Contact

Paolo Stegagno

Address: Spemannstr. 44
72076 Tübingen
E-Mail: paolo.stegagno

 

Picture of Stegagno, Paolo

Paolo Stegagno

Position: Project Leader  Unit: Bülthoff

Update: I recently moved to the University of Rhode Island, where I am part of the Robotics Laboratory for Complex Underwater Environments (R-CUE). I work on UAV inspection of infrastructures and application of UAV's in Ocean Science.

If you are interested in my research activity, updated CV and publication list, please check my personal website.

 

At the MPI for Biological Cybernetics, I was Research Scientist and head of the Autonomous Robotics and Human-Machine Systems group. My research was devoted to the study, design and development of algorithms for the effective employment of robotic systems in everyday life.

 

Most robotic systems efficiently work in structured environments as laboratories, but their actual application involves several components of estimation of the environment and robustness qualities that are yet not available. This is even more true for platforms as aerial robots that requires high frequency estimation with constraints on payload and computational power, or robotic swarms, in which the single components are by definition limited in sensing capabilities and computational power.

 

During my scientific career, I have carried on several projects in order to find a solution to those issues. Please refer also to the group home page for information about the project currently in development in our group.

Update: I recently moved to the University of Rhode Island, where I am part of the Robotics Laboratory for Complex Underwater Environments (R-CUE). I work on UAV inspection of infrastructures and application of UAV's in Ocean Science.

If you are interested in my research activity, updated CV and publication list, please check my personal website.

 

 

Online spectral analisys for identification of vegetation

Spectral analysis is a powerful techniqued used in remote sensing in order to identify and classify the earth surface. It is based on the principle that each type of surface reflects in a particular and specific way the electromagnetic radiation. This principle can be exploited by robots to identify objects of interests. Nevertheless, multispectral cameras are usually expencive and heavy. For this reason, we are developing a low-cost low-weight spectral camera suitable for the identification of vegetation.

Target identification in robotic swarms

The ability to identify the target of a common action is fundamental for the development of a multi-robot team able to interact with the environment. In most existing systems, the

identification is carried on individually, based on either color coding, shape identification or complex vision systems. Those methods usually assume a broad point of view over the objects, which are observed in their entirety. This assumption is sometimes difficult to fulfill in practice, and in particular in swarm systems, constituted by a multitude of small robots with limited sensing and computational capabilities. We are developing a method for target identification with a heterogeneous swarm of low-informative spatially-distributed sensors employing a distributed version of the naive Bayes classifier. Despite limited individual sensing capabilities, the recursive application of the Bayes law allows the identification if the robots cooperate sharing the information that they are able to gather from their limited points of view.

RGB-D based haptic teleoperation with onbord sensing

The teleoperation of a Micro Aerial Vehicle (MAV) can be employed in a great number of civil and industrial application comprising monitoring and inspection, 3D reconstruction and mapping. However, piloting this type of systems is difficult and requires many months of training. The role of the human operator can be greatly simplified by providing autonomy to the commanded robots. In particular, it is possible to: i) design innovative, simplified and intuitive ways for the human to provide command to the robots; ii) let the robots automatically avoid obstacles; iii) provide better and more informative feedback to the operator.

Mutual localization with anonymous measurements

In order to efficiently cooperate, the component of a multi-robot team must know each other's relative pose. Although many algorithms based on reciprocal measurments exist in order to solve this problem, most of them assume that those measurements comes with the identity of the measured robots. The problem becomes more difficult when this information can not be retrieved by the sensors, leading to a combinatorial data association problem.

Localization and control in heterogeneous systems

The development of a heterogeneous system including aerial and ground robots encompasses the solution of several problems. As a prerequisite, the relative localization of the component of the team must be known. Secondly, the robots must coordinate their actions in order to fulfill the desired tasks. The characteristics of the single components can be exploited in order to improve the performance. If the aerial robots have a natural role as supervisors, hence should be equipped with rich sensor equipment, the ground robots can act as "operative hands" of the system.

