A5045097296- Indoor and Outdoor Localization Technologies
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Real-Time Systems Scheduling
- Distributed Control Multi-Agent Systems
- Target Tracking and Data Fusion in Sensor Networks
- Control and Dynamics of Mobile Robots
- Petri Nets in System Modeling
- Power System Optimization and Stability
- Advanced Vision and Imaging
- Autonomous Vehicle Technology and Safety
- Robotic Locomotion and Control
- Energy Efficient Wireless Sensor Networks
- Network Time Synchronization Technologies
- Embedded Systems Design Techniques
- Evacuation and Crowd Dynamics
- Context-Aware Activity Recognition Systems
- Advanced Electrical Measurement Techniques
- Ultra-Wideband Communications Technology
- Power Systems Fault Detection
- Smart Parking Systems Research
- Soft Robotics and Applications
- Underwater Vehicles and Communication Systems
- Video Surveillance and Tracking Methods
- Prosthetics and Rehabilitation Robotics
University of Trento
2015-2024
New York University Press
2017
Cambridge University Press
2017
Gestione Sistemi per l’Informatica (Italy)
2010-2016
Piaggio (Italy)
2004-2010
University of Pisa
2004-2010
University of California, Los Angeles
2007
Next-generation phasor measurement units (PMUs) are expected to play a key role for monitoring the behavior of future smart grids. While most PMUs used nowadays in transmission networks rely on static models, more sophisticated representations and stricter accuracy requirements needed track amplitude, phase, frequency changes power waveforms strongly dynamic scenarios as those distribution systems. In this paper, discrete Fourier transform (DFT)-based algorithm based model (referred...
Human motion models are finding an increasing number of novel applications in many different fields, such as building design, computer graphics and robot planning. The Social Force Model is one the most popular alternatives to describe pedestrians. By resorting a physical analogy, individuals assimilated point-wise particles subject social forces which drive their dynamics. Such model implicitly assumes that humans move isotropically. On contrary, empirical evidence shows people do have...
Many techniques for robot localization rely on the assumption that both process and measurement noises are uncorrelated, white, normally distributed. However, if this does not hold, these no longer optimal and, in addition, maximum estimation errors can be hardly kept under control. In paper, problem is addressed by means of a tailored extended H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> filter (EHF) fusing odometry gyroscope data...
One of the most accurate phasor estimation procedures recently proposed in literature is so-called Taylor weighted least squares (TWLS) algorithm, which relies on a dynamic model an electrical waveform at nominal frequency. In this paper, extension TWLS algorithm [called generalized (GTWLS) algorithm] to generic (not only nominal) reference frequency described and accuracies returned estimates are analyzed through meaningful simulations, performed different steady-state testing conditions...
This article presents the application of synthetic aperture radar (SAR) localization method for indoor positioning ultrahigh-frequency (UHF)-radio frequency identification (RFID) tags when robot-mounted reader antenna moves along multiple trajectories. By properly combining phase data associated with a set paths, whole length combined apertures enlarges, and then, accuracy may improve. Besides, during consecutive inventory rounds, several tag position estimates are available, they can be...
The ultra-wide band radio technology (UWB) is currently considered the de-facto standard for implementing precise indoor positioning systems. Several algorithms are being investigated finding best implementation in terms of scalability, refresh rate, and energy requirements. Among all proposed approaches, Downlink Time Difference Arrival (DTDoA) one most promising techniques capable tracking any number assets without decreasing measurement update rate. This paper proposes a model DTDoA...
Indoor localization and tracking of moving human targets is a task recognized importance difficulty. In this paper, we describe position measurement technique based on the fusion various sensor data collected using wearable embedded platform. Since accumulated uncertainty affecting inertial (especially due to on-board accelerometer) usually makes measured values drift away quickly, heuristic approach used keep velocity estimation in order few percent. As result, unlike other solutions...
The phase of the signals backscattered by ultrahigh frequency radio-frequency identification (UHF-RFID) tags is generally more insensitive to multipath propagation than received signal strength indicator (RSSI). However, measurements are inherently ambiguous and could be further affected unknown offsets added transponders. As a result, localization an agent using only looks infeasible. In this article, it shown instead that design dynamic position estimator (e.g., Kalman filter) based on...
This paper presents a complete characterization of shortest paths to goal position for robot with unicycle kinematics and an on-board camera limited field-of-view (FOV), which must keep given feature in sight. Previous work on this subject has shown that the search path can be simple families trajectories. In paper, we provide optimal synthesis problem, i.e., language control words, global partition motion plane induced by paths, such word is univocally associated region completely describes...
