Settore Robotica e Intelligenza artificiale

Area di ricerca: Area 09 - Interstruttura - Ingegneria dell'informazione e scienze informatiche

Settore: Robotica e Intelligenza Artificiale: ING INF04 Automatica e Sistemi di elaborazione delle informazioniING INF05

Ricercatori:
Settore ING INF04
Strutturati: Fabrizio Caccavale (PO), Francesco Pierri (RTI)
non Strutturati: Michelangelo Nigro (studente di dottorato) Monica Sileo (studente di dottorato)

Settore ING INF05
Strutturati: Nicola Capuano (RTD-B)

Linee di ricerca:
La ricerca nell’ambito della Robotica e dell’Intelligenza Artificiale (settori ING-INF/04 e ING-INF/05) si articola secondo tre linee tematiche principali: la manipolazione robotica (manipolatori e celle robotiche industriali, visione artificiale per applicazioni robotiche, robotica cognitiva), la robotica aerea (Unmanned Aerial Vehicles omnidirezionali, manipolatori aerei, controllo di interazione con l’ambiente) e i sistemi multi-robot (controllo e diagnosi dei guasti distribuiti, robot cooperanti).

In aggiunta, nel settore ING-INF/04 (Automatica), sono attive ricerche su metodologie di stima e controllo per sistemi non lineari (controllo adattativo, osservatori dello stato, controllo con retroazione dello stato stimato) e metodologie di diagnosi dei guasti in sistemi dinamici. La ricerca è svolta anche nell'ambito di reti di ricerca nazionali (PRISMA, I-RIM) ed internazionali, con il supporto finanziario del MUR e dell'Unione Europea.

Nel settore ING-INF/05 (Sistemi di elaborazione delle informazioni) sono inoltre attive ricerche nel campo dell’elaborazione del linguaggio naturale, della rappresentazione della conoscenza, dei sistemi fuzzy e delle applicazioni didattiche dell’intelligenza artificiale. In quest’ultimo ambito si cita la collaborazione con il gruppo SmartLearn della Open University of Catalonia e l’organizzazione annuale del workshop internazionale ALICE “Adaptive Learning via Interactive, Collaborative and Emotional approaches”.

