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Cirillo, Marcello
Publications (10 of 22) Show all publications
Andreasson, H., Bouguerra, A., Cirillo, M., Dimitrov, D. N., Driankov, D., Karlsson, L., . . . Stoyanov, T. (2015). Autonomous transport vehicles: where we are and what is missing. IEEE robotics & automation magazine, 22(1), 64-75
Open this publication in new window or tab >>Autonomous transport vehicles: where we are and what is missing
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2015 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 22, no 1, p. 64-75Article in journal (Refereed) Published
Abstract [en]

In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.

Keywords
Intelligent vehicles; Mobile robots; Resource management; Robot kinematics; Trajectory; Vehicle dynamics
National Category
Robotics
Identifiers
urn:nbn:se:oru:diva-44432 (URN)10.1109/MRA.2014.2381357 (DOI)000352030600010 ()2-s2.0-84925133099 (Scopus ID)
Available from: 2015-04-24 Created: 2015-04-24 Last updated: 2018-08-30Bibliographically approved
Arain, M. A., Cirillo, M., Hernandez Bennetts, V., Schaffernicht, E., Trincavelli, M. & Lilienthal, A. J. (2015). Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots. In: 2015 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015 (pp. 3428-3434). Washington, USA: IEEE Computer Society
Open this publication in new window or tab >>Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
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2015 (English)In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Washington, USA: IEEE Computer Society, 2015, p. 3428-3434Conference paper, Published paper (Refereed)
Abstract [en]

The problem of gas detection is relevant to manyreal-world applications, such as leak detection in industrialsettings and surveillance. In this paper we address the problemof gas detection in large areas with a mobile robotic platformequipped with a remote gas sensor. We propose a novelmethod based on convex relaxation for quickly finding anexploration plan that guarantees a complete coverage of theenvironment. Our method proves to be highly efficient in termsof computational requirements and to provide nearly-optimalsolutions. We validate our approach both in simulation andin real environments, thus demonstrating its applicability toreal-world problems.

Place, publisher, year, edition, pages
Washington, USA: IEEE Computer Society, 2015
Keywords
Sensor planning, mobile robot olfaction, remote gas sensing
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-46796 (URN)10.1109/ICRA.2015.7139673 (DOI)000370974903063 ()978-1-4799-6923-4 (ISBN)
Conference
2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015
Available from: 2015-11-25 Created: 2015-11-25 Last updated: 2018-07-02Bibliographically approved
Andreasson, H., Saarinen, J., Cirillo, M., Stoyanov, T. & Lilienthal, A. (2015). Fast, continuous state path smoothing to improve navigation accuracy. In: IEEE International Conference on Robotics and Automation (ICRA), 2015: . Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, May 26-30, 2015 (pp. 662-669). IEEE Computer Society
Open this publication in new window or tab >>Fast, continuous state path smoothing to improve navigation accuracy
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2015 (English)In: IEEE International Conference on Robotics and Automation (ICRA), 2015, IEEE Computer Society, 2015, p. 662-669Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not be widely adopted in commercial AGV systems. The main contribution of this paper addresses this shortcoming by introducing a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. In real world tests presented in this paper we demonstrate that the proposed approach is fast enough for online use (it computes trajectories faster than they can be driven) and highly accurate. In 100 repetitions we achieve mean end-point pose errors below 0.01 meters in translation and 0.002 radians in orientation. Even the maximum errors are very small: only 0.02 meters in translation and 0.008 radians in orientation.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-47425 (URN)10.1109/ICRA.2015.7139250 (DOI)000370974900096 ()2-s2.0-84938229043 (Scopus ID)9781479969234 (ISBN)
Conference
2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, May 26-30, 2015
Funder
Knowledge Foundation
Available from: 2016-01-15 Created: 2016-01-15 Last updated: 2018-01-10Bibliographically approved
Arain, M. A., Trincavelli, M., Cirillo, M., Schaffernicht, E. & Lilienthal, A. J. (2015). Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor. Sensors, 15(3), 6845-6871
Open this publication in new window or tab >>Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor
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2015 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 15, no 3, p. 6845-6871Article in journal (Refereed) Published
Abstract [en]

The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.

