G. Silano, A. Cabellero, D. Liuzza, L. Iannelli, S. Bogdan, and M. Saska, “A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study,” pp. 1–16, 2024.
@inproceedings{Silano2024RAS,
author = {{Silano}, Giuseppe and {Cabellero}, Alvaro and {Liuzza}, Davide and {Iannelli}, Luigi and {Bogdan}, Stjepan and {Saska}, Martin},
title = {{A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study}},
year = {2024},
group = {preprints},
pages = {1-16},
preprint = {publications/2409.12713v1.pdf},
link = {https://arxiv.org/abs/2409.12713},
doi = {10.48550/arXiv.2409.12713}
}
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermore, a generalized robustness scoring method is employed to reflect user preferences and mitigate task conflicts. The effectiveness of the proposed approach is demonstrated through MATLAB and Gazebo simulations, as well as field multi-robot experiments in a mock-up scenario.
V. Kratky, G. Silano, M. Vrba, C. Papaioannidis, I. Mademlis, R. Penicka, I. Pitas, and M. Saska, “Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications,” pp. 1–8, 2024.
@inproceedings{Silano2024IROS,
author = {{Kratky}, Vit and {Silano}, Giuseppe and {Vrba}, Matous and {Papaioannidis}, Christos and {Mademlis}, Ioannis and {Penicka}, Robert and {Pitas}, Ioannis and {Saska}, Martin},
title = {{Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications}},
year = {2024},
group = {preprints},
pages = {1-8},
preprint = {publications/2403.15333.pdf},
link = {https://arxiv.org/abs/2403.15333},
doi = {10.48550/arXiv.2403.15333}
}
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is intended for monitoring the safety of human workers, especially those working at heights. In the proposed dynamic formation scheme, one UAV acts as the leader of the formation and is equipped with sensors for human worker detection and gesture recognition. The follower UAVs maintain a predetermined formation relative to the worker’s position, thereby providing additional perspectives of the monitored scene. Hand gestures allow the human worker to specify movements and action commands for the UAV team and initiate other mission-related commands without the need for an additional communication channel or specific markers. Together with a novel unified human detection and tracking algorithm, human pose estimation approach and gesture detection pipeline, the proposed approach forms a first instance of an HSI system incorporating all these modules onboard real-world UAVs. Simulations and field experiments with three UAVs and a human worker in a mock-up scenario showcase the effectiveness and responsiveness of the proposed approach.
Book Chapters
G. Silano and L. Iannelli, “CrazyS: a software-in-the-loop simulation platform for the Crazyflie 2.0 nano-quadcopter,” in “Robot Operating System (ROS): The Complete Reference (Volume 4),” A. Koubaa, Ed. , Cham: Springer International Publishing, pp. 81–115, 2020.
@inbook{Silano2019ROSVolume4,
author = {Silano, G. and Iannelli, L.},
editor = {Koubaa, A.},
title = {Robot Operating System (ROS): The Complete Reference (Volume 4)},
chapter = {{CrazyS: a software-in-the-loop simulation platform for the Crazyflie 2.0 nano-quadcopter}},
publisher = {Springer International Publishing},
group = {book-chapters},
address = {Cham},
pages = {81-115},
isbn = {978-3-030-20190-6},
doi = {10.1007/978-3-030-20190-6_4},
preprint = {publications/rosChapter19.pdf},
link = {https://link.springer.com/chapter/10.1007/978-3-030-20190-6_4},
year = {2020},
code = {http://github.com/gsilano/CrazyS}
}
This chapter proposes a typical use case dealing with the physical simulation of autonomous robots (specifically, quadrotors) and their interfacing through ROS (Robot Operating System). In particular, we propose CrazyS, an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano-quadcopter in the physics based simulation environment Gazebo. Such simulation platform allows to understand quickly the behavior of the flight control system by comparing and evaluating different indoor and outdoor scenarios, with a details level quite close to reality. The proposed extension, running on Kinetic Kame ROS version but fully compatible with the Indigo Igloo one, expands the RotorS capabilities by considering the Crazyflie 2.0 physical model, its flight control system and the Crazyflie’s on-board IMU, as well. A simple case study has been considered in order to show how the package works and how the dynamical model interacts with the control architecture of the quadcopter. The contribution can be also considered as a reference guide for expanding the RotorS functionalities in the UAVs field, by facilitating the integration of new aircrafts. We released the software as open-source code, thus making it available for scientific and educational activities.
Journals
D. Bonilla Licea, G. Silano, H. El Hammouti, M. Ghogho, and M. Saska, “Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles,” IEEE Communications Magazine, 2024. In Press.
@article{Silano2024IEEECommMagazine,
title = {{Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles}},
author = {{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {El Hammouti}, Hajar and {Ghogho}, Mounir and {Saska}, Martin},
group = {journals},
preprint = {publications/IEEEComMag_2024.pdf},
doi = {},
journal = {IEEE Communications Magazine},
year = {2024},
status = {In Press},
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}
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has attracted significant interest in the robotics community. These MRAVs have the unique capability of independently controlling their 3D position and 3D orientation. In the context of aerial communication networks, this translates into the ability to control the position and orientation of the antenna mounted on the MRAV without any additional devices tasked for antenna orientation. This additional Degrees of Freedom (DoF) adds a new dimension to aerial communication systems, creating various research opportunities in communications-aware trajectory planning and positioning. This paper presents this new class of MRAVs and discusses use cases in areas such as physical layer security and optical communications. Furthermore, the benefits of these MRAVs are illustrated with realistic simulation scenarios. Finally, new research problems and opportunities introduced by this advanced robotics technology are discussed.
C. A. Dimmig, G. Silano, K. McGuire, C. Gabellieri, W. Honig, J. Moore, and M. Kobilarov, “Survey of Simulators for Aerial Robots,” IEEE Robotics and Automation Magazine, 2024. In Press.
@article{Silano2023SurveySimulator,
title = {{Survey of Simulators for Aerial Robots}},
author = {{Dimmig}, C. A. and {Silano}, G. and {McGuire}, K. and {Gabellieri}, C. and {Honig}, W. and {Moore}, J. and Kobilarov, M.},
group = {journals},
preprint = {publications/survey_simulators.pdf},
doi = {10.1109/MRA.2024.3433171},
journal = {IEEE Robotics and Automation Magazine},
year = {2024},
month = {},
pages = {},
volume = {},
number = {},
status = {In Press},
link = {https://ieeexplore.ieee.org/document/10665978}
}
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the development and evaluation of novel perception and control algorithms. However, the large number of available simulators poses a significant challenge for researchers to determine which simulator best suits their specific use-case, based on each simulator’s limitations and customization readiness. In this paper we present an overview of 44 UAV simulators, including in-depth, systematic comparisons for 14 of the simulators. Additionally, we present a set of decision factors for selection of simulators, aiming to enhance the efficiency and safety of research endeavors.
A. Caballero and G. Silano, “A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems,” IEEE Access, vol. 11, pp. 81361–81377, July, 2023. Impact factor: 3.9.