Encircling

Consider the problem of localizing and encircling a target using a multi-robot system. This kind of task is interesting in view of the large number of potential applications, among which we mention observation (retrieve and merge data about an object from different viewpoints), escorting (protect a member of the system from unfriendly agents) and entrapment (prevent the motion of an alien object). In this project we have developed a control scheme for achieving multi-robot encirclement in a distributed way, i.e., with each robot using only local information gathered by on-board relative-position sensors. In particular, these are assumed to be noisy, anisotropic, and unable to detect the identity of the measured object, while communication between the robots is provided by limited-range transceivers.

 

Update: I recently moved to the University of Rhode Island, where I am part of the Robotics Laboratory for Complex Underwater Environments (R-CUE). I work on UAV inspection of infrastructures and application of UAV's in Ocean Science.

If you are interested in my research activity, updated CV and publication list, please check my personal website.

 

since 9/2016 Postdoctoral researcher at the Department of Ocean Engineering, University of Rhode Island
2/2014-6/2016

Head of the Autonomous Robotics and Human-Machine Systems group

Department Human Perception Cognition and Action (Dept. Head: Heinrich H. Bülthoff), Max Planck Institute for Biological Cybernetics, Tübingen, Germany

7/2013-6/2016

Research Scientist

Department Human Perception Cognition and Action (Dept. Head: Heinrich H. Bülthoff), Max Planck Institute for Biological Cybernetics, Tübingen, Germany

5/2012-4/2013

PostDoc

Department of Computer, Control, and Management Engineering, Sapienza, University of Rome

4/2012

Ph.D in System Engineering (advisor Prof. Giuseppe Oriolo)

Department of Computer, Control, and Management Engineering, Sapienza, University of Rome

9/2010-4/2011

Visiting Student (advisor Prof. Stergios Roumeliotis)

University of Minnesota, Minneapolis, MN

9/2008-4/2012 Ph.D Student  (advisor Prof. Giuseppe Oriolo)

Department of Computer, Control, and Management Engineering, Sapienza, University of Rome

2008

Master Degree in Electrical Engineering

Sapienza, University of Rome

(final grade 110/110 cum laude)

2005

Bachelor Degree in Electrical Engineering

Sapienza, University of Rome

(final grade 110/110)

 


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Show abstracts

Articles (4):

Rajappa S, Bülthoff HH and Stegagno P (May-2017) Design and implementation of a novel architecture for physical human-UAV interaction International Journal of Robotics Research Epub ahead.
Stegagno P, Cognetti M, Oriolo G, Bülthoff HH and Franchi A (October-2016) Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements IEEE Transactions on Robotics 32(5) 1133-1151.
Franchi A, Stegagno P and Oriolo G (February-2016) Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance Autonomous Robots 40(2) 245-265.
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Franchi A, Oriolo G and Stegagno P (September-2013) Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements International Journal of Robotics Research 32(11) 1302-1322.
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Conference papers (21):

