Marco Cognetti

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We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome(More)
This paper addresses the problem of mutual localization in multi-robot systems in presence of anonymous (i.e., without the identity information) bearing-only measurements. The solution of this problem is relevant for the design and implementation of any decentralized multi-robot algorithm/control. A novel algorithm for probabilistic multiple registration of(More)
We develop a localization method for a single-UAV/multi-UGV heterogeneous system of robots. Considering the natural supervisory role of the UAV and the challenging (but realistic) assumption that the UAV-to-UGV measurements do not include the identities of the UGVs, we have adopted the PHD filter as a multi-target tracking technique. However, the standard(More)
This paper considers the problem of planning the motion of a humanoid robot that must execute a manipulation task, possibly requiring stepping, in environments cluttered by obstacles. The proposed method explores the submanifold of the configuration space that is admissible with respect to the assigned task and at the same time satisfies other constraints,(More)
We present a method for performing evasive motions with a humanoid robot. In the considered scenario, the robot is standing in a workspace, when a moving obstacle (e.g., a human, or another robot) enters its safety area and heads towards it; the humanoid must plan and execute in real-time a maneuver that avoids the collision. The proposed method goes(More)
This paper addresses the problem of generating whole-body motions for a humanoid robot that must execute a certain task in an environment containing obstacles. The assigned task trajectory is deformable, and the planner may exploit this feature for finding a solution. Our framework consists of two main components: a constrained motion planner and a(More)
We propose a cooperative control scheme for a heterogeneous multi-robot system, consisting of an Unmanned Aerial Vehicle (UAV) equipped with a camera and multiple identical Unmanned Ground Vehicles (UGVs). Our control scheme takes advantage of the different capabilities of the robots. Since the system is highly redundant, the execution of multiple different(More)
This paper addresses the problem of rearrangement planning, i.e. to find a feasible trajectory for a robot that must interact with multiple objects in order to achieve a goal. We propose a planner to solve the rearrangement planning problem by considering two different types of actions: robot-centric and object-centric. Object-centric actions guide the(More)