Elenco delle pubblicazioni degli ultimi 5 anni

Riviste internazionali

  • Nigro, M., Pierri, F., Caccavale, F. “Control of an Omnidirectional UAV for Transportation and Manipulation Tasks,” Applied Science, 2021, 10991, DOI: https://doi.org/10.3390/app112210991.
  • Di Lillo, P., Pierri, F., Antonelli, G., Caccavale, F., Ollero, A. “A framework for set-based kinematic control of multi-robot systems”. Control Engineering Practice, 106, 2021. doi:10.1016/j.conengprac.2020.104669
  • Capuano, N.; Caballé, S.; Conesa, J.; Greco, A. “Attention-based Hierarchical Recurrent Neural Networks for MOOC Forum Posts Analysis”. Journal of Ambient Intelligence and Humanized Computing, vol. 12, n. 11, pp. 9977-9989, 2021.
  • Capuano, N.; Greco, L.; Ritrovato, P.; Vento, M. “Sentiment Analysis for Customer Relationship Management: an Incremental Learning Approach”. Applied Intelligence, vol. 51, n. 6, pp. 3339-3352, 2021.
  • Pierri, F., Nigro, M., Muscio, G., Caccavale, F. “Cooperative Manipulation of an Unknown Object via Omnidirectional Unmanned Aerial Vehicles.” Journal of Intelligent & Robotic Systems, 100(3), pp. 1635-1649, 2020. doi:10.1007/s10846-020-01213-0.
  • Capuano, N.; Caballe, S.; Percannella, G.; Ritrovato, P. “FOPA-MC: fuzzy multi-criteria group decision making for peer assessment”. Soft Computing, vol. 24, n. 23, pp. 17679-17692, 2020.
  • Capuano, N.; Caballé, S. “Adaptive learning technologies”. AI Magazine, vol. 41, n. 2, pp. 96-98, 2020.
  • Ryll, M., Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., Bicego, D. and Franchi, A. “6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm.” The International Journal of Robotics Research, 38(9), pp. 1045–1062, 2019. doi:10.1177/0278364919856694.
  • Capuano, N.; Chiclana, F.; Herrera-Viedma, E.; Fujita, H.; Loia, V. “Fuzzy group decision making for influence-aware recommendations”. Computers in Human Behavior, vol. 101, pp. 371-379, 2019.
  • Capuano, N.; Toti, D.. “Experimentation of a smart learning system for law based on knowledge discovery and cognitive computing”. Computers in Human Behavior, vol. 92, pp. 459-467, 2019.
  • Ollero, G. Heredia, A. Franchi, G. Antonelli, K. Kondak, A. Sanfeliu, A. Viguria, J. Ramiro Martinez-de Dios, F. Pierri, J. Cortés, A. Santamaria-Navarro, M. A. Trujillo, R. Balachandran, J. Andrade-Cetto, and A. Rodriguez (2018). The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics & Automation Magazine, vol. 25, no. 4, pp. 12-23, Dec. 2018.
  • Pierri, F., Muscio, G., Caccavale, F. (2018). An adaptive hierarchical control for aerial manipulators. Robotica, 36(10), 1527-1550.
  • Marino, A., Pierri, F. (2018). A two stage approach for distributed cooperative manipulation of an unknown object without explicit communication and unknown number of robots. Robotics and Autonomous Systems, 103, 122-133.
  • G. Muscio, F. Pierri, M.A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero (2018), "Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments. IEEE Transactions on Control Systems Technology.", 26(4), 1406-1413.
  • Capuano, N.; Chiclana, F.; Herrera-Viedma, E.; Fujita, H.; Loia, V. “Fuzzy rankings for preferences modeling in group decision making”. International Journal of Intelligent Systems, vol. 33, n. 7, pp. 1555-1570, 2018.
  • Capuano, N.; Chiclana, F.; Fujita, H.; Herrera-Viedma, E.; Loia, V. “Fuzzy group decision making with incomplete information guided by social influence”. IEEE Transactions of Fuzzy Systems, vol. 26, n. 3, pp. 1704-1718, 2018.
  • AL-Smadi, M.; Capuano, N.; Guetl, C. “Decoupling assessment and serious games to support guided exploratory learning in smart education”. Journal of Ambient Intelligence and Humanized Computing, vol. 9, n. 3, pp. 497-511, 2018.
  • K. Baizid, G. Giglio, F. Pierri, M.A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero "Behavioral control of unmanned aerial vehicle manipulator systems." AUTONOMOUS ROBOTS, vol. 41, p. 1203-1220, 2017
  • Marino, F. Pierri, F. Arrichiello "Distributed Fault Detection Isolation and Accommodation for Homogeneous Networked Discrete-Time Linear Systems." IEEE TRANSACTIONS ON AUTOMATIC CONTROL, vol. 62, p. 4840-4847, 2017
  • F. Arrichiello, A. Marino, F. Pierri, "Distributed Fault-Tolerant Control for Networked Robots in the Presence of Recoverable/Unrecoverable Faults and Reactive Behaviors." FRONTIERS IN ROBOTICS AND AI, vol. 4, p. 1-12, 2017
  • Capuano, N.; Loia, V.; Orciuoli, F. “A fuzzy group decision making model for ordinal peer assessment”. IEEE Transactions on Learning Technologies, vol. 10, n. 2, pp. 247-259, 2017.
  • Caballe, S.; Miguel, J.; Xhafa, F.; Capuano, N.; Conesa, J. “Using trustworthy web services for secure e-assessment in collaborative learning grids”. International Journal of Web and Grid Services, vol. 13, n. 1, pp. 49-74, 2017.
  • Albano, G.; Capuano, N.; Pierri, A. “Adaptive peer grading and formative assessment”. JE-LKS Journal of e-Learning and Knowledge Society, vol. 13, n. 1, pp. 147-161, 2017.