@article{Silano2022BirdDiverter,
title = {{A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems}},
author = {{Caballero}, Alvaro and {Silano}, Giuseppe},
journal = {IEEE Access},
group = {journals},
year = {2023},
preprint = {publications/birdDiverter.pdf},
status = {Impact factor: 3.9.},
volume = {11},
pages = {81361-81377},
month = jul,
doi = {10.1109/ACCESS.2023.3300240},
link = {https://ieeexplore.ieee.org/document/10197369}
}
This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained trajectories, considering payload capacity limitations and recharging constraints. Signal Temporal Logic (STL) specifications are employed to encode the mission objectives and temporal requirements. Additionally, an event-based replanning strategy is introduced to handle unforeseen failures. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation operations. The effectiveness and validity of the approach are demonstrated through simulations in MATLAB and Gazebo, as well as field experiments carried out in a mock-up scenario.
D. Hert et al., “MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems,” Journal of Intelligent & Robotic Systems, vol. 108, no. 64, pp. 1–34, July, 2023. Impact factor: 3.3.
@article{Silano2023JINT_HW,
author = {{Hert}, D. and {Baca}, T. and {Petracek}, P. and {Kratky}, V. and {Penicka}, R. and {Spurny}, V. and {Petrlik}, M. and {Vrba}, M. and {Zaitlik}, D. and {Stoudek}, P. and {Walter}, V. and {Stepan}, P. and {Horyna}, J. and {Pritzl}, V. and {Sramek}, M. and {Ahmad}, A. and {Silano}, G. and {Bonilla Licea}, D. and {Stibinger}, P. and {Nascimento}, T. and {Saska}, M.},
journal = {Journal of Intelligent & Robotic Systems},
title = {{MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems}},
year = {2023},
group = {journals},
status = {Impact factor: 3.3.},
preprint = {publications/JINT_HW_2023.pdf},
volume = {108},
pages = {1-34},
doi = {10.1007/s10846-023-01879-2},
number = {64},
month = jul,
code = {https://github.com/ctu-mrs/mrs_uav_system},
link = {https://link.springer.com/article/10.1007/s10846-023-01879-2}
}
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechancal and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.
A. Ahmad, D. Bonilla Licea, G. Silano, T. Baca, and M. Saska, “PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization,” Bioinspiration & Biomimetics, vol. 17, no. 6, pp. 1–19, November, 2022. Impact factor: 2.985.
@article{Silano2022Bioinspired,
title = {{PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization}},
author = {{Ahmad}, Afzal and {Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Baca}, Tomas and {Saska}, Martin},
doi = {10.1088/1748-3190/ac98e6},
group = {journals},
status = {Impact factor: 2.985.},
journal = {Bioinspiration & Biomimetics},
year = {2022},
organization = {IOP Science},
month = nov,
pages = {1-19},
volume = {17},
number = {6},
preprint = {publications/Bioinspired22.pdf},
code = {https://github.com/ctu-mrs/pacnav},
link = {https://iopscience.iop.org/article/10.1088/1748-3190/ac98e6}
}
This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is based on the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. As global and concurrent information of all swarm members is not available in natural swarms, these systems use local observations to achieve the desired behavior. Similarly, PACNav relies only on local observations of relative positions of UAVs, making it suitable for large swarms deprived of communication capabilities and external localization systems. We introduce the novel concepts of path persistence and path similarity that allow each swarm member to analyze the motion of other members in order to determine its own future motion. PACNav is based on two main principles: (1) UAVs with little variation in motion direction have high path persistence, and are considered by other UAVs to be reliable leaders; (2) groups of UAVs that move in a similar direction have high path similarity, and such groups are assumed to contain a reliable leader. The proposed approach also embeds a reactive collision avoidance mechanism to avoid collisions with swarm members and environmental obstacles. This collision avoidance ensures safety while reducing deviations from the assigned path. Along with several simulated experiments, we present a real-world experiment in a natural forest, showcasing the validity and effectiveness of the proposed collective navigation approach in challenging environments. The source code is released as open-source, making it possible to replicate the obtained results and facilitate the continuation of research by the community.
A. Basiri, V. Mariani, G. Silano, M. Aatif, L. Iannelli, and L. Glielmo, “A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture,” The Journal of Navigation, vol. 75, no. 2, pp. 364–383, January, 2022. Impact factor: 1.995.
@article{Silano2021JournalOfNavigation,
title = {{A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture}},
author = {{Basiri}, Amin and {Mariani}, Valerio and {Silano}, Giuseppe and {Aatif}, Muhammad and {Iannelli}, Luigi and {Glielmo}, Luigi},
doi = {10.1017/S0373463321000825},
group = {journals},
status = {Impact factor: 1.995.},
journal = {The Journal of Navigation},
pages = {364-383},
volume = {75},
number = {2},
year = {2022},
organization = {Cambridge University Press Press},
month = jan,
link = {https://www.cambridge.org/core/journals/journal-of-navigation/article/abs/survey-on-the-application-of-pathplanning-algorithms-for-multirotor-uavs-in-precision-agriculture/981803D6E3E22A40069B69BFDACDF6B4}
}
Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.
G. Silano and L. Iannelli, “MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects,” IEEE Access, vol. 9, pp. 39333–39343, March, 2021. Impact factor: 3.745.
@article{Silano2021MATFly,
author = {{Silano}, G. and {Iannelli}, L.},
title = {{MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects}},
group = {journals},
year = {2021},
volume = {9},
pages = {39333-39343},
status = {Impact factor: 3.745.},
code = {https://github.com/gsilano/MAT-Fly},
preprint = {publications/MAT-Fly.pdf},
doi = {10.1109/ACCESS.2021.3064758},
month = mar,
journal = {IEEE Access},
link = {https://ieeexplore.ieee.org/document/9373417}
}
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described MAT-Fly, a numerical simulation platform for multi-rotor aircraft characterized by the ease of use and control development. The platform is based on Matlab and the MathWorks Virtual Reality (VR) and Computer Vision System (CVS) toolboxes that work together to simulate the behavior of a quad-rotor while tracking a car that moves along a nontrivial path. The VR toolbox has been chosen due to the familiarity that students have with Matlab and because it does not require a notable effort by the user for the learning and development phase thanks to its simple structure. The overall architecture is quite modular so that each block can be easily replaced with others simplifying the code reuse and the platform customization. Some simple testbeds are presented to show the validity of the approach and how the platform works. The simulator is released as open-source, making it possible to go through any part of the system, and available for educational purposes.
G. Silano, T. Baca, R. Penicka, D. Liuzza, and M. Saska, “Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 4169–4176, April, 2021. Impact factor: 3.608. Accepted also to ICRA’21.
@article{Silano2021RAL,
author = {{Silano}, G. and {Baca}, T. and {Penicka}, R. and {Liuzza}, D. and {Saska}, M.},
title = {{Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications}},
group = {journals},
year = {2021},
volume = {6},
number = {2},
pages = {4169-4176},
status = {Impact factor: 3.608. Accepted also to ICRA'21},
preprint = {publications/ral21.pdf},
doi = {10.1109/LRA.2021.3068114},
month = apr,
journal = {IEEE Robotics and Automation Letters},
link = {https://ieeexplore.ieee.org/document/9384182}
}
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the planned mission. An optimization problem is set to generate optimal strategies that satisfy these specifications and also take vehicle constraints into account. Further, an event-triggered replanner is proposed to reply to unforeseen events and external disturbances. An energy minimization term is also considered to implicitly save quad-rotors battery life while carrying out the mission. Numerical simulations in MATLAB and experimental results show the validity and the effectiveness of the proposed approach, and demonstrate its applicability in real-world scenarios.
