@conference {1702, title = {Distributed Multi{\textendash}level Motion Planning for Autonomous Vehicles in Large Scale Industrial Environments}, booktitle = {IEEE International Conference on Emerging Technologies \& Factory Automation (ETFA)}, year = {2013}, month = {09/2013}, pages = {1-8}, abstract = {

In this paper we propose a distributed coordination algorithm for safe and efficient traffic management of heterogeneous robotic agents, moving within dynamic large scale industrial environments. The algorithm consists of a distributed resource{\textendash}sharing protocol involving a re{\textendash}planning strategy. Once every agent is assigned with a desired motion path, the algorithm ensures ordered traffic flows of agents, that avoid inter{\textendash}robot collision and system deadlock (stalls). The algorithm allows multi{\textendash}level representation of the environment, i.e. large or complex rooms may be seen as a unique resource with given capacity at convenience, which makes the approach appealing for complex industrial environments. Under a suitable condition on the maximum number of agents with respect to the capacity of the environment, we prove that the algorithm correctly allows mutual access to shared resources while avoiding deadlocks. The proposed solution requires no centralized mechanism, no shared memory or ground infrastructure support. Only a local inter{\textendash}robot communication is required, i.e. every agent must communicate with a limited number of other spatially adjacent robots. We finally show the effectiveness of the proposed approach by simulations, with application to an industrial scenario.

}, keywords = {Robotics}, doi = {10.1109/ETFA.2013.6647973 }, author = {L. Cancemi and A. Fagiolini and L. Pallottino} } @conference {MFP11, title = {Decentralized Coordination System for Multiple AGVs in a Structured Environment}, booktitle = {2011 Congress of the International Federation of Automatic Control}, year = {2011}, month = {Aug 28 - Sept 1}, pages = {6005 - 6010}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Manca and A. Fagiolini and L. Pallottino} } @conference {MFZB11, title = {Decentralized Species Classification in Societies of Autonomous and Heterogenous Robots}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {32 - 39}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Zichittella and M. Egerstedt and A. Bicchi} } @conference {FBCABB-ICRA10, title = {Design and Control of a Novel 3D Casting Manipulator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {4169 - 4174}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and F. A. W. Belo and M. G. Catalano and S. Alicino and F. Bonomo and A. Bicchi} } @conference {FMDB-NecSys09, title = {Distributed Consensus on Boolean Information}, booktitle = {1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys{\textquoteright}09)}, year = {2009}, month = {September, 24 - }, pages = {72 - 77}, address = {Venice, Italy}, abstract = {

In this paper we study the convergence towards consensus on information in a distributed system of agents communicating over a network. The particularity of this study is that the information on which the consensus is seeked is not represented by real numbers, rather by logical values or compact sets. Whereas the problems of allowing a network of agents to reach a consensus on logical functions of input events, and that of agreeing on set-valued information, have been separately addressed in previous work, in this paper we show that these problems can indeed be attacked in a unified way in the framework of Boolean distributed information systems. Based on a notion of contractivity for Boolean dynamical systems, a necessary and suficient condition ensuring the global convergence toward a unique equilibrium point is presented. This result can be seen as a first step toward the de nition of a unified framework to uniformly address all consensus problems on Boolean algebras.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and N. Dubbini and A. Bicchi} } @conference {FBB-ICRA09, title = {Dynamic Distributed Intrusion Detection for Secure Multi-Robot Systems}, booktitle = {Int. Conference of Robotics and Automation}, year = {2009}, month = {May, 12 - 17}, pages = {2723 - 2728}, address = {Kobe, Japan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and F. Babboni and A. Bicchi} } @conference {FTBD08, title = {Decentralized Deployment of Mobile Sensors for Optimal Connected Sensing Coverage}, booktitle = {Distributed Computing in Sensor Systems}, series = {Lecture Notes in Computer Science}, volume = {5067/2008}, year = {2008}, pages = {486 - 491}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper, we address the optimal connected sensing coverage problem, i.e., how mobile sensors with limited sensing capabilities can cooperatively adjust their locations so as to maximize the extension of the covered area while avoiding any internal "holes", areas that are not covered by any sensor. Our solution consists in a distributed motion algorithm that is based on an original extension of the Voronoi tessellation.

}, keywords = {Embedded Control, Robotics}, url = {http://dx.doi.org/10.1007/978-3-540-69170-9_34}, author = {A. Fagiolini and L. Tani and A. Bicchi and G. Dini} } @conference {FVPDB:CDC07, title = {Decentralized Intrusion Detection for Secure Cooperative Multi-Agent Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, pages = {1553-1558}, abstract = {

In this paper we address the problem of detecting faulty behaviors of cooperative mobile agents. A novel decentralized and scalable architecture that can be adopted to realize a monitor of the agents

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @booklet {FPD{\textquoteright}07, title = {Decentralized Intrusion Detection in Cooperative Multi-Agent Systems}, year = {2007}, note = {

Poster Presentation

}, month = {April}, abstract = {

We address the problem of detecting faulty behaviors of robots belonging to a multi-agent system. Our objective is to develop a scalable architecture that can be adopted to realize a completely decentralized intrusion detector monitoring the agents{\textquoteright} behavior. We want the solution to be independent from the set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} describing the interaction among the agents, and from their dynamics; (non-invasive) mainly based on HW/SW components that are already present on-board of each agent. We focus on systems with decentralized cooperation schemes where cooperation is obtained by sharing a set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} by which each agent plans its next {\textquoteleft}{\textquoteleft}action{\textquoteright}{\textquoteright} and where some of the agents may act not according to the rules due to spontaneous failure, tampering, or malicious introduction.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and L. Pallottino and G. Dini} }