Publications by Fabrizio Schiano

Data-Driven Personalization of Body-Machine Interfaces to Control Diverse Robot Types

Dario Floreano, Matteo Macchini, Fabrizio Schiano

Body-machine interfaces for robotic teleoperation have been shown to improve user experience and performance. However, such interfaces must be tailored for each robot type and may require personalization to accommodate user's preferences. Here, we present ...

Institute of Electrical and Electronics Engineers (IEEE)2024

VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems

Fabrizio Schiano

Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation. This paper introdu ...

IEEE2022

Autonomous Detection and Deterrence of Pigeons on Buildings by Drones

Dario Floreano, Fabrizio Schiano, Davide Zambrano, Dominik Natter

Pigeons may transmit diseases to humans and cause damages to buildings, monuments, and other infrastructure. Therefore, several control strategies have been developed, but they have been found to be either ineffective or harmful to animals and often depend ...

2022

Distributed Predictive Drone Swarms in Cluttered Environments

Dario Floreano, Enrica Soria, Fabrizio Schiano

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...

2022

Reconfigurable Drone System for Transportation of Parcels With Variable Mass and Size

Dario Floreano, Przemyslaw Mariusz Kornatowski, Leonardo Cencetti, Fabrizio Schiano

Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. This lack of flexibility requires a fleet of diverse drones tailored to specific cargo dimensions. Here we propose a new reconfigurable drone based on a modular design th ...

2022

How to compete with robots by assessing job automation risks and resilient alternatives

Dario Floreano, Nicola Nosengo, Fabrizio Schiano, William John Stewart, Davide Zambrano, Antonio Paolillo, Rafael Lalive

The effects of robotics and artificial intelligence (AI) on the job market are matters of great social concern. Economists and technology experts are debating at what rate, and to what extent, technology could be used to replace humans in occupations, and ...

2022

Vision-based Drone Flocking in Outdoor Environments

Dario Floreano, Fabian Maximilian Schilling, Fabrizio Schiano

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm that enables gr ...

2021

Predictive control of aerial swarms in cluttered environments

Dario Floreano, Enrica Soria, Fabrizio Schiano

Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with potential fields. Despite their explanatory suc ...

2021

Personalized Human-Swarm Interaction Through Hand Motion

Dario Floreano, Matteo Macchini, Fabrizio Schiano

The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being teleoperated by human ...

2021

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Dario Floreano, Matteo Macchini, Manana Lortkipanidze, Fabrizio Schiano

The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising alternative to standard c ...

2021

Does spontaneous motion lead to intuitive Body-Machine Interfaces? A fitness study of different body segments for wearable telerobotics

Dario Floreano, Matteo Macchini, Fabrizio Schiano

Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans’ natural control capability over the ...

2021

Tracking and Relative Localization of Drone Swarms With a Vision-Based Headset

Dario Floreano, Giuseppe Loianno, Maxim Pavliv, Fabrizio Schiano

We address the detection, tracking, and relative localization of the agents of a drone swarm from a human perspective using a headset equipped with a single camera and an Inertial Measurement Unit (IMU). We train and deploy a deep neural network detector o ...

2021

Hand-worn Haptic Interface for Drone Teleoperation

Dario Floreano, Antoine Weber, Matteo Macchini, Fabrizio Schiano

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...

2020

SwarmLab: a MATLAB Drone Swarm Simulator

Dario Floreano, Enrica Soria, Fabrizio Schiano

Among the available solutions for drone swarm simulations, we identified a lack of simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis. Moreover, users who want to dive in the research field of drone swa ...

2020

Drone-aided Localization in LoRa IoT Networks

Dario Floreano, Alexandru Rusu, Giuseppe Cocco, Fabrizio Schiano

Besides being part of the Internet of Things (IoT), drones can play a relevant role in it as enablers. The 3D mobility of UAVs can be exploited to improve node localization in IoT networks for, e.g., search and rescue or goods localization and tracking. On ...

IEEE2020

UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Dario Floreano, Fabrizio Schiano

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely. Motion ca ...

2020

Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

Dario Floreano, Matteo Macchini, Fabrizio Schiano

Human-Robot Interfaces (HRIs) can be hard to master for inexperienced users, making the teleoperation of mobile robots a difficult task. The development of Body-Machine Interfaces (BoMIs) represents a promising approach to making a user more proficient, by ...

2019

Learning Vision-based Flight in Drone Swarms by Imitation

Dario Floreano, Julien Jean Denis Nicolas Lecoeur, Fabian Maximilian Schilling, Fabrizio Schiano

Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms based on imitation l ...

2019

The influence of limited visual sensing on the Reynolds ﬂocking algorithm

Dario Floreano, Enrica Soria, Fabrizio Schiano

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which ...

2019