Libri a diffusione internazionale

  • F. Caccavale, C. Ott, B. Winkler, Z. Taylor (Eds), Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, Springer Tracts in Advanced Robotics 136, Springer Nature Switzerland, Cham, Ch, 2020, ISBN: 978-3-030-34506-8 (print) 978-3-030-34507-5 (online), DOI: 10.1007/978-3-030-34507-5

Capitoli di libri a diffusione internazionale

  • F. Pierri, A. Franchi, "Cooperative Manipulation", Encyclopedia of Robotics, M. Ang, O. Khatib, B. Siciliano (Eds), Springer, Berlin, Heidelberg, 2021. IN PRESS
  • Capuano, N. “Transfer learning techniques for cross-domain analysis of posts in massive educational forums”. Demetriadis, S.; Caballé, S.; Gómez-Sánchez, E.; Papadopoulos, P.; Weinberger, A. (eds.). Intelligent Systems and Learning Data Analytics in Online Education, ch. 7. Intelligent Data-Centric Systems, pp. 133-152, 2021.
  • G. Gillini, M. Lippi, F. Arrichiello, A. Marino, F. Pierri, “Distributed fault detection and isolation strategy for a team of cooperative mobile manipulators”. In Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems, A. Monteriu, A. Freddi, S. Longhi, (Eds). IET Digital Library, London, United Kingdom, 2020. ISBN: 9781785618307 DOI: 10.1049/PBCE126E_ch7.
  • F. Caccavale, F. Pierri, "Multiple Unmanned Aerial Manipulator Systems, Coordinated Control of", Encyclopedia of Robotics, M. Ang, O. Khatib, B. Siciliano (Eds), Springer, Berlin, Heidelberg, 2020. ISBN: 978-3-642-41610-1, DOI: 10.1007/978-3-642-41610-1_81-1. Publishing, Springer Nature Switzerland AG, 2020.
  • F. Caccavale, "Computed torque control", Encyclopedia of Robotics, M. Ang, O. Khatib, B. Siciliano (Eds), Springer, Berlin, Heidelberg, 2020. ISBN: 978-3-642-41610-1, DOI: 10.1007/978-3-642-41610-1_91-1. Publishing, Springer Nature Switzerland AG, 2020.
  • F. Caccavale, "Inverse dynamics control", Encyclopedia of Robotics, M. Ang, O. Khatib, B. Siciliano (Eds), Springer, Berlin, Heidelberg, 2020. ISBN: 978-3-642-41610-1, DOI: 10.1007/978-3-642-41610-1_95-1. Publishing, Springer Nature Switzerland AG, 2020.
  • R. Awad, F. Caccavale, A.J. van der Meer, “Evaluation and Selection Activities in EuRoC: Innovations and Lessons Learned”, Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, F. Caccavale, C. Ott, B. Winkler, Z. Taylor (Eds), pp. 15-34, Springer Tracts in Advanced Robotics 136, Springer Nature Switzerland, Cham, Ch, 2020
  • A.J. van der Meer, F. Caccavale, G. Eredics, “The EuRoC Project: Motivations and Design of the Challenges”, Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, F. Caccavale, C. Ott, B. Winkler, Z. Taylor (Eds), pp. 3-14, Springer Tracts in Advanced Robotics 136, Springer Nature Switzerland, Cham, Ch, 2020
  • F. Caccavale, "Coordinated Control of Multiple Aerial Manipulators", Aerial Robotic Manipulation, research, development and applications, pp. 203-215, A. Ollero, B. Siciliano (Eds.), Springer Tracts in Advanced Robotics 129, Springer International Publishing, Springer Nature Switzerland AG, 2019.
  • F. Pierri, "Decoupled Impedance and Passivity Control Methods", Aerial Robotic Manipulation, research, development and applications, pp. 147-157, A. Ollero, B. Siciliano (Eds.), Springer Tracts in Advanced Robotics 129, Springer International Publishing, Springer Nature Switzerland AG, 2019.
  • F. Caccavale, "Cooperative Manipulators", Encyclopedia of Systems and Control (2nd Ed), John Baillieul, Tariq Samad (Eds.), Springer, London, GB, 2019, ISBN: 978-1-4471-5102-9, DOI: 10.1007/978-1-4471-5102-9_175-2.

