RomaUno

Organisation: Sapienza university of Rome

Website: http://www.dis.uniroma1.it/~nardi

Address: Via Ariosto 25, 00185 Rome, Italy

Contact: Daniele Nardi (Tel: +39-06-77274113, nardi(at)dis.uniroma1.it)

Other Staff:

  • Guido De Matteis (Sapienza University of Rome)
  • Marilena Vendittelli (Sapienza University of Rome)
  • Giorgio Grisetti (Sapienza University of Rome)
  • Domenico Daniele Bloisi (Sapienza University of Rome)

 

Team Profile:

The team RomaUno is a joint collaboration between the Rococo Lab, the Robotics Lab, and the Lapis Lab of the Sapienza University of Rome, Italy. Prof. Daniele Nardi is head of Rococo Lab (Cognitive Cooperating Robots - labrococo.dis.uniroma1.it), while Dr. Giorgio Grisetti and Dr. Domenico Daniele Bloisi are faculty members of the same lab. The research developed at Rococo Lab is in the area of AI and Robotics and started with the participation of the SPQR Team to the RoboCup competitions since 1998. Rococo Lab has several types of robotic platforms, including small UAVs from AscTec (since the RoboCup Rescue Camp 2006). SPQR made the first demo on small UAV at RoboCup Rescue (Graz 2009).

Dr. Marilena Vendittelli is faculty member of the Robotics Lab (www.diag.uniroma1.it/labrob). The Robotics Lab is committed to the development and experimental validation of advanced planning and control techniques for service and industrial robots. Of specific interest to the project, among the techniques developed by the group over the years, is the expertise on visual-based control of robot manipulators, humanoids and UAVs. The Robotics Lab is currently equipped with several robots, including two quadrotor UAVs by AscTec (a Hummingbird and a Pelican).

Prof. Guido De Matteis is head of the Lapis Lab, that is committed to the design, construction and ground testing of small and micro UAVs. Research topics, that are addressed with fixed and rotary wing small-scale vehicles, include aeromechanical modeling, development of guidance and control laws using modern techniques suitable for practical implementation on real systems, trajectory planning for obstacle avoidance and conflict resolution, software-in-the-loop and hardware-in-the-loop validation and certification.

RomaUno team is made of experts that can deal with the Challenge 3 main objectives:

1) Vision-based control of MAV will be addressed by Dr. Vendittelli. The control techniques based on vision developed in recent years at the Robotics Lab have been successfully applied to different robotic systems, including the case of a fixed-wing UAV [1]. These techniques will be extended to the control of MAVs for the inspection of industrial plant, relying on the generality of the approach and on the experience of the RomaUno group in modeling and control of flying vehicles [2,3].

2) Localization and map‐building using monocular and stereo vision will be addressed by Dr. Grisetti and Dr. Bloisi. A SLAM approach using aerial images [4] will be used to generate a globally consistent map of the environment. The method does not require to have GPS information and it exploits aerial images for calculating global constraints within a graph-representation of the SLAM problem. The constraints are obtained by matching features from 3D point clouds to aerial images.

3) Safe navigation [5] (e.g., passing through a door or avoiding static obstacles) will be handled by Prof. Nardi and Prof. De Matteis by exploiting the methods developed in a search and rescue scenario [6], where small MAV are required to enter from the window of a building and report about the internal situation.

Publications

[1] P. Peliti, L. Rosa, G. Oriolo, and M. Vendittelli. Vision-based loitering over a target for a fixed-wing UAV. In 10th IFAC Symposium on Robot Control, pp. 51-57, 2012.

[2] C. Toglia, M. Vendittelli, L. Lanari. Path following for an autonomous paraglider. In 49th IEEE Conf. on Decision and Control, pp. 4869-4874, 2010.

[3] G. Avanzini, U. Ciniglio, G. De Matteis. Full Envelope Robust Control of a Shrouded-Fan Unmanned Vehicle. Journal of Guidance, Control and Dynamics, 29(2): 435-443, 2006.

[4] R. Kuemmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard. Large Scale Graph-based SLAM using Aerial Images as Prior Information. Journal of Autonomous Robots, 30(1):25-39, 2011.

[5] S. Grzonka, G. Grisetti, W. Burgard. Towards a Navigation System for Autonomous Indoor Flying. ICRA, pp. 2878-2883, 2009 (Best Conference Paper Award).

[6] D. Nardi, G. De Matteis, C. Capobianco, A. Coletti, A quad-rotor for information gathering in rescue scenarios. Fourth Symposium for Advanced Technology, 2007



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News

30.01.2017

Best Drone-based Solution

2017-01-30 10:30 CET

On 2017-01-24 the EuRoC Team "GRVC-CATEC" was awarded the “Best Drone-based Solution” at the Eu parlament in Brussels. For more information, click...read more

Category: eurocNews

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Events

15.05.2017

EuRoC Showcasing Workshop

Date: 2017-05-15 till 2017-05-17

Type: Evaluation Meeting (partialy closed to the public)

Venue: Fraunhofer IPA, Stuttgart, Germany read more

Category: eurocEvents, eurocFutureEvents

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