While the primary focus of research in our group is on the theoretical foundations of network system, we also recognize the importance of validating our ideas on real-world systems. A multi-robot testbed provides an excellent platform to test our ideas and also attract undergraduate students to our research group. We are developing both ground and aerial robots for this puprose. We also collaborate with roboticsts to help realize our more sophisticated research ideas.
- J. Attias, Y. Marciano, R. Arhipov, and D. Zelazo, “An Open Source Quadcopter Platform for Simulink,” in 63rd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, May 2024.
@inproceedings{Attias_IACAS2024,
address = {Haifa, Israel},
author = {Attias, Joseph and Marciano, Yael and Arhipov, Ruslan and Zelazo, Daniel},
booktitle = {63rd Israel Annual Conference on Aerospace Sciences},
keywords = {conference, consensus},
month = may,
year = {2024},
pages = {},
researchtopic = {nds, robotics},
title = {{An Open Source Quadcopter Platform for Simulink}},
slides = {/Talks/DroneLab_IACAS_2024.pdf},
pdf = {/Publications/Attias_IACAS2024.pdf}
}
- C. K. Verginis, D. Zelazo, and D. V. Dimarogonas, “Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective,” IEEE Transactions on Control of Network Systems, 10(3):1222–1233, 2023.
@article{Verginis2023_J,
author = {Verginis, Christos K. and Zelazo, Daniel and Dimarogonas, Dimos V.},
doi = {10.1109/TCNS.2022.3181724},
journal = {IEEE Transactions on Control of Network Systems},
keyword = {journal},
number = {3},
pages = {1222-1233},
researchtopic = {robotics},
title = {Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective},
url = {http://dx.doi.org/10.1109/tcns.2022.3181724},
volume = {10},
year = {2023},
pdf = {/Publications/Verginis_TCNS2023.pdf},
video = {https://www.youtube.com/watch?v=a31LTBBkE-Q}
}
- N. Drellich, “Low-Cost Aerial Platform for Guidance, Navigation and Control System Design,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2021.
@thesis{Drellich2021,
author = {Drellich, Nathaniel},
title = {Low-Cost Aerial Platform for Guidance, Navigation and Control System Design},
school = {Technion - Israel Institute of Technology, Aerospace Engineering Department},
year = {2021},
type = {mastersthesis},
researchtopic = {thesis, robotics},
pdf = {/Theses/Thesis_Drellich.pdf}
}
- Y. Liu, J. M. Montenbruck, D. Zelazo, M. Odelga, S. Rajappa, H. H. Bülthoff, F. Allgöwer, and A. Zell, “A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs,” IEEE Transactions on Robotics, 34(4):870–882, 2018.
@article{Liu_IEEETRo2019,
author = {Liu, Yuyi and Montenbruck, Jan Maximilian and Zelazo, Daniel and Odelga, Marcin and Rajappa, Sujit and Bülthoff, Heinrich H. and Allgöwer, Frank and Zell, Andreas},
journal = {IEEE Transactions on Robotics},
title = {A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs},
year = {2018},
volume = {34},
number = {4},
pages = {870-882},
keywords = {Shape;Robots;Decentralized control;Multi-agent systems;Collision avoidance;Convergence;Prediction algorithms;Aerial robotics;distributed formation control;human–swarm interaction;multiagent systems},
doi = {10.1109/TRO.2018.2853606},
pdf = {/Publications/Liu_IEEETOR2018.pdf},
researchtopic = {robotics, formationcontrol},
video = {https://ieeexplore.ieee.org/ielx7/8860/8437110/8429104/MediaMaterial_TRO2853606.mp4?arnumber=8429104}
}
- F. Schiano, A. Franchi, D. Zelazo, and P. R. Giordano, “A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Sep. 2016.
@inproceedings{Schiano2016a,
address = {Daejeon, Korea},
author = {Schiano, Fabrizio and Franchi, Antonio and Zelazo, Daniel and Giordano, {Paolo Robuffo}},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
doi = {10.1109/iros.2016.7759748},
keywords = {conference},
month = sep,
pages = {5099--5106},
researchtopic = {formationcontrol, robotics},
title = {{A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs}},
url = {http://dx.doi.org/10.1109/iros.2016.7759748},
year = {2016},
video = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016m-SchFraZelRob.mp4},
pdf = {/Publications/Schiano_IROS16.pdf}
}
- D. Zelazo, A. Franchi, H. H. Bülthoff, and P. Robuffo Giordano, “Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems,” International Journal of Robotics Research, 34(1):105–128, 2015.
@article{Zelazo2013a_J,
author = {Zelazo, Daniel and Franchi, Antonio and B\"{u}lthoff, Heinrich H and {Robuffo Giordano}, Paolo},
doi = {10.1177/0278364914546173},
journal = {International Journal of Robotics Research},
month = jan,
number = {1},
pages = {105--128},
researchtopic = {formationcontrol, robotics},
title = {{Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems}},
url = {http://dx.doi.org/10.1177/0278364914546173},
volume = {34},
year = {2015},
pdf = {/Publications/Zelazo_IJRR2015.pdf},
video = {https://www.youtube.com/watch?v=-6F4FazmnYg}
}
- D. Zelazo, A. Franchi, F. Allgöwer, H. H. Bülthoff, and P. Robuffo Giordano, “Rigidity Maintenance Control for Multi-Robot Systems,” in Proceedings of Robotics: Science and Systems, Sydney, Australia, Jul. 2012.
@inproceedings{Zelazo2012c,
address = {Sydney, Australia},
author = {Zelazo, Daniel and Franchi, Antonio and Allg\"{o}wer, Frank and B\"{u}lthoff, Heinrich H and {Robuffo Giordano}, Paolo},
booktitle = {Proceedings of Robotics: Science and Systems},
doi = {10.15607/rss.2012.viii.060},
keywords = {conference},
pages = {473--480},
researchtopic = {formationcontrol, robotics},
title = {{Rigidity Maintenance Control for Multi-Robot Systems}},
url = {https://www.roboticsproceedings.org/rss08/index.html},
year = {2012},
month = jul,
pdf = {/Publications/Zelazo_RSS12.pdf}
}