Place, publisher, year, edition, pages
Basel, Switzerland: MDPI, 2015
Keywords
Coverage planning; Mobile robot olfaction; Remote gas detection; Sensor planning; Surveillance robots
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-44407 (URN)10.3390/s150306845 (DOI)000354160900112 ()25803707 (PubMedID)2-s2.0-84928681961 (Scopus ID)
Available from: 2015-04-22 Created: 2015-04-22 Last updated: 2018-01-11Bibliographically approved
Cirillo, M., Uras, T. & Koenig, S. (2014). A lattice-based approach to multi-robot motion planning for non-holonomic vehicles. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems: . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014 (pp. 232-239).
Open this publication in new window or tab >>A lattice-based approach to multi-robot motion planning for non-holonomic vehicles
2014 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, p. 232-239Conference paper, Published paper (Refereed)
Abstract [en]

Coordinating fleets of autonomous, non-holonomic vehicles is paramount to many industrial applications. While there exists solutions to efficiently calculate trajectories for individual vehicles, an effective methodology to coordinate their motions and to avoid deadlocks is still missing. Decoupled approaches, where motions are calculated independently for each vehicle and then centrally coordinated for execution, have the means to identify deadlocks, but not to solve all of them. We present a novel approach that overcomes this limitation and that can be used to complement the deficiencies of decoupled solutions with centralized coordination. Here, we formally define an extension of the framework of lattice-based motion planning to multi-robot systems and we validate it experimentally. Our approach can jointly plan for multiple vehicles and it generates kinematically feasible and deadlock-free motions.

Series
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, ISSN 2153-0866
Keywords
Multi-robot coordination, non-holonomic motion planning
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-37754 (URN)10.1109/IROS.2014.6942566 (DOI)000349834600035 ()2-s2.0-84911482320 (Scopus ID)978-1-4799-6934-0 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014
Projects
"Safe Autonomous Navigation" (SAUNA)
Funder
Knowledge Foundation
Available from: 2014-10-14 Created: 2014-10-14 Last updated: 2018-09-12Bibliographically approved
Andreasson, H., Saarinen, J., Cirillo, M., Stoyanov, T. & Lilienthal, A. (2014). Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories. Robotics, 3(4), 400-416
Open this publication in new window or tab >>Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories
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2014 (English)In: Robotics, E-ISSN 2218-6581, Vol. 3, no 4, p. 400-416Article in journal (Refereed) Published
Abstract [en]

Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not been widely adopted in commercial AGV systems. The main contribution of this paper is a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. The proposed approach is evaluated in several industrially relevant scenarios and found to be both fast (less than 2 s per vehicle trajectory) and accurate (end-point pose errors below 0.01 m in translation and 0.005 radians in orientation).

Place, publisher, year, edition, pages
Basel, Switzerland: M D P I AG, 2014
Keywords
Motion planning, motion and path planning, autonomous navigation
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-41273 (URN)10.3390/robotics3040400 (DOI)
Available from: 2015-01-14 Created: 2015-01-14 Last updated: 2018-01-11Bibliographically approved
Cirillo, M., Pecora, F., Andreasson, H., Uras, T. & Koenig, S. (2014). Integrated Motion Planning and Coordination for Industrial Vehicles. In: Proceedings of the 24th International Conference on Automated Planning and Scheduling: . Paper presented at International Conference on Automated Planning and Scheduling (ICAPS).
Open this publication in new window or tab >>Integrated Motion Planning and Coordination for Industrial Vehicles
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2014 (English)In: Proceedings of the 24th International Conference on Automated Planning and Scheduling, 2014Conference paper, Published paper (Refereed)
Abstract [en]

A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment in fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, and to adhere to them even in the presence of contingencies. Moreover, a fleet management system should ensure correctness, i.e., refuse to commit to requirements that cannot be satisfied. We present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which provide these guarantees. The approach relies on a constraint-based representation shared among multiple solvers, each of which progressively refines trajectory envelopes following a least commitment principle.

