Papers by Riccardo Cassinis
“Intelligent” telepresence: Introducing virtual reality in advanced robots
Lecture Notes in Computer Science, 1993
Sonar Range Data Processing and Enhancement
Proc. Intelligent Autonomous System an …, 1989
Page 1. *■ ff ' '■» • Sonar Range Data Processing and Enhancement Riccardo Cassinis, Pa... more Page 1. *■ ff ' '■» • Sonar Range Data Processing and Enhancement Riccardo Cassinis, Paolo Venuli ... 249-265, 1987. [5] Horowitz, SL: A Syntactic Algorithm for Peak Detection in Waveforms with Applications to Cardiography, in Communications of the ACM, Vol. 18, 5, pag. ...
Interventi
Sistemi intelligenti, 1998
Nei mesi tra febbraio e aprile 1998 si è svolta sulla mailing list dell'Associazione Italian... more Nei mesi tra febbraio e aprile 1998 si è svolta sulla mailing list dell'Associazione Italiana per l'Intelligenza Artificiale un dibattito sul tema della definizione di «intelligenza», innescato dal primo degli interventi sotto riportati. Con il permesso dei partecipanti alla discussione e dell'Associazione, crediamo di fare cosa utile presentando il dibattito così come si è svolto, con minimi aggiustamenti tipografici di uniformizzazione.
In this paper we propose the main guidelines of a toolkit designed to allow the several different... more In this paper we propose the main guidelines of a toolkit designed to allow the several different electronic devices (CPUs, microcontrollers, sensor DSPs, etc.) that compose a mobile robot and its environment to cooperate as members of a community. This idea would allow an easy modularization of complex systems that integrate robots and distributed sensors, taking an effective advantage of the newest data processing and communication technologies. The availability of many computing-capable sensing and actuating devices and of broadband communication channels allows us to find new ways of implementing physically distributed systems that can be used in the control of autonomous robots. Our research is aimed at creating an efficient and reliable layered middleware in the hardware-software structure, in order to allow each device to interact in a transparent way with all the others, on the same machine or elsewhere.
Biologically-Inspired Visual Landmark Learning for Mobile Robots
Lecture Notes in Computer Science, 2000
ABSTRACT Presents a biologically-inspired method for navigating using visual landmarks which have... more ABSTRACT Presents a biologically-inspired method for navigating using visual landmarks which have been self-selected within natural environments. A landmark is a region of the grabbed image which is chosen according to its reliability measured through a phase (turn back and look) that mimics the behavior of some social insects. From the self-chosen landmarks suitable navigation information can be extracted following a well known model introduced in biology to explain the bee's navigation behavior. The landmark selection phase affects the conservativeness of the navigation vector field thus allowing us to explain the navigation model in terms of a visual potential function which drives the navigation to the goal. The experiments have been performed using a Nomad200 mobile robot equipped with monocular color vision
Have computation, animatronics, and robotic art anything to say about emotion, compassion, and how to model them? The survivor project
Pragmatics and Cognition, 2008
We discuss robotic art, emotion in robotic art, and compassion in the philoso-phy of art. We disc... more We discuss robotic art, emotion in robotic art, and compassion in the philoso-phy of art. We discuss a particular animated artwork, survivor, the walking chair, symbolising survivors of landmine blasts, learning to use crutches, and maimed emotionally as well as physically. Its control ...
Intelligent Autonomous Systems, 2000
This paper presents an algorithm that uses visual information to achieve the homing of an autonom... more This paper presents an algorithm that uses visual information to achieve the homing of an autonomous agent inside a previously visited environment. An image grabbed at the target position is compared with the currently perceived one to determine the relative position of the robot and of its target. Only particular regions of the image, called Visual References, are taken into account. A Visual References correlation criterion that uses the Fourier-Mellin Transform to match the Visual References in different images is employed. This transform in fact allows computing Visual References that are invariant to rotation, scaling and translation. Robustness due to the use of the Mellin Transform in the Visual References selection and coupling leads to more precise navigation. Tests and results are presented.
The paper presents a proposal for an autonomous robot path planning system that uses several stra... more The paper presents a proposal for an autonomous robot path planning system that uses several strategies to reach a target in an a-priori un- known environment. The proposed method has learning capabilities that allow the robot to take advantage of previous experience, thus improving its performance in further travelling in the same environment.
