ISSIA ROBOTICS LAB
ISSIA Aerial and Ground Robotics Laboratory
We study and develop perception and control methodologies for networks of robots
Our current research topics include:
- Distributed control of aerial and ground robots
- Cooperative and multi-sensor perception for ambient awareness of robotic vehicles
- Cooperative mission planning for robotic networks
Autonomous vehicles ARENA
The Advanced indoor Robotic test Environment for Networks of Autonomous vehicles infrastructure is composed by:
● a high-accuracy motion capture system (VICON) that observes a 5x5x2,7 m3 volume space, with its workstation;
● one workstation “for the setup of the vehicles”;
● one workstation dedicated to the experiments.
The main functionality of VICON is the tracking of the pose of rigid bodies for localization and position control algorithms (closing the control loop or providing the ground-truth).
Is an ENAC certified octocopter drone, produced by Italdron in compliance with the Italian regulations. Is able to perform high quality professional flight missions in a high flight safety conditions to achieve specialized operations in critical and non-critical areas. All the Flight control Unit and add-on device are redundant. Through a long-range video communication “system” between drone and operator and we can make First Person View missions in semi-automatic, manual, and automatic mode. Scrabble guarantees a 45 minute autonomy in hovering and the support to a max payload of 15KG, water landing, cut off and parachute.
The AscTec Firefly is a hexacopter for indoor and outdoor research experiments. Two single board computers manage the motion of the vehicle. An Intel i7, called Mastermind, is on-board and allows to accomplish complex tasks. Moreover, on a high-level processor user’s control algorithms can be run, while sensor processing and data fusion are demanded to a low level processor. A stereo system, composed by two MatrixVision Bluefox cameras, is also available for computer vision applications.
Nomadic Scout 2
Three restored Nomadic Scout 2 mobile robots are available at ISSIA Mobile Robotics Lab for multi-robot applications and demos. The current setup is given by a low-level processor (PC104), managing motors and odometry, and a high level processor, namely an ACER Veriton; moreover a Microsoft Kinect sensor has been added, as an image/depth sensor.
Is a differential-drive robot by Adept MobileRobots for service and human-robot interaction (HRI) projects. The robot is equipped with a Microsoft Kinect sensor, for people detection and obstacle avoidance tasks. An on-board tablet allows the robot to interact with the user.
Is a small custom quadcopter (frame dimensions: 260 mm) for indoor research
applications. It has a Pixhawk flight control unit for attitude stabilization, data gathering
from sensors and data fusion. Pixhawk is equipped with GPS, IMU, and compass. An
on-board ODROID xu4 ARM computer provides high-level custom control algorithms and
executes computer vision tasks. Recently, we have enhanced Mosquito by adding an
Intel RealSense long range camera for mapping purposes.
Butterfly is a hexacopter (frame dimensions: 550 mm). It has a Pixhawk flight control unit for attitude stabilization, data
gathering from sensors and data fusion. Pixhawk is equipped with GPS, IMU, and
compass. An on-board Odroid XU4 ARM computer provides high-level custom control
algorithms and executes computer vision tasks with.
Two P3-AT mobile robots by Adept MobileRobots are available for outdoor acquisition tasks and
missions. One is equipped with a Bumblebee2 stereo camera, while
the other is equipped with a SICK laser range finder.