Projects
- MSc Thesis
- PhD in robotics
- 1. A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles
- 2. Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case
- 3. Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned
- Other
- Keywords
Here is a list of my projects.
MSc Thesis
Nonlinear Model Predictive Control for Multi-rotor Aerial Vehicles under Visual-perceptive Constraints
Advisors:
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Prof. Marcello Farina, Polytechnic of Milan, Milan, Italy.
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Prof. Antonio Franchi, University of Twente, Enschede, The Netherlands and the Sapienza University of Rome, Rome, Italy.
My affiliations:
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Polytechnic University of Milan, Piazza Leonardo da Vinci 32, 20133 Milan, Italy.
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LAAS-CNRS, 7 avenue du Colonel Roche, 31400 Toulouse, France.
PhD in robotics
Advisors:
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MdC. Daniel Sidobre, Université Paul Sabatier, Toulouse, France and LAAS-CNRS, Toulouse, France.
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Prof. Antonio Franchi, University of Twente, Enschede, The Netherlands and the Sapienza University of Rome, Rome, Italy.
My affiliations:
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LAAS-CNRS, 7 avenue du Colonel Roche, 31400 Toulouse, France.
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Université Toulouse III - Paul Sabatier, 118 route de Narbonne, 31400 Toulouse, France.
Other
Gazebo plugins
Dynamixel motors
I developed a Gazebo plugin to control a sequence of Dynamixel motors connected to the same bus (daisy-chain connection).
This plugin is named dxsim-gazebo and it requires the library libdynamixel.
More information are available in the project named dynamixel.
Human controller
This plugin is meant to control a human model within the Gazebo simulator.
It is composed of a GenOM3 component and associated plugin.
It allows controlling the model human by means of a joypad device, by means of the component joystick-genom3 or by calling external activities like set_vel or goto.
Soon it will be released.
MATLAB/Simulink
I worked several years with MATLAB and Simulink, as they are quite popular development environments in the robotics community.
Here, you can find a list of the projects involving their use.
All the source code of the different projects can be found at matlab.
MATLAB utilities
This project is library composed of a set of utility functions for MATLAB.
It includes mostly some helpful functions for robotics, like attitude representations and conversions, forward kinematics, etc …
Most of the functions come with a related documentation, which can be called within the MATLAB Command Window by
help <function_name>An example is
help euler2RotMatMore details are available in the project mat-utils.
MATAMviz : a MATLAB visualizer for Aerial Manipulators
This is a MATLAB-based visualizer for aerial manipulators (AMs), i.e. for multi-rotor aerial vehicles (MRAVs) equipped with robotic manipulators. It is meant to work also with MRAVs not equipped with any manipulator, as they can be considered a degenerative case of an AM.
It allows to visualize in a 3D graphical scene simulations of an AM, starting from the state of its base and the joints of its robotic arm.
More details are available in the project matamviz.