Conferences
D. Bonilla Licea, H. El Hammouti, G. Silano, and M. Saska, “Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping,” in 2024 IEEE Global Communications Conference (IEEE GLOBECOM), December, 2024, Cape Town, South Africa. To Appear.
@inproceedings{Silano2024GLOBECOM,
author = {{Bonilla Licea}, Daniel and {El Hammouti}, Hajar and {Silano}, Giuseppe and {Saska}, Martin},
title = {{Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping}},
booktitle = {2024 IEEE Global Communications Conference (IEEE GLOBECOM)},
year = {2024},
organization = {IEEE},
month = dec,
group = {conferences},
status = {To Appear},
preprint = {publications/GLOBECOM_2024.pdf},
note = {Cape Town, South Africa}
}
Recent research in communications-aware robotics has been propelled by advancements in 5G and emerging 6G technologies. This field now includes the integration of Multi-Rotor Aerial Vehicles (MRAVs) into cellular networks, with a specific focus on under-actuated MRAVs. These vehicles face challenges in independently controlling position and orientation due to their limited control inputs, which adversely affects communication metrics such as Signal-to-Noise Ratio. In response, a newer class of omnidirectional MRAVs has been developed, which can control both position and orientation simultaneously by tilting their propellers. However, exploiting this capability fully requires sophisticated motion planning techniques. This paper presents a novel application of omnidirectional MRAVs designed to enhance communication security and thwart eavesdropping. It proposes a strategy where one MRAV functions as an aerial Base Station, while another acts as a friendly jammer to secure communications. This study is the first to apply such a strategy to MRAVs in scenarios involving eavesdroppers.
G. Silano, E. Rikos, V. Rajkumar, O. Gehrke, T. A. Zerihun, C. Rodio, and R. Lazzari, “Integrating Power-to-Heat Services in Geographically Distributed Multi-Energy Systems: A Case Study from the ERIGrid 2.0 Project,” in 2024 Open Source Modelling and Simulation of Energy Systems (OSMSES 2024), pp. 1–6, September, 2024, Vienna, Austria.
@inproceedings{Silano2024OSMSES,
author = {{Silano}, Giuseppe and {Rikos}, Evangelos and {Rajkumar}, Vetrivel and {Gehrke}, Oliver and {Zerihun}, Tesfaye Amare and {Rodio}, Carmine and {Lazzari}, Riccardo},
title = {{Integrating Power-to-Heat Services in Geographically Distributed Multi-Energy Systems: A Case Study from the ERIGrid 2.0 Project}},
booktitle = {2024 Open Source Modelling and Simulation of Energy Systems (OSMSES 2024)},
year = {2024},
organization = {IEEE},
month = sep,
group = {conferences},
note = {Vienna, Austria},
preprint = {publications/OSMSES_2024.pdf},
code = {https://github.com/ERIGrid2/JRA-3.1-api},
link = {https://ieeexplore.ieee.org/document/10668976},
doi = {10.1109/OSMSES62085.2024.10668976},
pages = {1-6}
}
This paper investigates the integration and validation of multi-energy systems within the H2020 ERIGrid 2.0 project, focusing on the deployment of the JaNDER software middleware and universal API (uAPI) to establish a robust, high-data-rate, and low-latency communication link between Research Infrastructures (RIs). The middleware facilitates seamless integration of RIs through specifically designed transport layers, while the uAPI provides a simplified and standardized interface to ease deployment. A motivating case study explores the provision of power-to-heat services in a local multienergy district, involving laboratories in Denmark, Greece, Italy, the Netherlands, and Norway, and analyzing their impact on electrical and thermal networks. This paper not only demonstrates the practical application of Geographically Distributed Simulations and Hardware-in-the-Loop technologies but also highlights their effectiveness in enhancing system flexibility and managing grid dynamics under various operational scenarios.
V. Rajkumar et al., “Laboratory Middleware for the Cyber-Physical Integration of Energy Research Infrastructures,” in 2024 12th Workshop on Modelling and Simulation of Cyber-Physical Energy Systems (MSCPES), pp. 1–5, May, 2024, Hong Kong, China.
@inproceedings{Silano2024MSCPES,
author = {{Rajkumar}, Vetrivel and {Silano}, Giuseppe and {Gehrke}, Oliver and {Vogel}, Steffen and {Widl}, Edmund and {Paludetto}, Gabriele and {Rikos}, Evangelos and {Zerihun}, Tesfaye Amare and {Stefanov}, Alexandru and {Palensky}, Peter and {Strasser}, Thomas I.},
title = {{Laboratory Middleware for the Cyber-Physical Integration of Energy Research Infrastructures}},
year = {2024},
booktitle = {2024 12th Workshop on Modelling and Simulation of Cyber-Physical Energy Systems (MSCPES)},
group = {conferences},
pages = {1-5},
preprint = {publications/MSCPES_2024.pdf},
month = may,
link = {https://ieeexplore.ieee.org/document/10542755},
doi = {10.1109/MSCPES62135.2024.10542755},
note = {Hong Kong, China},
code = {https://github.com/ERIGrid2/JRA-3.1-api}
}
The virtual integration of geographically distributed Research Infrastructures (RIs) for joint experiments in the domain of power and energy systems poses numerous challenges, particularly in terms of tool compatibility and userfriendliness. To address some of these challenges, this work presents the development and implementation of a laboratorybased middleware and data exchange service as part of the H2020 ERIGrid 2.0 project. The middleware comprises a suite of shared software tools and services designed to seamlessly integrate RIs including transport protocols as well as interface semantics. Specifically, this work details the development of a simplified and standardised interface known as the Universal Application Programming Interface (UAPI). It eliminates the need for users to grapple with the diverse intricacies of each individual RI, offering instead a tool-agnostic and standardised interface for conducting joint experiments. The work also presents and discusses the results of a real-world case study of a geographically distributed, sector-coupling experiment conducted between laboratories in Denmark, Greece, Italy, Netherlands, and Norway utilising the developed middleware.
D. Bonilla Licea, G. Silano, M. Ghogho, and M. Saska, “Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security,” in 2024 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), pp. 9021–9025, April, 2024, Seoul, Korea.
@inproceedings{Silano2024ICASSP,
author = {{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Ghogho}, Mounir and {Saska}, Martin},
booktitle = {2024 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
title = {{Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security}},
year = {2024},
group = {conferences},
month = apr,
pages = {9021-9025},
preprint = {publications/ICASSP-2024.pdf},
link = {https://ieeexplore.ieee.org/document/10447876},
doi = {10.1109/ICASSP48485.2024.10447876},
note = {Seoul, Korea}
}
The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics, exploring the interplay between robotics and communications, but also makes the MRAVs susceptible to malicious attacks, such as jamming. One traditional approach to counter these attacks is the use of beamforming on the MRAVs to apply physical layer security techniques. In this paper, we explore pose optimization as an alternative approach to countering jamming attacks on MRAVs. This technique is intended for omnidirectional MRAVs, which are drones capable of independently controlling both their position and orientation, as opposed to the more common under-actuated MRAVs whose orientation cannot be controlled independently of their position. In this paper, we consider an omnidirectional MRAV serving as a Base Station (BS) for legitimate ground nodes, under attack by a malicious jammer. We optimize the MRAV pose (i.e., position and orientation) to maximize the minimum Signal-to-Interference-plus-Noise Ratio (SINR) over all legitimate nodes.