Abstractó A fuzzy logic controller for behaviour-based mobile robots is presented. All knowledge ... more Abstractó A fuzzy logic controller for behaviour-based mobile robots is presented. All knowledge is contained in XML formatted les. In this way the fuzzy logic controller is completely independent from,the robot. After having described the philosophy and the structure of the system, we show the results of experiments performed using the simulator we have created. Index Termsó Fuzzy logic, XML,
Localization is one of the fundamental prob-lems in mobile robot navigation. In this paper a stud... more Localization is one of the fundamental prob-lems in mobile robot navigation. In this paper a study is presented on a new methodology aimed at localizing a mobile robot in indoor and outdoor environments using active markers and commer-cial off-the-shelf webcams. The marker detection system is based on the dif-ference of working frequencies of the shutter of a webcam and of
A Biologically-Inspired Visual Homing Method for Robots
This paper analyzes the guidance principle and the robustness feature of a biologically-inspired ... more This paper analyzes the guidance principle and the robustness feature of a biologically-inspired visual homing algorithm f o r autonomous robots. The homing strategy uses color images and is based o n an affine matching model whose parameters are used t o estimate real navigation displacement in the environment. T h e guidance principle of the visual homing is proven to be a visual potential function with a n equilibrium point located at the goal position. T h e presence of a potential function means that classical control theory principles based o n the Liapunov functions can be applied t o assess the robustness of the navigation strategy. 0-7803-5672-l/99/$10 0 1999 IEEE
Using colour information in an omnidirectional perception system for autonomous robot localization
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96), 1996
A localization system for mobile robots is presented. The system enables an autonomous mobile rob... more A localization system for mobile robots is presented. The system enables an autonomous mobile robot to locate itself along previously learned routes in a dynamic environment. The localization is based on data provided by an omnidirectional visual perception system employing optical pre-processing and neural network learning. New results have been achieved using colour information
Biologically-Inspired Visual Landmark Learning for Mobile Robots
Lecture Notes in Computer Science, 2000
ABSTRACT This paper presents a biologically-inspired method for selecting visual landmarks which ... more ABSTRACT This paper presents a biologically-inspired method for selecting visual landmarks which are suitable for navigating within not pre-engineered environments. A landmark is a region of the goal image which is chosen according to its reliability measured through a phase called Turn Back and Look (TBL). This mimics the learning behavior of some social insects. The TBL phase affects the conservativeness of the vector field thus allowing us to compute the visual potential function which drives the navigation to the goal. Furthermore, the conservativeness of the navigation vector field allows us to assess if the learning phase has produced good landmarks. The presence of a potential function means that classical control theory principles based on the Lyapunov functions can be applied to assess the robustness of the navigation strategy. Results of experiments using a Nomad200 mobile robot and a color camera are presented throughout the paper.
This paper presents one of the first applications of a novel message-oriented middleware, DCDT, t... more This paper presents one of the first applications of a novel message-oriented middleware, DCDT, that has been recently developed at University of Brescia in collaboration with Politecnico of Milano. This simple and low-cost experimental application is aimed at detecting and localizing a mobile robot in indoor environments using a commercial off-the-shelf webcam and a couple of active markers. The most
1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355), 1999
This paper presents a novel approach to the detection of anti-personnel landmines that uses teams... more This paper presents a novel approach to the detection of anti-personnel landmines that uses teams of cooperating robots. Following hints that originate both from classical robotics and from biology, we aim to defining a set of search strategies suitable for being used in an obstacle-cluttered, two-dimensional space. The paper presents the guidelines of the project, the search strategies that were developed, and the description of a simulator that was designed and implemented to test them.
Design Issues for a Robocup Goalkeeper
Lecture Notes in Computer Science, 2000
This paper presents Saracinescu, the goalkeeper robot of the Italian team that was used at the Ro... more This paper presents Saracinescu, the goalkeeper robot of the Italian team that was used at the Robocup ’98 Paris championship. The machine features an original omni-directional vision system whose performance, enhanced by a simple but effective movement strategy, proved to be very smart and led to good results during the tournament. The paper describes the vision algorithms in detail, and
Pattern Recognition Letters, 2001
This paper presents a homing algorithm for an autonomous robot that uses only visual information.... more This paper presents a homing algorithm for an autonomous robot that uses only visual information. An image grabbed at the target position is compared with the perceived one to determine the position of the robot and its target. Visual landmarks are extracted autonomously from the images and a correlation criterion, based on a novel visual landmark descriptor equalization, is presented. Ó
Robustness characteristics of POLLICINO system for autonomous robot self-localization
Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots, 1997
POLLICINO is a system for autonomous mobile robot self-localization along previously learned rout... more POLLICINO is a system for autonomous mobile robot self-localization along previously learned routes in a dynamic environment. The system is based on a conical device that allows an omnidirectional perception of the environment and on a learning system. Robustness tests involving occlusion and robot rotations are presented
The homing method presented is based on an affine motion model which parameters are estimated by ... more The homing method presented is based on an affine motion model which parameters are estimated by a best matching criteria. In the matching phase no attempts are made to recognise objects or to extract 3D models of the scene. Hypotheses and perspectives about the use of single landmarks by bees are introduced. Tests and results are presented.
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Papers by Riccardo Cassinis