Atti di convegni internazionali

  • Sileo, M., Nigro, M., Bloisi, D. D., Pierri, F., “Vision based robot-to-robot object handover”, 2021 IEEE International Conference on Advanced Robotics (ICAR), December 2021.
  • M. Sileo, D. D. Bloisi and F. Pierri, "Real-time Object Detection and Grasping Using Background Subtraction in an Industrial Scenario," 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI), 2021, pp. 283-288, DOI: 10.1109/RTSI50628.2021.9597259.
  • Rossi, D.; Ströele, V.; Braga, R.; Caballé, S.; Capuano, N.; Campos, F.; Dantas, M.; Lomasto, L.; Toti, D. “CAERS: A conversational agent for intervention in MOOCs' learning processes”. Proceedings of The Learning Ideas Conference 2021, New York and on-line. Lecture Notes in Networks and Systems, vol. 349, pp. 371-382, 2021.
  • Toti, D.; Capuano, N.; Campos, F.; Dantas, M.; Neves, F.; Caballé, S. “Detection of student engagement in e-learning systems based on semantic analysis and machine learning”. Proceedings of the 15th International Conference on P2P, Parallel, Grid, Cloud and Internet Computing (3PGCIC-2020), Yonago, Tottori, Japan. Lecture Notes in Networks and Systems, vol. 158, pp. 211-223, 2021.
  • P.A. Di Lillo, F. Pierri, F. Caccavale, G. Antonelli, “Experiments on whole-body control of a dual-arm mobile robot with the set-based task-priority inverse kinematics algorithm”. 2020 IEEE International Conference on Intelligent Robots and Systems (IROS) pp. 9096-9101, 2020.
  • M. Nigro, M. Sileo, F. Pierri, K. Genovese, D.D. Bloisi, F. Caccavale, “Peg-in-hole using 3D workpiece reconstruction and CNN-based hole detection”. 2020 IEEE International Conference on Intelligent Robots and Systems (IROS) pp. 4235-4240, 2020.
  • Capuano, N.; Caballé, S. “Multi-attribute categorization of MOOC forum posts and applications to conversational agents”. Proceedings of the 14th International Conference on P2P, Parallel, Grid, Cloud and Internet Computing (3PGCIC-2019), Antwerp, Belgium. Lecture Notes in Networks and Systems, vol. 96, pp. 505-514, 2020.
  • G. Gillini, M. Lippi, F. Arrichiello, A. Marino, F. Pierri “Distributed Fault Detection and Isolation for Cooperative Mobile Manipulators”. 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) pp. 1701-1707, 2019.
  • M. Nigro, F. Pierri, F. Caccavale, "Preliminary design, modeling and control of a fully actuated quadrotor UAV" 2019 IEEE International Conference on Unmanned Aircraft Systems (ICUAS). pp. 1108-1116, 2019.
  • E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, A. Ollero, "Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator" 2019 IEEE International Conference on Robotics and Automation (ICRA). p. 2960-2966, 2019.
  • Capuano, N.; Caballé, S. “Multi-criteria fuzzy ordinal peer assessment for MOOCs”. Proceedings of the 10th International Conference on Intelligent Networking and Collaborative Systems (INCoS-2018), Bratislava, Slovakia. Lecture Notes on Data Engineering and Communications Technologies, vol. 23, pp. 373-383, 2019.
  • Capuano, N.; Orciuoli, F. “Application of fuzzy ordinal peer assessment in formative evaluation”. Proceedings of the 12th International Conference on P2P, Parallel, Grid, Cloud and Internet Computing (3PGCIC-2017), Barcelona, Spain. Lecture Notes on Data Engineering and Communications Technologies, vol. 13, pp. 555-564, 2018.
  • M. Ryll, G. Muscio, F. Pierri, E. Cataldi, G. Antonelli, F. Caccavale, A. Franchi, "6D physical interaction with a fully actuated aerial robot." 2017 IEEE International Conference on Robotics and Automation (ICRA). p. 5190-5195, 2017.
  • A. Marino, G. Muscio, F. Pierri, "Distributed cooperative object parameter estimation and manipulation without explicit communication." 2017 IEEE International Conference on Robotics and Automation (ICRA). p. 2110-2116, 2017.