PIAGGIO , Maurizio

Inter robot communication and coordination is without doubt a key issue for every robotic application that relies on the successful cooperation of different robots to achieve a specific goal. RoboCup is an example of a scenario in which this problem needs to be addressed and many teams have focused on this research aspect in their system development.

Potential fields have been widely used for mobile robot navigation and obstacle avoidance. Their success is due to two main reasons: the simplicity with which a path planning problem can be represented and solved and, most of all, the computational efficiency that allows its real-time applicability. In this paper we analyze the complexity of...

In this paper a multi-agent architecture of an Autonomous Robot Navigator for a vehicle that operates in dynamic real-world environments is presented. The vehicle is capable of executing different navigation missions while smoothly avoiding static obstacles in its path as well as moving objects. The navigator architecture is part of a general...

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In recent years there has been great interest in robot software control architectures. However, although many interesting solutions have been presented, most of the research problems tackled related to a single robot perception, navigation and action in everyday environments. Instead, most of the practical applications of mobile robotics for...

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Most robot software architectures focus on the problem of imitating human intelligence and thus typically refer to a single robot perceiving, navigating and acting in the environment. However, the rapid progress of communication technology has modified this reference scenario, offering, the possibility of "distributing" the intelligent activity...

A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free-space from occupancy grids, thus shifting the map- matching problem to a sub-graph isomorphism one....

In this paper we address the problem of autonomous navigation and localization in indoor environments, by referring in particular to the specific scenario of Service Mobile Robotics applications. The localization system uses active beacons (i.e. active transponders distributed throughout the building) as reference points; the estimate of the...

In this paper, we discuss the problem related to a reference scenario in which Service Mobile Robots must be able to operate within human populated environments for carrying out different tasks, focusing in particular on navigation and localization issues. We present an approach that relies on a beacon-based positioning system and ultrasonic...

Autonomous and semi-autonomous mobile robots have to perform a multiplicity of concurrent activities in order to carry out useful tasks in unstructured human-populated environments. Even if it is commonly accepted that a successful accomplishment of assigned tasks requires some sort of real time capability to quickly react and adapt to...

Autonomous mobile robots have to perform a multiplicity of concurrent activities to carry out useful tasks while quickly reacting to sensorial inputs in a dynamic, partially unknown environment. The paper discusses the operating system requirements of a mobile robotic system, by focusing on the timing and communication requirements of the...

Coordination among multiple robots has been extensively studied, since a number of practical tasks can be performed in a more effective way by employing a fleet of coordinated robotic bases. In particular, distributed coordination among robotic agents has been considered recently within the framework offered by the robotic soccer competitions....

This paper presents ETHNOS-IV - a real-time programming environment for the design of a system composed of different robots, devices and external supervising or control stations. ETHNOS is being used for different service robotics applications and it is has also been used successfully used in RoboCup in the Italian ART robot team during the...

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