The current general research interests of the lab focus on autonomous robotic systems, robot learning and advanced human-machine interfaces. In addition the lab owns a specific experience in developing artificial vision systems and related real time processing algorithm for objet recognition, with applications to grasp and motion planning within robotic applications.
The two labs are currently involved (together with other Italian Labs) in the national project MARIS (2013-2016) having the ambition of developing and experimenting a unifying sensing and control framework for object manipulation and transportation tasks to be cooperatively performed by separate floating manipulators, still within a marine environment.
In particular, GRAAL owns the responsibility for the development of the cooperative functional and algorithmic control architecture, while RIMLab has the responsibility of developing a stereo vision system for underwater object recognition.
The complementarity between the two sub-groups composing the team is apparent from what has been mentioned at the previous point. It is also reinforced by the fact that the two groups are currently fruitfully cooperating within the mentioned national project MARIS where their experience in cooperative control and visual perception finds the perfect way to be efficiently merged together.
Hereafter a couple of paper for each lab, representing the most recent advancement within coordinated cooperative control and perceptual vision:
- E. Simetti, G. Casalino, S. Torelli, A. Sperinde and A. Turetta. Floating Underwater Manipulation: Developed Control Methodology and Experimental Validation within the TRIDENT Project. Journal of Field Robotics, volume 31(3):364--385, May 2014.
- E. Simetti, G. Casalino, S. Torelli, A. Sperinde and A. Turetta. Underwater Floating Manipulation for Robotic Interventions. In IFAC World Congress 2014, Cape Town, South Africa, August 2014.
- J. Aleotti, D. Lodi Rizzini, S. Caselli, "Perception and Grasping of Object Parts from Active Robot Exploration," Journal of Intelligent and Robotic Systems, (2014).
- J. Aleotti, V. Micelli, S. Caselli, "An Affordance Sensitive System for Robot to Human Object Handover, International Journal of Social Robotics, 2014.