A5001113179- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Indoor and Outdoor Localization Technologies
- Urinary Bladder and Prostate Research
- UAV Applications and Optimization
- Underwater Vehicles and Communication Systems
- Urinary Tract Infections Management
- Pelvic floor disorders treatments
- Autonomous Vehicle Technology and Safety
- Target Tracking and Data Fusion in Sensor Networks
- Distributed systems and fault tolerance
- Energy Efficient Wireless Sensor Networks
- Real-Time Systems Scheduling
- Prostate Cancer Diagnosis and Treatment
- Adversarial Robustness in Machine Learning
- Explainable Artificial Intelligence (XAI)
- Embedded Systems Design Techniques
- Fluid Dynamics and Turbulent Flows
- Distributed Control Multi-Agent Systems
- Male Reproductive Health Studies
- Bayesian Modeling and Causal Inference
- Image and Object Detection Techniques
- Fault Detection and Control Systems
- Urological Disorders and Treatments
- Bluetooth and Wireless Communication Technologies
Scuola Superiore Sant'Anna
2012-2023
University of Virginia
2019-2020
Engineering Systems (United States)
2020
Institute of Electrical and Electronics Engineers
2020
Gorgias Press (United States)
2020
Vrije Universiteit Brussel
2020
Policlinico San Matteo Fondazione
2014-2018
Istituti di Ricovero e Cura a Carattere Scientifico
2014-2018
University of Pisa
2013-2017
Thetis
2017
Coverage path planning is the operation of finding a that covers all points specific area. Thanks to recent advances hardware technology, Unmanned Aerial Vehicles (UAVs) are starting be used for photogrammetric sensing large areas in several application domains, such as agriculture, rescuing, and surveillance. However, most research focused on optimal taking only geometrical constraints into account, without considering peculiar features robot, like available energy, weight, maximum speed,...
Most unmanned aerial vehicles nowadays engage in coverage missions using simple patterns, such as back-and-forth and spiral. However, there is no general agreement about which one more appropriate. This letter proposes an E-Spiral algorithm for accurate photogrammetry that considers the camera sensor flight altitude to apply overlapping necessary guarantee mission success. The uses energy model set different optimal speeds straight segments of path, reducing consumption. We also propose...
Background: In recurrent urinary tract infections (UTIs) usual prophylactic antibiotic regimes do not change the long-term risk of recurrence. Our aim was to evaluate efficacy D-mannose in treatment and prophylaxis UTIs. Methods: this randomized cross-over trial female patients were eligible for study if they had an acute symptomatic UTI three or more UTIs during preceding 12 months. Suitable randomly assigned with trimethoprim/sulfamethoxazole a regimen oral 1 g 3 times day, every 8 hours 2...
Grid-based methods have been proposed to solve the Coverage Path Planning problem using Unmanned Aerial Vehicles in irregular-shaped areas since simple geometric flight patterns, such as back-and-forth, are inefficient this type of scenario. However, grid-based usually apply simplistic cost functions and demand high computational time leading expensive paths, making them not usable real-world scenarios. This paper introduces an energy-aware approach aimed at minimizing energy consumption...
We present a method for calibration-free, infrastructure-free localization in sensor networks. Our strategy is to estimate node positions and noise distributions of all links the network simultaneously - that has not been attempted thus far. In particular, we account biased, non-line-of-sight (NLOS) range measurements from ultra-wideband (UWB) devices lead multi-modal distributions, which few solutions exist date. approach circumvents cumbersome a-priori calibration, allows rapid deployment...
Micro Aerial Vehicles (MAVs) and in particular quadrotors have gained a lot of attention because their small size, stable, robust, diverse sensing capabilities that make them perfect test beds several safety critical operations. Shrinking these vehicles is desirable since agility increases. However, it entails smaller power sources hence less flight time. Adding sensors on systems also implies more energy consumption due to both the added weight supplied sensors. In this work, we build...
Multidimensional Scaling (MDS) is a widely used technique for visualizing set of objects in an n-dimensional space. It has been extensively applied wireless sensor networks deriving the coordinates nodes distance-based Localization. Many variants MDS have proposed to overcome issues such as partial connectivity and different types noise measurements. In particular, some works adapted modified include notion anchors. However, order maintain original formulation MDS, algorithm was twisted by...
