Scientific Diffusion
Latest research papers
Distributed Rigid Formation Control of Aerial Robots via Spherical Event Cameras
Conference Paper
Andrea Infanti, Bojan Mavkov, Fabio Morbidi, Guillaume Allibert
This paper addresses the challenging problem of designing distributed rigidity-based formation control strategies for aerial robots with a spherical event camera as the primary on-board sensor. In fact, since accurate distance measurements are seldom available in aerial…
Segment-Safe Control Barrier Functions for Model Predictive Control
Conference Paper
Andrea Pagnini, Ezio Malis
Ensuring inter-sample safety for continuous-time robotic systems under discrete Model Predictive Control (MPC) remains a key challenge. Standard discrete MPC risks safety violations between sampling instants, while existing conservative solutions often sacrifice performance. We…
Sub-cellular stereotypy in ascidian embryogenesis
Conference Paper
Haydar Jammoul, Kilian Biasuz, Benjamin Gallean, Patrick Lemaire, Grégoire Malandain
Ascidians are chordates closely related to vertebrates, including humans, and are widely used as model organisms in developmental biology to study embryonic formation and development. Ascidian development is highly stereotyped at the cellular level. Here, we present a…
Focus on Relevant Road Users with Multi-Rules Reachable Sets
Conference Paper
Monica Fossati, Ezio Malis, Philippe Martinet
Autonomous driving in urban environments poses significant challenges due to the presence of numerous heterogeneous agents, which may or may not comply with traffic rules. Considering all agents in the scene when exploring possible future scenarios can be computationally…
Learning-Based Fusion for Robust Multi-Spectral Visual Servoing
Conference Paper
Enrico Fiasché, Siddharth Singh Savner, Ezio Malis, Philippe Martinet
Multispectral sensors, which measure multiple wavelength bands beyond the standard red, green, and blue channels, capture richer information than conventional RGB cameras. Such enriched data is especially valuable in visual servoing, where robot control critically depends on…
T-CoLoc: Leveraging Tethers for Reliable Co-Localization within an Underwater ROV Chain
Conference Paper
Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel
Underwater Remotely Operated Vehicles (ROVs) exchange data with a control station via a communication cable. One or more intermediate robots can be placed along this tether to manage its shape and minimize the mechanical effects on the ROV. This work deals with the localization…