The increasing diffusion of mobile and portable devices provided with wireless connectivity makes the problem distance measurement based on radio-frequency technologies increasingly important for development next-generation nomadic applications. In this paper, performance limitations two classic ranging techniques received signal strength (RSS) two-way time-of-flight (ToF) measurements, respectively, are analyzed compared in detail. On basis study, a data fusion algorithm is proposed to...
Indoor localization and position tracking are essential to support applications services for ambient-assisted living. While the problem of indoor is still open already quite complex per se, in large public places, additional issues cost, accuracy, scalability arise. In this paper, estimation technique developed within project devices assisted living (DALi) described, analyzed through simulations, finally validated by means a variety experiments on field. The goal DALi design robotic wheeled...
This paper presents a localization method exploiting mobile robot equipped with an Ultra High Frequency Radio IDentification (UHF-RFID) reader to locate stationary tags in warehouse scenarios. The measurement is based on the Synthetic Aperture Radar (SAR) approach and trajectory knowledge achieved through calibrated vision-based system suitable for indoor environments. technique capability demonstrated experimental analysis employing commercial UHF-RFID hardware wheeled robot. Localization...
In this paper, the expressions for phasor parameter estimates returned by Taylor-based weighted least-squares (TWLS) approach, achieved using either complex-valued or real-valued variables, are derived. particular, TWLS estimator and its derivatives expressed as sums of discrete-time Fourier transform (DTFT) analyzed waveform derivatives. The derived show that algorithm is sensitive to lower order harmonics interharmonics located close frequency when few cycles analyzed. Also, sensitivity...
We consider the problem of accurate and high-rate self-localization for a mobile robot. adaptively combine speed information acquired by proprioceptive sensors with intermittent positioning samples via ultra-wideband (UWB) radios. These are triggered only if when needed to reduce uncertainty, itself modeled probabilistic cost function. Our formulation is agnostic w.r.t. source uncertainty enables an intuitive specification user navigation requirements along stochastic guarantees on system...
Detecting and tracking the position of multiple targets indoors is a challenging measurement problem due to inherent difficulty cluster correctly sensor data associated given target track each with adequate accuracy. This critical especially in rooms filled fixed or moving objects hampering detection whenever paths different cross one another. In this paper, robust Multiple Targets Tracking (MTT) algorithm exploiting clouds points collected from mmWave-FMCW radar presented. The proposed...
This paper presents a CAD-based approach for automated surface defect detection. We leverage the a-priori knowledge embedded in CAD model and integrate it with point cloud data acquired from commercially available stereo depth cameras. The proposed method first transforms into high-density polygonal mesh, where each vertex represents state variable 3D space. Subsequently, weighted least squares algorithm is employed to iteratively estimate of scanned workpiece based on captured measurements....
A clear understanding of where humans move in a scenario, their usual paths and speeds, they stop, is very important for different applications, such as mobility studies urban areas or robot navigation tasks within human-populated environments. We propose this article, neural architecture based on Vision Transformers (ViTs) to provide information. This solution can arguably capture spatial correlations more effectively than Convolutional Neural Networks (CNNs). In the paper, we describe...
We consider a vehicle consisting of robotic walking assistant pushed by user. The robot can guide the person along path and suggest velocity various means. moves in crowded environment detect other pedestrians surroundings. propose reactive planner that modifies order to avoid algorithm relies on very accurate model predict motion each pedestrian, i.e., headed social force model. possible trajectories for both are modeled as clothoid curves, which efficient manage from numeric point view...
After several decades of both market and scientific interest, indoor positioning is still a hot not completely solved topic, fostered by the advancement technology, pervasive penetration mobile devices novel communication standards. In this work, we propose two-step model-based algorithm based on Bluetooth Low-Energy, energy efficient standard protocol. first (i.e. ranging) step Kalman Filter (KF) performs fusion RSSI Time-of-Flight measurement data. Thus, demonstrate benefit relying only...
Next-generation phasor measurement units (PMU) are expected to be more accurate than existing ones, especially address the stricter requirements of future active distribution grids. From this perspective, influence acquisition wideband noise (which includes multiple contributions both in amplitude and phase) has carefully evaluated. In context, contribution paper is twofold. First, it provides a general framework evaluate effect on synchrophasor amplitude, phase, frequency, rate change...