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.
Preprints
A. Caballero and G. Silano, “A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems,” 2022.
@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},
doi = {10.48550/arXiv.2210.09750},
group = {preprints},
year = {2022},
preprint = {publications/birdDiverter22.pdf},
link = {https://arxiv.org/abs/2210.09750}
}
This paper investigates the problem of task assignment and trajectory generation for the installation of bird diverters with a fleet of multirotors leveraging on Signal Temporal Logic (STL) specifications. We extend our previous motion planner to compute feasible and constrained trajectories, taking into account payload capacity limitations and recharging constraints. The proposed planner ensures the continuity of the operation, while guaranteeing compliance with safety requirements and mission fulfillment. Additionally, an event-based replanning strategy is proposed to react to unforeseen failures. An energy minimization term is also considered to implicitly save multirotor flight time during installation operations. Numerical simulations in MATLAB, Gazebo, and field experiments demonstrate the performance of the approach and its validity in mock-up scenarios.
Journals
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
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}
}
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, G. Mounir, 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 {Mounir}, G. 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.
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 = {conferences},
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.
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},
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.
Workshops
G. Silano et al., “Coordination of a Heterogeneous Team of Aerial Robots to Support Power Lin Inspection Operations,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), June, 2022, 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 Lin Inspection Operations}},
year = {2022},
group = {workshops},
month = jun,
link = {https://mega.nz/file/N0kUVJAa#SDUbvWUi7n_fKGI9yALhTkfjdBkFqDHc-pVAcmsIci0},
note = {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},
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.
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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