G. Silano, A. Afifi, M. Saska, and A. Franchi, “A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration,” in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 328–335, June, 2023, Lazarski University, Warsaw, Poland.
@inproceedings{SilanoICUAS23_II,
author = {{Silano}, Giuseppe and {Afifi}, Amr and {Saska}, Martin and {Franchi}, Antonio},
booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration}},
year = {2023},
group = {conferences},
month = jun,
pages = {328-335},
doi = {10.1109/ICUAS57906.2023.10156559},
link = {https://ieeexplore.ieee.org/document/10156559},
preprint = {publications/ICUAS23-II.pdf},
note = {Lazarski University, Warsaw, Poland}
}
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
D. Bonilla Licea, G. Silano, M. Ghogho, and M. Saska, “Communications-Aware Robotics: Challenges and Opportunities,” in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 366–371, June, 2023, Lazarski University, Warsaw, Poland.
@inproceedings{SilanoICUAS23_I,
author = {{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Ghogho}, Mounir and {Saska}, Martin},
booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{Communications-Aware Robotics: Challenges and Opportunities}},
year = {2023},
group = {conferences},
month = jun,
pages = {366-371},
doi = {10.1109/ICUAS57906.2023.10155882},
link = {https://ieeexplore.ieee.org/document/10155882},
preprint = {publications/ICUAS23-I.pdf},
note = {Lazarski University, Warsaw, Poland}
}
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents are equipped with communication systems that are essential for completing certain tasks successfully. This has led to the emergence of a new interdisciplinary field at the intersection of robotics and communications, which has been further driven by the integration of UAVs into 5G and 6G communication networks. However, one of the main challenges in this research area is how many researchers tend to oversimplify either the robotics or the communications aspects, hindering the full potential of this new interdisciplinary field. In this paper, we present some of the necessary modeling tools for addressing these problems from both a robotics and communications perspective, using the UAV communications relay as an example.
V. Cataffo, G. Silano, L. Iannelli, V. Puig, and L. Glielmo, “A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles,” in 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 100–105, October, 2022, Prague, Czech Republic.
@inproceedings{Silano2022SMC,
author = {{Cataffo}, V. and {Silano}, G. and {Iannelli}, L. and {Puig}, V. and {Glielmo}, L.},
booktitle = {2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
title = {{A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles}},
year = {2022},
group = {conferences},
month = oct,
preprint = {publications/SMC22.pdf},
pages = {100-105},
link = {https://ieeexplore.ieee.org/document/9945279},
note = {Prague, Czech Republic},
doi = {10.1109/SMC53654.2022.9945279},
code = {https://github.com/vittoriocataffo/A-Nonlinear-Model-Predictive-Control-Strategy-for-Autonomous-Racing-of-Scale-Vehicles}
}
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while keeping the vehicle within track boundaries. The optimization problem considers both the vehicle’s actuation limits and the lateral and longitudinal forces acting on the car modeled through the Pacejka’s magic formula and a simple drivetrain model. Furthermore, the approach allows to safely race on a track populated by static obstacles generating collision-free trajectories and tracking them while enhancing the lap timing performance. Gazebo simulations using the F1/10 simulator showcase the feasibility and validity of the proposed control strategy. The code is released as open-source making it possible to replicate the obtained results.
D. Hert et al., “MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1264–1273, June, 2022, Dubrovnik, Croatia.
@inproceedings{Silano2022ICUAS_III,
author = {{Hert}, D. and {Baca}, T. and {Petracek}, P. and {Kratky}, V. and {Spurny}, V. and {Petrlik}, M. and {Vrba}, M. and {Zaitlik}, D. and {Stoudek}, P. and {Walter}, V. and {Stepan}, P. and {Horyna}, J. and {Pritzl}, V. and {Silano}, G. and {Bonilla Licea}, D. and {Stibinger}, P. and {Penicka}, R. and {Nascimento}, T. and {Saska}, M.},
booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments}},
year = {2022},
group = {conferences},
month = jun,
preprint = {publications/ICUAS22_Silano_III.pdf},
note = {Dubrovnik, Croatia},
pages = {1264-1273},
link = {https://ieeexplore.ieee.org/document/9836083},
doi = {10.1109/ICUAS54217.2022.9836083},
code = {https://github.com/ctu-mrs/mrs_uav_system}
}
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We present mechanical designs, electric configurations, and dynamic models of the UAVs, followed by numerous recommendations and technical details required for building such a fully autonomous UAV system for experimental verification of scientific achievements. To show strength and high variability of the proposed system, we present results of tens of completely different real-robot experiments in various environments using distinct actuator and sensory configurations.
A. Calvo, G. Silano, and J. Capitan, “Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1644–1649, June, 2022, Dubrovnik, Croatia.
@inproceedings{Silano2022ICUAS_II,
author = {{Calvo}, A. and {Silano}, G. and {Capitan}, J.},
booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations}},
year = {2022},
group = {conferences},
month = jun,
preprint = {publications/ICUAS22_Silano_II.pdf},
note = {Dubrovnik, Croatia},
link = {https://ieeexplore.ieee.org/document/9836234},
pages = {1644-1649},
code = {https://github.com/grvcTeam/aerialcore_planning},
doi = {10.1109/ICUAS54217.2022.9836234}
}
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles’ capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.
A. Dmytruk, G. Silano, D. Bicego, D. Bonilla Licea, and M. Saska, “A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1668–1673, June, 2022, Dubrovnik, Croatia.
@inproceedings{Silano2022ICUAS_I,
author = {{Dmytruk}, Andriy and {Silano}, Giuseppe and {Bicego}, Davide and {Bonilla Licea}, Daniel and {Saska}, Martin},
booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV}},
year = {2022},
group = {conferences},
month = jun,
preprint = {publications/ICUAS22_Silano_I.pdf},
note = {Dubrovnik, Croatia},
pages = {1668-1673},
doi = {10.1109/ICUAS54217.2022.9836071},
link = {https://ieeexplore.ieee.org/document/9836071}
}
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.
L. Demkiv, M. Ruffo, G. Silano, J. Bednar, and M. Saska, “An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs,” in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), pp. 1–8, October, 2021, Biograd na Moru, Croatia.
@inproceedings{Silano2021AIRPHARO,
author = {{Demkiv}, Lyubomyr and {Ruffo}, Massimiliano and {Silano}, Giuseppe and {Bednar}, Jan and {Saska}, Martin},
booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
title = {{An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs}},
year = {2021},
group = {conferences},
month = oct,
preprint = {publications/airpharo_2021_Silano.pdf},
doi = {10.1109/AIRPHARO52252.2021.9571025},
link = {https://ieeexplore.ieee.org/document/9571025},
pages = {1-8},
note = {Biograd na Moru, Croatia}
}
An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the major causes of power outages. The stereo vision complements the GPS information by finely detecting the potential source of damage while also providing a measure of the harm extension. The reduced sizes and the light weight of the vehicle enable to survey areas otherwise difficult to access with standard UAVs. Gazebo simulations and real flight experiments demonstrate the feasibility and effectiveness of the proposed setup.
