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research [2018/08/31 19:25]
Carlo Pinciroli
research [2020/06/28 01:09] (current)
Carlo Pinciroli Title of Jayam's paper
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-====== Research ======+====== Publications ======
  
-===== Main Research Topics =====+<panel type="primary" title="Software Engineering and Design Approaches">
  
-==== Swarm robotics for Firefighting ==== +<row>
-How to make resilient robots for operations in dangerous environments? +
-=== Current projects === +
-  * A throwable, jumping robot for firefighting applications+
  
-==== Programming robot swarms ==== +<col md="6"> 
-What are the fundamental concepts that constitute a swarm behavior, and how to combine them? How to identify and fix errors and bugs in a swarm behavior? +<thumbnail> 
-=== Current projects === +<html><center></html> 
-  * Buzz, a programming language for heterogeneous robot swarms +{{youtube>SttVzlYQ8SY}} 
-  * Space- and time-dynamic distributed hash tables +<html></center></html> 
-  * In-network computation of swarm functions +<caption> 
-  * Debugging infrastructure for robot swarms +=== SwarmMesh: A Distributed Data Structure for Cooperative Multi-Robot Applications === 
-  * Machine-learning and bug detection +Nathalie Majcherczyk, Carlo PinciroliSwarmMesh: A Distributed Data Structure for Cooperative Multi-Robot Applications2020 IEEE International Conference on Robotics Automation (ICRA 2020). In press
-  * Augmented-reality-based development and testing +</caption> 
-===== Algorithms for coordination with contradicting goals ===== +</thumbnail> 
-How to harmonize the individual needs of robots (e.g., battery limitations, completion of assigned tasks), with swarm-level coordination requirements (e.g., connectivity maintenance)? +</col>
-=== Current projects === +
-  * Scalable network deployment and maintenance +
-  * Energy-constrained coordination +
-  * Spatially-aware task allocation+
  
