Vittorio A. Ziparo

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Urban Search And Rescue is a growing area of robotic research. The RoboCup Federation has recognized this, and has created the new Virtual Robots competition to complement its existing physical robot and agent competitions. In order to successfully compete in this competition, teams need to field multi-robot solutions that cooperatively explore and map an(More)
Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a(More)
The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamental issue for a Multi Robot System (MRS) and several techniques have been studied to address this problem. Such techniques usually rely on the assumption that tasks to be assigned are inserted into the system in a coherent fashion. In this work we consider a(More)
Car pollution is one of the major causes of greenhouse emissions, and traffic congestion is rapidly becoming a social plague. Dynamic Ride Sharing (DRS) systems have the potential to mitigate this problem by computing plans for car drivers, e.g. commuters, allowing them to share their rides. Existing efforts in DRS are suffering from the problem that(More)
In this paper we present an asynchronous distributed mechanism for allocating tasks in a team of robots. Tasks to be allocated are dynamically perceived from the environment and can be tied by execution constraints. Conflicts among team mates arise when an uncontrolled number of robots execute the same task, resulting in waste of effort and spatial(More)
To coordinate a team of robots for exploration is a challenging problem, particularly in large areas as for example the devastated area after a disaster. This problem can generally be decomposed into task assignment and multi-robot path planning. In this paper, we address both problems jointly. This is possible because we reduce significantly the size of(More)
This paper describes the approach of the RescueRobots Freiburg Virtual League team. Our simulated robots are based on the two real robot types Lurker, a robot capable of climbing stairs and random stepfield, and Zerg, a lightweight and agile robot, capable of autonomously distributing RFID tags. Our approach covers a novel method for RFID-Technology based(More)
Distributed coordination in multi-robot systems (MRS) is one of the most interesting research issues aiming at improving the performance, the robustness and reliability of a robotic system in accomplishing complex tasks. In this paper, we describe the design and realization of a MRS that takes into account at the same time dynamic role assignment and(More)
Cloud-TM is a highly innovative data-centric middleware platform, aimed at facilitating development and abating operational and administration costs of cloud applications. The Cloud-TM platform is designed from the grounds up to meet the scalability and dynamicity requirements of cloud infrastructures, and is the result of a 3 years long collaboration(More)