D. Bonilla Licea, G. Silano, M. Ghogho, and M. Saska, “Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations,” in 29th European Signal Processing Conference (EUSIPCO), pp. 1586–1590, September, 2021, Dublin, Ireland.
@inproceedings{Silano2021Eusipco,
author = {{Bonilla Licea}, D. and {Silano}, G. and {Ghogho}, Mounir and {Saska}, M.},
booktitle = {29th European Signal Processing Conference (EUSIPCO)},
title = {{Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations}},
year = {2021},
group = {conferences},
month = sep,
preprint = {publications/EUSIPCO_2021.pdf},
doi = {10.23919/EUSIPCO54536.2021.9616232},
link = {https://ieeexplore.ieee.org/document/9616232},
pages = {1586-1590},
note = {Dublin, Ireland}
}
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV’s antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering its motion dynamics and the motion-induced changes of the antenna orientation. The UAV relay’s trajectory is optimized to maximize the end-to-end number of bits transmitted. Numerical simulations in MATLAB and Gazebo show the benefits of accounting for the antenna orientation variations due to the UAV tilt.
M. Terlizzi, G. Silano, L. Russo, M. Aatif, A. Basiri, V. Mariani, L. Iannelli, and L. Glielmo, “A Vision-Based Algorithm for a Path Following Problem,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1630–1635, June, 2021, Athens, Greece.
@inproceedings{Silano2021ICUAS_II,
author = {{Terlizzi}, M. and {Silano}, G. and {Russo}, L. and {Aatif}, M. and {Basiri}, A. and {Mariani}, V. and {Iannelli}, L. and {Glielmo}, L.},
booktitle = {2021 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{A Vision-Based Algorithm for a Path Following Problem}},
year = {2021},
group = {conferences},
month = jun,
pages = {1630-1635},
preprint = {publications/ICUAS21_Silano_II.pdf},
note = {Athens, Greece},
doi = {10.1109/ICUAS51884.2021.9476777},
link = {https://ieeexplore.ieee.org/document/9476777},
code = {https://www.mathworks.com/matlabcentral/fileexchange/91475-vision-based-path-following-algorithm?s_tid=srchtitle}
}
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path fora quad-rotor UAV is obtained by using downward facing camera images implementing an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB together with the MathWorks Virtual Reality (VR) toolbox demonstrate the validity and the effectiveness of the proposed solution. The code is released as open-source making it possible to go through any part of the system and to replicate the obtained results.
G. Silano, J. Bednar, T. Nascimento, J. Capitan, M. Saska, and A. Ollero, “A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1624–1629, June, 2021, Athens, Greece.
@inproceedings{Silano2021ICUAS_I,
author = {{Silano}, G. and {Bednar}, J. and {Nascimento}, T. and {Capitan}, J. and {Saska}, M. and {Ollero}, A.},
booktitle = {2021 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks}},
year = {2021},
group = {conferences},
pages = {1624-1629},
month = jun,
preprint = {publications/ICUAS21_Silano_I.pdf},
note = {Athens, Greece},
doi = {10.1109/ICUAS51884.2021.9476813},
link = {https://ieeexplore.ieee.org/document/9476813},
code = {https://github.com/ctu-mrs/icuas_2021_sw_architecture_acws}
}
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations.
G. Silano, P. Oppido, and L. Iannelli, “Software-in-the-loop simulation for improving flight control system design: a quadrotor case study,” in 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 466–471, October, 2019, Bari, Italy.
@inproceedings{Silano2019SMC,
author = {Silano, G. and Oppido, P. and Iannelli, L.},
booktitle = {2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
title = {{Software-in-the-loop simulation for improving flight control system design: a quadrotor case study}},
year = {2019},
pages = {466-471},
group = {conferences},
doi = {10.1109/SMC.2019.8914154},
month = oct,
preprint = {publications/smc19.pdf},
code = {http://github.com/gsilano/BebopS},
link = {https://ieeexplore.ieee.org/document/8914154},
note = {Bari, Italy}
}
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations. The use of the SIL technique allows to understand the behavior of the flight control system by comparing and evaluating different scenarios, with a details level quite close to reality. At the same time, it is possible to discover issues that a model-in-the-loop (MIL) simulation does not necessarily detect, even if carried out through a multi-physics co-simulation approach. The paper aims to give the reader a practical and concrete evidence of such considerations through the case study of a micro quadrotor.
P. Daponte, L. De Vito, L. Glielmo, L. Iannelli, D. Liuzza, F. Picariello, and G. Silano, “A review on the use of drones for precision agriculture,” in 2018 1st Workshop - Metrology for Agriculture and Foresty (MetroAgriFor), pp. 1–11, October, 2018, Ancona, Italy.
@inproceedings{Silano2018MetroAgriFor,
author = {Daponte, P. and De Vito, L. and Glielmo, L. and Iannelli, L. and Liuzza, D. and Picariello, F. and Silano, G.},
booktitle = {2018 1st Workshop - Metrology for Agriculture and Foresty (MetroAgriFor)},
title = {{A review on the use of drones for precision agriculture}},
year = {2018},
pages = {1-11},
group = {conferences},
doi = {10.1088/1755-1315/275/1/012022},
issn = {1755-1315},
month = oct,
preprint = {publications/metroagrifor18.pdf},
link = {https://iopscience.iop.org/article/10.1088/1755-1315/275/1/012022},
note = {Ancona, Italy}
}
In recent years, there has been a strong activity in the so-called precision agriculture, particularly the monitoring aspect, not only to improve productivity, but also to meet demand of a growing population. At a large scale, precise monitoring of cultivated fields is a quite challenging task. Therefore, this paper aims to propose a survey on techniques, applied to precision agriculture monitoring, through the use of drones equipped with multispectral, thermal and visible cameras. For each application, the main limitations are highlighted and the parameters to be considered before to perform a flight are reported.
G. Silano, E. Aucone, and L. Iannelli, “CrazyS: A Software-In-The-Loop Platform for the Crazyflie 2.0 Nano-Quadcopter,” in 2018 26th Mediterranean Conference on Control and Automation (MED), pp. 352–357, June, 2018, Zadar, Croatia.
@inproceedings{Silano2018MED,
author = {Silano, G. and Aucone, E. and Iannelli, L.},
booktitle = {2018 26th Mediterranean Conference on Control and Automation (MED)},
title = {{CrazyS: A Software-In-The-Loop Platform for the Crazyflie 2.0 Nano-Quadcopter}},
year = {2018},
pages = {352-357},
group = {conferences},
doi = {10.1109/MED.2018.8442759},
issn = {2473-3504},
month = jun,
preprint = {publications/med18.pdf},
link = {https://ieeexplore.ieee.org/document/8442759},
code = {http://github.com/gsilano/CrazyS},
note = {Zadar, Croatia}
}
In this paper we propose CrazyS, an extension of the ROS (Robot Operating System) package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano-quadcopter in the physics based simulation environment Gazebo. Such simulation platform allows to understand quickly the behavior of the flight control system by comparing and evaluating different indoor and outdoor scenarios, with a details level quite close to reality. The proposed extension expands RotorS capabilities by considering the Crazyflie 2.0 physical model and its flight control system, as well. A simple case study has been considered in order to show how the package works. The use of open-source software makes the platform available for scientific and educational activities.