-===== Algorithms for collective spatial perception ===== +<col md="6"> 
-How can a robot swarm construct a shared representation of complex aspects of the environmentdespite severe limitations in sensing and computational capabilities+<thumbnail> 
-=== Current projects === +{{ :buzzcode.jpg?direct&400 |}} 
-  * Decentralized pattern detection with noisy sensors and lying robots+<caption> 
 +=== Buzz: A Programming Language for Robot Swarms === 
 +  * Carlo Pinciroli and Giovanni Beltrame. Buzz: A Programming Language for Robot Swarms. IEEE Software, volume 33, number 4, pages 97-100. IEEE Press. 2016. 
 +  * Carlo Pinciroli, Giovanni Beltrame. Buzz: An Extensible Programming Language for Heterogeneous Swarm Robotics. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), pages 3794-3800. IEEE Press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +{{ ::beltrame_rose2018.png?direct&400 |}} 
 +<caption> 
 +=== Engineering Safety in Swarm Robotics === 
 +Giovanni Beltrame, Ettore Merlo, Jacopo Panerati, Carlo Pinciroli. Engineering Safety in Swarm Robotics. 1st International Workshop on Robotics Software Engineering (RoSE 2018). IEEE Press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +{{ :pinciroli_computer2016.png?direct&400 |}} 
 +<caption> 
 +=== Swarm-Oriented Programming of Distributed Robot Networks === 
 +Carlo Pinciroli, Giovanni Beltrame. Swarm-Oriented Programming of Distributed Robot Networks. IEEE Computer, volume 49, number 12, pages 32-41. IEEE Press. 2016. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +{{ ::carlone_icra2019.png?direct&400 |}} 
 +<caption> 
 +=== General Robot Co-design: Beyond the Monotone Case === 
 +Luca CarloneCarlo Pinciroli. General Robot Co-design: Beyond the Monotone Case. International Conference on Robotics Automation (ICRA 2019). IEEE Press.  
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +<panel type="primary" title="Human-Swarm Interaction"> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>Br-ZTuVcbo4}} 
 +<html></center></html> 
 +<caption> 
 +=== Improving Human Performance Using Mixed Granularity of Control in Multi-Human Multi-Robot Interaction === 
 +Jayam Patel, Carlo Pinciroli. Improving Human Performance Using Mixed Granularity of Control in Multi-Human Multi-Robot Interaction. IEEE International Conference on Robot and Human Interactive Communication (Ro-Man 2020). IEEE press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>UrQVi_bqj30}} 
 +<html></center></html> 
 +<caption> 
 +=== Mixed-Granularity Human-Swarm Interaction === 
 +Jayam Patel, Xu Yicong, Carlo Pinciroli. Mixed-Granularity Human-Swarm Interaction. 2019 IEEE International Conference on Robotics Automation (ICRA 2019). IEEE press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +<panel type="primary" title="Connectivity Maintenance, Deployment, Shape Formation"> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>AJG4tYs2GU0}} 
 +<html></center></html> 
 +<caption> 
 +=== Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms === 
 +Nathalie Majcherczyk, Adhavan Jayabalan, Giovanni Beltrame, Carlo Pinciroli. Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). IEEE press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +{{ :panerati_icra2018.png?direct&400 |}} 
 +<caption> 
 +=== From Swarms to Stars: Task Coverage in Robot Swarms with Connectivity Constraints === 
 +Jacopo Panerati, Luca Gianoli, Carlo Pinciroli, Abdo Shabah, Gabriela Nicolescu, Giovanni Beltrame. From Swarms to Stars: Task Coverage in Robot Swarms with Connectivity Constraints. 2018 IEEE International Conference on Robotics and Automation (ICRA 2018). IEEE press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>vPFrWTJ70VA}} 
 +<html></center></html> 
 +<caption> 
 +=== Decentralized Progressive Shape Formation with Robot Swarms === 
 +  * Guannan Li, David St-Onge, Carlo Pinciroli, Andrea Gasparri, Emanuele Garone, Giovanni Beltrame. Decentralized Progressive Shape Formation with Robot Swarms. Autonomous Robots, volume 42, number 8, pages 1-17. Springer. 2017. 
 +  * Carlo Pinciroli, Andrea Gasparri, Emanuele Garone, Giovanni Beltrame. Decentralized Progressive Shape Formation with Robot Swarms. 13th International Symposium on Distributed Autonomous Robotic Systems 2016 (DARS 2016), pages 433-445. Springer. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +<panel type="primary" title="Minimalistic Computation"> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>yaof0W-6YdE}} 
 +<html></center></html> 
 +<caption> 
 +=== A Minimalistic Approach to Segregation in Robot Swarms === 
 +Peter Mitrano, Jordan Burklund, Michael Giancola, Carlo Pinciroli. A Minimalistic Approach to Segregation in Robot Swarms 2nd International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019). Springer. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>uVBOcn6uptc}} 
 +<html></center></html> 
 +<caption> 
 +=== Circle Formation with Computation-Free Robots Shows Emergent Behavioral Structure === 
 +David St-Onge, Carlo Pinciroli, Giovanni Beltrame. Circle Formation with Computation-Free Robots Shows Emergent Behavioral Structure. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). IEEE press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +<panel type="primary" title="Consensus and Decision-Making"> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +{{ ::khaluf_si2017.png?direct&400 |}} 
 +<caption> 
 +=== The Impact of Agent Density on Scalability in Collective Systems: Noise-Induced vs Majority-Based Bistability === 
 +Yara Khaluf, Carlo Pinciroli, Gabriele Valentini, Heiko Hamann. The Impact of Agent Density on Scalability in Collective Systems: Noise-Induced vs Majority-Based Bistability. Swarm Intelligence, volume 11, pages 155-179. Springer. 2016. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +<panel type="primary" title="Simulation"> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>kioZR99hnU4}} 
 +<html></center></html> 
 +<caption> 
 +=== Simulating Kilobots within ARGoS: Models and Experimental Validation === 
 +Carlo Pinciroli, Mohamed Salaheddine Talamali, Andreagiovanni Reina, James A. R. Marshall, Vito Trianni. Simulating Kilobots within ARGoS: Models and Experimental Validation. 11th International Conference on Swarm Intelligence (ANTS 2018). Springer. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{vimeo>263508188}} 
 +<html></center></html> 
 +<caption> 
 +=== Simulating Multi-Robot Construction in ARGoS === 
 +Michael Allwright, Carlo Pinciroli, Navneet Bhalla, Marco Dorigo. Simulating Multi-Robot Construction in ARGoS. 11th International Conference on Swarm Intelligence (ANTS 2018). Springer. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +<panel type="primary" title="Teaching"> 
 + 
 +<row> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<caption> 
 +=== A Gamification Concept for Teaching Swarm Robotics === 
 +Heiko Hamann, Carlo Pinciroli, Sebastian von Mammen. A Gamification Concept for Teaching Swarm Robotics. 12th European Workshop on Microelectronics Education (EWME 2018). IEEE press. 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</row> 
 + 
 +</panel> 
 + 
 +====== Undergraduate Projects ====== 
 + 
 +<panel type="primary" title="WPI Major Qualifying Projects (Selected)"> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{vimeo>329735708}} 
 +<html></center></html> 
 +<caption> 
 +=== Oddisy Drone Dispatch System === 
 +Students: Noah Hillman, Nick Sorensen, Marek Travnikar, Steven Viola\\ 
 +Advisors: Nick Bertozzi, Reinhold Ludwig, Brad Miller, Carlo Pinciroli 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +<col md="6"> 
 +<thumbnail> 
 +<html><center></html> 
 +{{youtube>PBnyCkLuTko}} 
 +<html></center></html> 
 +<caption> 
 +=== 3D Swarm Construction === 
 +Students: Cameron Collins, Josue Contreras, Neel Dhanaraj, Hannan Liang, Trevor Rizzo, Caleb Wagner\\ 
 +Advisors: Carlo Pinciroli, Gregory Lewin, Raghvendra Cowlagi, Xinming Huang 
 +</caption> 
 +</thumbnail> 
 +</col> 
 + 
 +</panel>
  
-===== Primitives for human-swarm interaction ===== 
-Which behavioral traits can a swarm exhibit to interact with a human operator efficiently? Conversely, what kind of commands can a human operator give a swarm, for the swarm to execute them effectively? 
-=== Current projects === 
-  * Hybrid goal- and robot-oriented interfaces 
-  * Tactile interfaces 
  • research.1535743512.txt.gz
  • Last modified: 2018/08/31 19:25
  • by Carlo Pinciroli