Monitoring teams of mobile nodes is becoming crucial in a growing number activities. Where it not possible to use fixed references or external measurements, one the solutions involves deriving relative positions from local communication. Well-known techniques such as trilateration and multilateration exist locate single node although methods are designed entire teams. The technique Multidimensional Scaling (MDS), however, allow us find coordinates starting knowledge inter-node distances....
Autonomous systems operating in uncertain environments under the effects of disturbances and noises can reach unsafe states even while using finetuned controllers precise sensors actuators. To provide safety guarantees on such during motion planning operations, reachability analysis (RA) has been demonstrated to be a powerful tool. RA, however, suffers from computational complexity, especially when dealing with intricate characterized by high-order dynamics, making it hard deploy for runtime...
Teams of mobile cooperative robots are ideal candidates for applications where the presence humans is impossible or should be avoided. Knowing positions in crucial such scenarios. A possible solution to derive relative from local communication. In this work, we propose an anchor-free online channel estimation method aimed at small multi-robot teams. By combining both Time-of-Flight (ToF) and Received Signal Strength Indicator (RSSI) ranging, provided by nanoLoc devices, perform indoor...
For safe and efficient human-robot interaction, a robot needs to predict understand the intentions of humans who share same space. Mobile robots are traditionally built be reactive, moving in unnatural ways without following social protocol, hence forcing people behave very differently from human-human interaction rules, which can overcome if instead were proactive. In this paper, we build an intention-aware proactive motion planning strategy for mobile that coexist with multiple humans. We...
Monitoring teams of mobile nodes is becoming crucial in a growing number activities. When it not possible to use fix references or external measurements, practicable solution derive relative positions from local communication. In this work, we propose an anchor-free Received Signal Strength Indicator (RSSI) method aimed at small multi-robot teams. Information Inertial Measurement Unit (IMU) mounted on the and processed with Kalman Filter are used estimate robot dynamics, thus increasing...
Autonomous robots, especially aerial vehicles, when subject to disturbances, uncertainties, and noises may experience variations from their desired states deviations the planned trajectory which lead them into an unsafe state (e.g., a collision). It is thus necessary monitor at run-time operating in uncertain cluttered environments intervene guarantee surrounding's safety. While Reachability Analysis (RA) has been successfully used provide safety guarantees, it doesn't explanations on why...
The effectiveness of current railway signaling systems heavily depends on the accuracy in localization trains track, which is currently enforced using static markers mounted along line, called balises. However, balises are expensive, sparse, prone to tampering, and subject maintenance, hence they need be integrated by additional onboard sensors. Also, harsh operational environment strict safety regulation do not allow a straightforward adoption solutions from other application domains, like...
A significant number of real-time control applications include computational activities where the results have to be delivered at precise instants, rather than within a deadline. The performance such systems significantly degrades if outputs are generated before or after desired target time. This work presents general methodology that can used design and analyze target-sensitive in which timing parameters tightly coupled with physical characteristics system controlled. For sake clarity,...
To reassess the double continence technique for open retropubic radical prostatectomy, proposed by Malizia and employed Pagano et al., with "tension free continuum-urethral anastomosis" (T.F.C.U.A.) personal modification use of image magnification optical systems appropriate delicate surgical tools.A total 173 prostatectomies, performed same surgeon, were evaluated in terms early late continence.The presence residual prostate cancer cells within muscle layer was always excluded...
Aim: The aim of this pilot clinical trial was to determine if Odyliresin ( Iresine celosia), a cytochrome-flavoprotein with powerful anti-oxidant action on cells, has therapeutic effect benign prostatic hyperplasia-related lower urinary tract symptoms, reducing symptoms and prostate volume, improving the patient’s quality life eventually limiting number patients who require surgery or endoscopy after medical treatment. Methods: Thirty were recruited followed up. Primary outcomes assessed...
Several real-time applications include tasks in which the output must be produced at precise time instants, rather than "within" a deadline, and overall system performance significantly degrades when task is executed too late or early with respect to desired time. This paper illustrates one of such takes it as reference case study propose general approach show how derive timing constraints from application requirements, implement on top realtime kernel, identifying operating features...