G. Silano and L. Iannelli, “An educational simulation platform for GPS-denied unmanned Aerial Vehicles aimed to the detection and tracking of moving objects,” in 2016 IEEE Conference on Control Applications (CCA), pp. 1018–1023, September, 2016, Buenos Aires, Argentina.
@inproceedings{Silano2016CCA,
author = {Silano, G. and Iannelli, L.},
booktitle = {2016 IEEE Conference on Control Applications (CCA)},
title = {{An educational simulation platform for GPS-denied unmanned Aerial Vehicles aimed to the detection and tracking of moving objects}},
year = {2016},
pages = {1018-1023},
group = {conferences},
doi = {10.1109/CCA.2016.7587947},
month = sep,
preprint = {publications/cca16.pdf},
code = {http://github.com/gsilano/MAT-Fly},
link = {https://ieeexplore.ieee.org/document/7587947},
note = {Buenos Aires, Argentina}
}
The main motivation of this work is to show, for educational purposes, that the visual based object tracking problem can be illustrated through the simulation-in-the-loop approach: by using the MathWorks Virtual Reality Toolbox together with Matlab, it is possible to simulate the behavior of a drone in a 3D environment when detection and control algorithms are run. Matlab VR is used due to the familiarity that students have with. In this way the attention can be moved to the classifier, the references generator and the trajectory tracking control. Each block is decoupled and independent, so it can be easily replaced with others thus simplifying the development phase.
Posters
G. Silano, P. Oppido, and L. Iannelli, “Software-in-the-loop simulation for improving flight control system design: a quadrotor case study,” in SIDRA (Italian Society of Automatic Control), National Meeting, September, 2019, Ancona, Italy.
@inproceedings{Silano2019SIDRA,
author = {Silano, G. and Oppido, P. and Iannelli, L.},
booktitle = {SIDRA (Italian Society of Automatic Control), National Meeting},
title = {{Software-in-the-loop simulation for improving flight control system design: a quadrotor case study}},
year = {2019},
group = {posters},
doi = {10.13140/RG.2.2.31583.61603},
month = sep,
preprint = {publications/automaticaIT_2019.pdf},
code = {http://github.com/gsilano/BebopS},
note = {Ancona, Italy}
}
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations discovering issues that a model-in-the-loop (MIL) simulation does not necessarily detect. The paper aims to give the reader a practical and concrete evidence of such considerations through the case study of a micro quadrotor.
G. Silano and L. Iannelli, “An educational simulation platform for Unmanned Aerial Vehicles aimed to detect and track moving objects,” in SIDRA (Italian Society of Automatic Control), National Meeting, September, 2017, Milan, Italy.
@inproceedings{Silano2017SIDRA,
author = {Silano, G. and Iannelli, L.},
booktitle = {SIDRA (Italian Society of Automatic Control), National Meeting},
title = {{An educational simulation platform for Unmanned Aerial Vehicles aimed to detect and track moving objects}},
year = {2017},
group = {posters},
doi = {10.13140/RG.2.2.14878.43849},
month = sep,
preprint = {publications/automaticaIT_2017.pdf},
code = {http://github.com/gsilano/MAT-Fly},
note = {Milan, Italy}
}
The main motivation of this work is to show, for educational purposes, that the visual based object tracking problem can be illustrated through the simulation-in-the-loop approach: by using the MathWorks Virtual Reality Toolbox together with Matlab, it is possible to simulate the behavior of a drone in a 3D environment when detection and control algorithms are run. Matlab VR is used due to the familiarity that students have with. In this way the attention can be moved to the classifier, the references generator and the trajectory tracking control. Each block is decoupled and independent, so it can be easily replaced with others thus simplifying the development phase.
Workshop Contributions
G. Silano, A. Caballero, D. Liuzza, L. Iannelli, S. Bogdan, and M. Saska, “Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study,” in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Contribution accepted for discussion at the workshop session: "2nd Formal methods techniques in robotics systems: Design and control", Abu Dhabi, UAE, pp. 1–2, October, 2024, Contribution accepted for discussion at the workshop session: "2nd Formal methods techniques in robotics systems: Design and control", Abu Dhabi, UAE.
@inproceedings{Silano2024IROS_WS_CONTRIBUTION_FORMAL_METHODS,
author = {{Silano}, Giuseppe and {Caballero}, Alvaro and {Liuzza}, Davide and {Iannelli}, Luigi and {Bogdan}, Stjepan and {Saska}, Martin},
booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Contribution accepted for discussion at the workshop session: "2nd Formal methods techniques in robotics systems: Design and control", Abu Dhabi, UAE},
title = {{Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study}},
year = {2024},
month = oct,
note = {Contribution accepted for discussion at the workshop session: "2nd Formal methods techniques in robotics systems: Design and control", Abu Dhabi, UAE},
preprint = {publications/IROS24_FM_WS.pdf},
pages = {1-2},
group = {workshops},
link = {http://arxiv.org/abs/2410.06620},
doi = {10.48550/arXiv.2410.06620}
}
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths that adhere to time-sensitive constraints and vehicle limitations by formulating an optimization problem based on Signal Temporal Logic (STL) specifications. An event-triggered replanning mechanism addresses unexpected events and delays, while a generalized robustness scoring method incorporates user preferences and minimizes task conflicts. The approach is validated through simulations in MATLAB and Gazebo, as well as field experiments in a mock-up scenario.
A. Ahmad, D. Bonilla Licea, G. Silano, T. Baca, and M. Saska, “PACNav: Enhancing Collective Navigation for UAV Swarms in Communication-Challenged Environments,” in 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 1–2, May, 2024, Contribution accepted for discussion at the workshop session: "Breaking Swarm Stereotypes", Yokohama, Japan.
@inproceedings{Afzal2024ICRA_WS_CONTRIBUTION_SWARM,
author = {{Ahmad}, Afzal and {Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Baca}, Tomas and {Saska}, Martin},
booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
title = {{PACNav: Enhancing Collective Navigation for UAV Swarms in Communication-Challenged Environments}},
year = {2024},
month = may,
note = {Contribution accepted for discussion at the workshop session: "Breaking Swarm Stereotypes", Yokohama, Japan},
preprint = {publications/ICRA_2024_WORKSHOP_PACNav.pdf},
pages = {1-2},
group = {workshops},
link = {https://doi.org/10.48550/arXiv.2404.13440},
doi = {10.48550/arXiv.2404.13440}
}
This article presents Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is inspired by the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. PACNav relies solely on local observations of relative positions of UAVs, making it suitable for large swarms deprived of communication capabilities and external localization systems. We introduce the novel concepts of path persistence and path similarity, which allow each swarm member to analyze the motion of others. PACNav is grounded on two main principles: (1) UAVs with little variation in motion direction exhibit high path persistence and are considered reliable leaders by other UAVs; (2) groups of UAVs that move in a similar direction demonstrate high path similarity, and such groups are assumed to contain a reliable leader. The proposed approach also incorporates a reactive collision avoidance mechanism to prevent collisions with swarm members and environmental obstacles. The method is validated through simulated and real-world experiments conducted in a natural forest.
