Virgilio Mattoli

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The DustBot project is aimed at designing, developing, testing and demonstrating a system for improving the management of urban hygiene based on a network of autonomous and cooperating robots, embedded in an Ambient Intelligence (AmI) infrastructure. In the final scenario, the robots will be able to operate in partially unstructured environments (such as(More)
— We describe the design and control of a new bio-inspired climbing robot designed to scale smooth vertical surfaces using directional adhesive materials. The robot, called Stickybot, draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb smooth vertical surfaces including glass,(More)
This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat.(More)
This work describes the design and experimental results of an algorithm, designed to localize a gas source in an indoor environment with no strong airflow by using an autonomous agent. This condition exacerbates the patchiness and intermittency of odor distribution, typical of turbulent flows in the presence of strong mean flows. Furthermore, no information(More)
This paper addresses the problem of autonomous localization of multiple gas or odor sources in an indoor environment with no strong airflow. In our approach, a robot iteratively builds an occupancy grid map [1], [2] from successive measurements of odor concentration. The resulting map shows the probability of each discrete cell in the map containing an(More)
The need for real-time/reliable/low-maintenance distributed monitoring systems, e.g., wireless sensor networks, has been becoming more and more evident in many applications in the environmental, agro-alimentary, medical, and industrial fields. The growing interest in technologies related to sensors is an important indicator of these new needs. The design(More)
In this paper we address the problem of autonomously localizing multiple gas/odor sources in an indoor environment without a strong airflow. To do this, a robot iteratively creates an occupancy grid map. The produced map shows the probability each discrete cell contains a source. Our approach is based on a recent adaptation [15] to traditional Bayesian(More)
This paper presents an algorithm to localize a gas source by using a swarm of robots in a large indoor environment without the presence of a relevant wind. The algorithm is composed of two different phases: an exploration phase aiming at finding a clue of the presence of a gas source and a localization phase to detect the emitting source. We propose a(More)
A soft tactile sensor able to detect both normal and tangential forces is fabricated with a simple method using conductive textile. Owing to the multi-layered architecture, the capacitive-based tactile sensor is highly sensitive (less than 10 mg and 8 μm, for minimal detectable weight and displacement, respectively) within a wide normal force range(More)