Keywords
multi-robot coordination, non-holonomic motion planning, scheduling
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-37753 (URN)
Conference
International Conference on Automated Planning and Scheduling (ICAPS)
Projects
“Safe Autonomous Navigation” (SAUNA)
Funder
Knowledge Foundation
Available from: 2014-10-14 Created: 2014-10-14 Last updated: 2018-09-12Bibliographically approved
Kumar, T. K., Cirillo, M. & Koenig, S. (2013). On the Traveling Salesman Problem with Simple Temporal Constraints. In: Proceedings of the 10th Symposium on Abstraction, Reformulation, and Approximation (SARA): . Paper presented at 10th Symposium on Abstraction, Reformulation, and Approximation (SARA),July 11-12, 2013, Leavenworth, USA. AAAI Press
Open this publication in new window or tab >>On the Traveling Salesman Problem with Simple Temporal Constraints
2013 (English)In: Proceedings of the 10th Symposium on Abstraction, Reformulation, and Approximation (SARA), AAAI Press , 2013Conference paper, Published paper (Refereed)
Abstract [en]

Many real-world applications require the successful combination of spatial and temporal reasoning. In this paper, we study the general framework of the Traveling Salesman Problem with Simple Temporal Constraints. Representationally, this framework subsumes the Traveling Salesman Problem, Simple Temporal Problems, as well as many of the frameworks described in the literature. We analyze the theoretical properties of the combined problem providing strong inapproximability results for the general problem, and positive results for some special cases.

Place, publisher, year, edition, pages
AAAI Press, 2013
Keywords
Computational Complexity, Geometric Spatial and Temporal Reasoning, Scheduling
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-29944 (URN)978-1-57735-630-1 (ISBN)
Conference
10th Symposium on Abstraction, Reformulation, and Approximation (SARA),July 11-12, 2013, Leavenworth, USA
Funder
Knowledge Foundation, SAUNA
Available from: 2013-07-02 Created: 2013-07-02 Last updated: 2018-01-11Bibliographically approved
Kumar, T. K., Cirillo, M. & Koenig, S. (2013). Simple Temporal Problems with Taboo Regions. In: Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI): . Paper presented at Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI), July 16-18, 2013, Bellevue, Washington, USA. AAAI Press
Open this publication in new window or tab >>Simple Temporal Problems with Taboo Regions
2013 (English)In: Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI), AAAI Press, 2013Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we define and study the general framework of Simple Temporal Problems with Taboo regions (STPTs) and show how these problems capture metric temporal reasoning aspects which are common to many real-world applications. STPTs encode simple temporal constraints between events and user-defined taboo regions on the timeline, during which no event is allowed to take place. We discuss two different variants of STPTs. The first one deals with (instantaneous) events, while the second one allows for (durative) processes. We also provide polynomial-time algorithms for solving them. If all events or processes cannot be scheduled outside of the taboo regions, one needs to define and reason about "soft" STPTs. We show that even "soft" STPTs can be solved in polynomial time, using reductions to max-flow problems. The resulting algorithms allow for incremental computations, which is important for the successful application of our approach in real-time domains.

Place, publisher, year, edition, pages
AAAI Press, 2013
Keywords
Temporal Reasoning, Constraint Satisfaction, Algorithms and Complexity
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-29945 (URN)
Conference
Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI), July 16-18, 2013, Bellevue, Washington, USA
Funder
Knowledge Foundation, SAUNA
Available from: 2013-07-02 Created: 2013-07-02 Last updated: 2018-01-11Bibliographically approved
Pecora, F. & Cirillo, M. (2012). A constraint-based approach for multiple non-holonomic vehicle coordination in industrial scenarios. In: ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications. Paper presented at ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, Atibadia, São Paulo, Brazil (pp. 45-52).
Open this publication in new window or tab >>A constraint-based approach for multiple non-holonomic vehicle coordination in industrial scenarios
2012 (English)In: ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, 2012, p. 45-52Conference paper, Oral presentation only (Refereed)
Abstract [en]

Autonomous vehicles are already widely used in industrial logisticsettings. However,  applications still lack flexibility, andmany steps of the deployment process are hand-crafted byspecialists. Here, we preset a new, modular paradigm whichcan fully solve logistic problems for AGVs, from high-leveltask planning to vehicle control. In particular, we focus ona new method for multi-robot coordination which does notrely on pre-defined traffic rules and in which feasible andcollision-free trajectories are calculated for every vehicle accordingto mission specifications. Also, our solutions canbe adapted on-line to exogenous events, control failures, orchanges in mission requirements.

Keywords
Multi vehicle coordination, non-holonomic path planning, constraint reasoning
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-23231 (URN)
Conference
ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, Atibadia, São Paulo, Brazil
Projects
SAUNA
Available from: 2012-06-05 Created: 2012-06-04 Last updated: 2017-10-17Bibliographically approved
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