Authors - A. Benini, M. J. Rutherford, K. P. Valavanis

 

Abstract - This paper proposes a real-time system for pose estimation of an unmanned aerial vehicle (UAV) using parallel image processing and a fiducial marker. The system exploits the capabilities of a high-performance CPU/GPU embedded system in order to provide on-board high-frequency pose estimation enabling autonomous takeoff and landing.

Authors - J. Dai, A. Benini, H. Lin, P.J. Antsaklis,  M.J. Rutherford, K.P. Valavanis

Abstract - In our previous work, we proposed a learning-based formal top-down design framework to automatically synthesize coordination and control strategies for cooperative multi-agent systems. Our main idea is to decompose a given team mission into individual local tasks and synthesizing local supervisors while guarantee the multi-agent performance by incorporating supervisor synthesis with compositional verification techniques.

Authors - A. Benini, R. Senatore, F. D'Angelo, D. N. Orsini, E. Quatraro, M. Verola, A. Pizzarulli.

Abstract - This paper describes an iterative closed-loop procedure for the performance optimization of an Inertial Navigation System (INS) based on Fiber Optic Gyro (FOG) technology for airborne applications. The proposed approach focuses on the tuning of the Indirect Kalman Filter (IKF) covariance matrices using inertial sensor errors budgets gathered by the analysis of Allan Variance in a reliable calibration environment.

Authors - A. Benini, M. J. Rutherford, K. P. Valavanis.

AbstractThis paper proposes a real-time system for pose estimation of an Unmanned Aerial Vehicle (UAV) using parallel image processing of a known marker. The system exploits the capabilities of a high-performance CPU/GPU embedded system in order to provide on-board high-frequency pose estimation, eliminating the need for transmitting the video stream off-board, and enabling autonomous takeoff and landing.

Authors - A. Benini, A. Mancini, E. Frontoni, P. Zingaretti, S. Longhi.

Abstract - Today Unmanned Aerial Vehicles (UAVs) and in particular quad-rotors represent novel platforms to accomplish a wide set of missions as surveillance, Search & Rescue, inspection, photogrammetry. The main limitation of these vehicles is represented by the restricted operating area. The area is mainly limited by power supplies (batteries or fuel). A strategy to overcame this limitation is to increase the number of vehicles forming a coalition. The main benefit of coalition formation are the extended mission range and the capability to increase the sensorial set.

Authors - A. Benini, A. Mancini, E. Frontoni, P. Zingaretti, S. Longhi.

Abstract - Unmanned Aerial Vehicles (UAVs) and in particular quad-rotors are gaining an increasing interest owing to their flexibility and versatility. Today the challenge is to integrate these versatile platforms in a wide fleet in order to perform cooperative tasks as surveillance, search & rescue, inspection. The coalition formation problem is a pre-condition for cooperative missions.

Authors - A. Gaujens, A. Benini, A. Mancini, S. Longhi.

Abstract - In the last years the Model Based Design for Unmanned Systems aided the safe and rational release of applications running on unmanned systems. In particular in this paper we focus on a hybrid methodology that merges Software in the Loop (SIL) and Model in the Loop (MIL) strategies for cooperative tasks performed by aerial and ground autonomous vehicles.

Authors - A. Benini, A. Mancini, E. Frontoni, P. Zingaretti, S. Longhi.

Abstract - Indoor and outdoor localization of mobile robots using wireless technologies is very attractive in many applications as cooperative robotics. Wireless networks can be successfully used not only for communication among heterogeneous vehicles (e.g., ground, aerial) but also for localization of a mobile robot using IEEE 802.15.4a devices with ranging capability based on Symmetrical Double-Sided Two Way Ranging (SDS-TWR).

Authors - A. Giantomassi, F. Ferracuti, A. Benini, G. Ippoliti, S. Longhi, A. Petrucci

Abstract - Determining the residual life time of systems is a determinant factor for machinery and environment safety. In this paper the problem of estimate the residual useful life (RUL) of turbo-fan engines is addressed.

Authors - A. Benini, A. Mancini, A. Marinelli, S. Longhi

AbstractIndoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mobile agent based on Ultra-WideBand technology using a Biased Extended Kalman Filter (EKF) as a possible technique to improve the localization.

Authors -  F. Cocchioni, V. Pierfelice, A. Benini, A. Mancini, E. Frontoni, P. Zingaretti, G. Ippoliti, S. Longhi

Abstract - The capability to instantiate a cooperation among heterogeneous agents is a fundamental feature in mobile robotics. In this paper we focus on the interaction between Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV) to extend the endurance of UAV, thanks to a novel landing/recharging platform.

Authors - A. Benini, A. Mancini, R. Minutolo, S. Longhi, M. Montanari

Abstract - Unmanned Aerial Vehicles (UAVs) are gaining increasing interest thanks to their flexibility and versatility. However, these systems are very complex and a good simulation platform is needed. In this paper, a new Framework for simulation and fast prototyping of UAV control laws is presented.

Authors - L. Ciabattoni, G. Ippoliti, A. Benini, S. Longhi, M. Pirro

Abstract - In this paper the design and test of a home energy management system have been considered. The device, monitoring home loads, detecting and forecasting photovoltaic (PV) power production and home consumptions, informs and influence users behaviour on their energy demand.

Authors - A. Benini, A. Mancini, S. Longhi.

Abstract - Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mini UAV based on Ultra-WideBand technology, low cost IMU and vision based sensors.