G. Silano, V. Kratky, M. Vrba, C. Papaioannidis, I. Mademlis, R. Penicka, I. Pitas, and M. Saska, “Human-Swarm Interaction with a Gesture-Controlled Aerial Robot Formation for Safety Monitoring Applications,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1–5, October, 2023, Contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction Workshop", Detroit, Michigan, USA.
@inproceedings{Silano2023IROS_WS_I,
author = {{Silano}, G. and {Kratky}, V. and {Vrba}, M. and {Papaioannidis}, C. and {Mademlis}, I. and {Penicka}, R. and {Pitas}, I. and {Saska}, M.},
booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {{Human-Swarm Interaction with a Gesture-Controlled Aerial Robot Formation for Safety Monitoring Applications}},
year = {2023},
group = {workshops},
month = oct,
pages = {1-5},
link = {https://sites.google.com/view/hmri-2023/home},
preprint = {publications/iros2023_hsi_ws.pdf},
note = {contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction Workshop", Detroit, Michigan, USA}
}
This paper presents a formation control approach for contactless Human-Swarm Interaction (HSI) using hand gestures with a team of multi-rotor Unmanned Aerial Vehicles (UAVs). The approach aims to monitor the safety of human workers, especially those working at heights. In the proposed scheme, one UAV acts as the leader of the formation and is equipped with sensors for human worker detection and gesture recognition. The follower UAVs maintain a predetermined formation relative to the worker’s position, thereby providing additional perspectives of the monitored scene. The use of hand gestures allows the human worker to specify movements and action commands for the UAV team, without the need for an additional communication channel or specific markers including the relative distance. Field experiments with three UAVs and a human worker in a mock-up scenario showcase the effectiveness and responsiveness of the proposed approach.
A. Caballero and G. Silano, “Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1–2, October, 2023, Contribution accepted for discussion at the workshop session: "Formal methods techniques in robotics systems: Design and control", Detroit, Michigan, USA.
@inproceedings{Silano2023IROS_WS_II,
author = {{Caballero}, A. and {Silano}, G.},
booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {{Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications}},
year = {2023},
group = {workshops},
month = oct,
pages = {1-2},
link = {https://arxiv.org/abs/2309.10406},
doi = {10.48550/arXiv.2309.10406},
preprint = {publications/IROS_2023_WORKSHOP_STL_bird_diverter.pdf},
note = {contribution accepted for discussion at the workshop session: "Formal methods techniques in robotics systems: Design and control", Detroit, Michigan, USA}
}
This paper tackles the task assignment and trajectory generation problem for bird diverter installation using a fleet of multi-rotors. The proposed motion planner considers payload capacity, recharging constraints, and utilizes Signal Temporal Logic (STL) specifications for encoding mission objectives and temporal requirements. An event-based replanning strategy is introduced to handle unexpected failures and ensure operational continuity. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation. Simulations in MATLAB and Gazebo, as well as field experiments, demonstrate the effectiveness and validity of the approach in a mock-up scenario.
G. Silano, A. Afifi, M. Saska, and A. Franchi, “Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective,” in 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1–4, June, 2023, Contribution accepted for discussion at the workshop session: "Energy Efficient Aerial Robotic Systems", ExCeL, London, UK.
@inproceedings{Silano2023ICRA_WS_I,
author = {{Silano}, G. and {Afifi}, A. and {Saska}, M. and {Franchi}, A.},
booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
title = {{Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective}},
year = {2023},
group = {workshops},
month = jun,
link = {https://arxiv.org/abs/2306.02454},
pages = {1-4},
doi = {10.48550/arXiv.2306.02454},
preprint = {publications/ICRA_2023_Energy_Efficient_Aerial_Ro.pdf},
note = {contribution accepted for discussion at the workshop session: "Energy Efficient Aerial Robotic Systems", ExCeL, London, UK}
}
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as Signal Temporal Logic (STL) specifications to automatically synthesize task assignments and trajectories. The focus is on a specific task where a Multi-Rotor Aerial Vehicle (MRAV) performs object handovers in a power line setting. The motion planner takes into account constraints such as payload capacity and refilling, while ensuring that the generated trajectories are feasible. The approach also allows users to specify robot behaviors that prioritize human comfort, including ergonomics and user preferences. The method is validated through numerical analyses in MATLAB and realistic Gazebo simulations in a mock-up scenario.
G. Silano et al., “Coordination of a Heterogeneous Team of Aerial Robots to Support Power Line Inspection Operations,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), June, 2022, Contribution accepted for discussion at the tutorial session: "AERIAL-CORE – Boosting the adoption of aerial robotics in real-world applications", Drubovnik, Croatia.
@inproceedings{Silano2022ICUAS_WS,
author = {{Silano}, G. and {Kratky}, V. and {Bednar}, J. and {Vrba}, M. and {Nekovar}, F. and {Bonilla Licea}, D. and {Baca}, T. and {Stoudek}, P. and {Hert}, D. and {Petrlik}, M. and {Smrcka}, D. and {Nascimento}, T. and {Saska}, M.},
booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},
title = {{Coordination of a Heterogeneous Team of Aerial Robots to Support Power Line Inspection Operations}},
year = {2022},
group = {workshops},
month = jun,
link = {https://mega.nz/file/N0kUVJAa#SDUbvWUi7n_fKGI9yALhTkfjdBkFqDHc-pVAcmsIci0},
note = {contribution accepted for discussion at the tutorial session: "AERIAL-CORE – Boosting the adoption of aerial robotics in real-world applications", Drubovnik, Croatia}
}
Contribution accepted for discussion at the tutorial session: "AERIAL-CORE – Boosting the adoption of aerial robotics in real-world applications".
G. Silano, D. Liuzza, L. Iannelli, and M. Saska, “A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications,” in SIDRA (Italian Society of Automatic Control), National Meeting, September, 2020, Cagliari, Italy.
@inproceedings{Silano2020SIDRA,
author = {{Silano}, G. and {Liuzza}, D. and {Iannelli}, L. and {Saska}, M.},
booktitle = {SIDRA (Italian Society of Automatic Control), National Meeting},
title = {{A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications}},
year = {2020},
group = {workshops},
month = sep,
preprint = {publications/automaticaIT_2020.pdf},
doi = {10.48550/arXiv.2103.02999},
link = {https://arxiv.org/abs/2103.02999},
note = {Cagliari, Italy}
}
Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking for strategies that satisfy different requirements expressed in terms of potential damage and faults detection. This problem comes up with the need of safe planning and control techniques for autonomous robots to perform visual inspection tasks. Such an application becomes even more interesting and of critical importance when considering a multi-robot extension. In this paper, we propose to compute feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications. The planner allows to formulate rather complex missions avoiding obstacles and forbidden areas along the path. Simulations results achieved in MATLAB show the effectiveness of the proposed approach leading the way to experimental tests on the hardware.
