The team builds on the synergy between two research groups of the Department of Electronics, Information and Bioengineering of Politecnico di Milano leading two different laboratories:
The AIRLab supports research on Artificial Intelligence and Robotics at Politecnico di Milano since 1971. It has been, and currently is, involved in several industrial, EU and national research projects. Researchers from the AIRLab will contribute to the EuRoC POLIMI Team with their background in perception, mapping and autonomous navigation for autonomous mobile robots.
The Automatic Control Lab (LabAut) at Politecnico di Milano hosts the experimental devices supporting the research on control systems, industrial robotics and automation. The laboratory is involved in several projects in the field of vehicle control; among other devices, it hosts two remotely-piloted aerial vehicles in quadrotor configuration (a fixed pitch and a variable pitch one), used for research activities on identification and control for rotorcraft vehicles, with specific reference to robustness and fault tolerance.
The AIRLab has past experience in robotic competitions and challenges: it participated to the RoboCup Middle Size League till 2009, and won the 2012 edition of the Virtual Robot competition of the Rescue Simulation League.
Matteo Matteucci was the principal investigator of the European FP6 benchmarking project RAWSEEDS (2006-2009) and the national PRIN 2009 ROAMFREE project (2009-2013) for the development of method for the robust estimation of robot odometry by sensor fusion. It is currently the principal investigator for the POLIMI unit for the RoCKIn Fp7 European project (2013-2015), which will organize two robotics competitions in the next two years.
Marco Lovera was the principal investigator of the AWPARC project “Time- and frequency-domain model identification for rotorcraft applications” (2011-2013), is task leader for flight control systems design within the CleanSky project “Manoeuvring Noise Evaluation Using Validated Rotor State Estimation Systems” (2013-2015) and team member for the Italian Aerospace Cluster project “TiltrotorFX”, 2014-2016.
Matteo Matteucci and Marco Lovera are currently involved in the SINOPIAE project funded by Regione Lombardia and the Italian Ministry of University and Research (MIUR) for the development of an Unmanned Aerial Vehicle able to reconstruct the thermal dispersion of buildings at the district level through a visual and thermal custom payload.
Davide A. Cucci (PhD Student) will be responsible for MAV pose estimation and local map building. He is an experienced Ph.D. student mainly focused on sensor fusion and autonomous navigation. He is the main developer of the open source ROAMFREE sensor fusion library.
Fabio Riccardi (PhD Student) will be responsible for control-oriented modelling and control law design activities. His current research work is focusing on the design of high performance and fault-tolerant flight control systems for variable pitch quadrotors.
- S. Ceriani, D. Marzorati, M. Matteucci, D.G. Sorrenti. “Single and Multi Camera Simultaneous Localization and Mapping Using the Extended Kalman Filter”. Journ. of Mathematical Modelling & Algorithms in Operations Research, 2014
- D. A. Cucci, M. Matteucci. “Position tracking and sensors self-calibration in autonomous mobile robots by Gauss-Newton optimization”. In Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2014
- F. Riccardi, M.F. Haydar, S. Formentin, M. Lovera. “Control of Variable-Pitch Quadrotors”. In: 19th IFAC Symposium on Automatic Control in Aerospace, Wurzburg, Germany, 2013
- P. Panizza, F. Riccardi, M. Lovera. “Identification of the attitude dynamics for a variable-pitch quadrotor UAV”, 40th European Rotorcraft Forum, Southampton, UK, 2014
- M. Bergamasco, M. Lovera. “Identification of Linear Models for the Dynamics of a Hovering Quadrotor”. IEEE Transactions on Control Systems Technology, 2014,http://dx.doi.org/10.1109/TCST.2014.2299555