Masone C, Bülthoff HH and Stegagno P (October-2016) Cooperative transportation of a payload using quadrotors: A reconfigurable cable-driven parallel robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), IEEE, Piscataway, NJ, USA, 1623-1630.
Odelga M, Stegagno P and Bülthoff HH (July-13-2016) A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), IEEE, Piscataway, NJ, USA, 306-311.
Rajappa S, Masone C, Bülthoff HH and Stegagno P (May-2016) Adaptive Super Twisting Controller for a Quadrotor UAV, IEEE International Conference on Robotics and Automation (ICRA 2016), IEEE, Piscataway, NJ, USA, 2971-2977.
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Odelga M, Bülthoff HH and Stegagno P (May-2016) Obstacle Detection, Tracking and Avoidance for a Teleoperated UAV, IEEE International Conference on Robotics and Automation (ICRA 2016), IEEE, Piscataway, NJ, USA, 2984-2990.
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Odelga M, Stegagno P, Bülthoff HH and Ahmad A (November-2015) A Setup for multi-UAV hardware-in-the-loop simulations, 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015), IEEE, Piscataway, NJ, USA, 204-210.
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Liu Y, Montenbruck JM, Stegagno P, Allgöwer F and Zell A (October-2015) A Robust Nonlinear Controller for Nontrivial Quadrotor Maneuvers: Approach and Verification, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), IEEE, Piscataway, NJ, USA, 5410-5416.
Massidda C, Bülthoff HH and Stegagno P (October-2015) Autonomous Vegetation Identification for Outdoor Aerial Navigation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), IEEE, Piscataway, NJ, USA, 3105-3110.
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Stegagno P, Massidda C and Bülthoff HH (April-2015) Distributed Target Identification in Robotic Swarms, 30th ACM/SIGAPP Symposium On Applied Computing (SAC 2015), ACM Press, New York, NY, USA, 307-313.
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Cognetti M, Oriolo G, Peliti P, Rosa L and Stegagno P (September-2014) Cooperative Control of a Heterogeneous Multi-Robot System based on Relative Localization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Piscataway, NJ, USA, 350-356.
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Stegagno P, Massidda C and Bülthoff HH (June-1-2014) Object Recognition in Swarm Systems: Preliminary Results, Workshop on the Centrality of Decentralization in Multi-Robot Systems: Holy Grail or False Idol? (IEEE ICRA 2014), 1-3.
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Stegagno P, Basile M, Bülthoff HH and Franchi A (June-2014) A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback, IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Piscataway, NJ, USA, 3862-3869.
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Franchi A, Stegagno P, Basile M and Bülthoff HH (November-7-2013) RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results, IEEE/RSJ IROS'13 International Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, 1-4.
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Stegagno P, Basile M, Bülthoff HH and Franchi A (November-2013) Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation, 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013), International Federation of Automatic Control, New York, NY, USA, IFAC Proceedings Volumes, 46(30), 87-92.
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Stegagno P, Cognetti M, Rosa L, Peliti P and Oriolo G (May-2013) Relative localization and identification in a heterogeneous multi-robot system, IEEE International Conference on Robotics and Automation (ICRA 2013), IEEE, Piscataway, NJ, USA, 1857-1864.
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Cognetti M, Stegagno P, Franchi A and Oriolo G (October-2012) Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, 2nd IFAC Workshop on Multivehicle Systems (MVS 2012), International Federation of Automatic Control, New York, NY, USA, IFAC Proceedings Volumes, 45(28), 13-18.
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Cognetti M, Stegagno P, Franchi A, Oriolo G and Bülthoff HH (May-2012) 3-D Mutual Localization with Anonymous Bearing Measurements, IEEE International Conference on Robotics and Automation (ICRA 2012), IEEE, Piscataway, NJ, USA, 791-798.
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Stegagno P, Cognetti M, Franchi A and Oriolo G (September-2011) Mutual localization using anonymous bearing measurements, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE, Piscataway, NJ, USA, 469-474.
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Franchi A, Stegagno P and Oriolo G (December-2010) Probabilistic mutual localization in multi-agent systems from anonymous position measures, 49th IEEE Conference on Decision and Control (CDC 2010), IEEE, Piscataway, NJ, USA, 6534-6540.
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Franchi A, Stegagno P, Rocco MDD and Oriolo G (September-2010) Distributed Target Localization and Encirclement with a Multi-Robot System, 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010), Curran, Red Hook, NY, USA, IFAC Proceedings Volumes, 43(16), 67-72.
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Franchi A, Oriolo G and Stegagno P (May-2010) On the solvability of the mutual localization problem with anonymous position measures, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 3193-3199.
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Franchi A, Oriolo G and Stegagno P (October-2009) Mutual localization in a multi-robot system with anonymous relative position measures, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), IEEE Service Center, Piscataway, NJ, USA, 3974-3980.
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Technical reports (1):

Franchi A, Oriolo G and Stegagno P: Mutual Localization of a Multi-Robot Team with Anonymous Relative Position Measures, Department of Computer and System Sciences Antonio Ruberti, Rome, Italy, (January-2009).

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Last updated: Monday, 22.05.2017