A. Afifi, G. Silano, M. Tognon, G. Oriolo, and A. Franchi, “A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Aerial Vehicles,” in MBZIRC Symposium 2020, the First International Robotic Challenges Symposium, February, 2020, Abu Dhabi, United Arab Emirates.
@inproceedings{Silano2020MBZIRC,
author = {Afifi, A. and Silano, G. and Tognon, M. and Oriolo, G. and Franchi, A.},
booktitle = {MBZIRC Symposium 2020, the First International Robotic Challenges Symposium},
title = {{A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Aerial Vehicles}},
year = {2020},
group = {workshops},
month = feb,
note = {Abu Dhabi, United Arab Emirates}
}
This paper presents a general control architecture for using fully actuated aerial robots in tasks that require both visual servoing and physical interaction with the environment. We make use of a novel paradigm for physical interaction in aerial robotics called "The Flying End-Effector" and integrate it with a hybrid visual servoing scheme. The proposed control architecture allows a fully actuated aerial robot to be visually driven to a goal using an on-board camera while achieving bounded force exchange with the environment without the need for a force/torque sensor. The hybrid visual servoing scheme is integrated with an admittance filter, while a wrench observer is used to get an estimate for the interaction wrench. We intend to make use of this control architecture for pick and place operations within the Mohamed Bin Zayed International Robotics Competition (MBZIRC). In particular, the proposed framework will be used to build a wall composed by different bricks. The overall control scheme is validated experimentally on a picking task. The experiments show the viability of the proposed control architecture and provide insights on the present limitations.
Miscellaneous
T. Příhodová, G. Silano, A. Ahmad, V. Krátký, T. Báča, P. Petráček, V. Sasková, J. Bednář, and M. Saska, “2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education],” IEEE Robotics & Automation Magazine, vol. 30, no. 1, pp. 104–106, March, 2023. Impact factor: 5.229.
@article{SilanoRAM2023,
author = {Příhodová, Tat’ána and Silano, Giuseppe and Ahmad, Afzal and Krátký, Vít and Báča, Tomáš and Petráček, Pavel and Sasková, Věra and Bednář, Jan and Saska, Martin},
journal = {IEEE Robotics & Automation Magazine},
title = {{2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education]}},
year = {2023},
volume = {30},
number = {1},
month = mar,
pages = {104-106},
doi = {10.1109/MRA.2023.3238213},
group = {miscellaneous},
status = {Impact factor: 5.229.},
code = {https://github.com/ctu-mrs/summer-school-2022},
link = {https://ieeexplore.ieee.org/document/10084390},
preprint = {publications/2023_IEEE_RAM.pdf}
}
In recent decades, robotic systems have been used for an increasing number of applications, often involving multiple robots. Although multi-robot systems (MRS) provide benefits like redundancy, robustness, and fault tolerance, they come with numerous challenges. These challenges present new research possibilities and are of great interest to the IEEE Robotics and Automation Society (RAS). The IEEE RAS Summer School on MRS aims to gather the knowledge and expertise of the robotics community and bridge the gap between theory and practice.
PhD Thesis
G. Silano, “Software-in-the-loop Methodologies for the Analysis and Control Design of Small UAV Systems,” PhD thesis, University of Sannio in Benevento, July, 2020.
@phdthesis{Silano2020PhDThesis,
author = {Silano, Giuseppe},
title = {{Software-in-the-loop Methodologies for the Analysis and Control Design of Small UAV Systems}},
school = {University of Sannio in Benevento},
year = {2020},
month = jul,
link = {https://www.researchgate.net/publication/345767635_Giuseppe_Silano's_PhD_Thesis_-_Advisor_Prof_Dr_Luigi_Iannelli},
group = {phdthesis}
}
Aerial robotics is a fast-growing field of robotics and in particular multirotor aircraft, like quad-rotors, are rapidly increasing in popularity also out of the scientific community. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to perform tasks with complete autonomy, they are now a standard platform for numerous military and civilian applications, e.g., inspections of power lines, bridges and pipelines, soil and field analysis, crop monitoring. Among different advantages offered by such class of Unmanned Aerial Vehicles (UAVs), there is the capacity to perform tasks with complete autonomy thus minimizing costs and risks involved with the direct intervention of human operators. However, designing autopilots for UAVs is a challenging task, which involves multiple interconnected aspects. Numerous researchers are currently addressing the problem of designing autonomous guidance and navigation systems as well as control systems for multi-rotor vehicles. Therefore, having tools able to show what it happens when some new applications are going to be developed in unknown or critical situations is more and more important. Simulation is one of such helpful tools, widely used in robotics, enabling not only to verify the components integration and to evaluate their behavior under different circumstances but also to simplify the development and validation processes. Furthermore, simulation is cheaper than experiments with real robots, in terms of time and human resources. It can also provide more flexibility, by allowing testing under conditions that would be unfeasible otherwise: a simulated environment can be significantly more complex and larger than a lab environment, and meanwhile ensure a perfect repeatability. Moreover, it makes possible simulating multiple robots when the hardware may not be available. Finally, bugs and mistakes in simulation cost virtually nothing: it is possible to crash a vehicle several times and thereby getting a better understanding of implemented methods under various conditions. Different solutions, typically based on dedicated robotic simulators such as Gazebo, V-REP, AirSim, MORSE, are available to this purpose. They employ recent advances in computation and computer graphics in order to simulate physical phenomena (gravity, magnetism, atmospheric conditions) and perception (e.g., providing sensor models) in such a way that the environment realistically reflects the actual world. Definitely, it comes out that software platforms able to test algorithms for UAVs moving in a simulated 3D environment are becoming an indispensable part of the design phase. The aim of this thesis is to show the role and the effectiveness of robotics simulators in flight control system design for multi-rotor aircraft (especially, quad-rotors) proposing a Software-in-the-loop (SIL) methodology. In particular it will be explained, by using rather complex examples, how a SIL approach allows to detect and to manage instabilities that otherwise might not arise when considering only MATLAB/Simulink simulations. On the other hand such instabilities may not be just related to the complexity, accuracy or detailed modeling of the simulated plant, but rather they may appear due to peculiar features of the final realization and, in particular, the software that will implement the control strategy. Indeed, aspects like synchronization, overflow, tasks communication, are all managed by libraries or tools available during the control design phase and yet they are specific of the final code implementation. From such perspective, SIL simulation has to be considered a valuable tool for discovering, in an earlier phase of the usual V-model process, those issues that Model-in-the-loop (MIL) simulation does not necessarily detect. At the same time, a SIL simulation, obtained by using realistic and detailed simulators, gives the opportunity of validating in an easy way the effects of modifying the control strategy for complex missions. That represents quite often the easiest way to tune the flight control system and to check its validity. Although advantages of such methodology are reasonable for the scientific community from a very general viewpoint, illustrative case studies can be of interest in particular if declined to the specific application, and when the code is provided as open-source for scientific and educational. activities. Thus, the thesis aims to give the reader practical and concrete evidence of the above considerations by looking at an up-to-date control application, i.e., the flight control system of small quad-rotors and rather complex platforms, providing a complete SIL simulation methodology.
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