Difference between revisions of "Robotics"

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==Ongoing Projects==
 
==Ongoing Projects==
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=== [[Robot development]] ===
 
=== [[Robot development]] ===
 
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Revision as of 10:07, 15 February 2010

Robotics is a huge research area. We are mainly involved in autonomous robots, mobile robots, bio-inspired robots, SLAM, service robots, edutainment and entertainment robots.

Ongoing Projects

-- EXPERIMENTAL! DO NOT UNCOMMENT!



Affective Computing And BioSignals

Wiki Page: Affective Robotic Rehabilitation of Upper Limbs

Title: Affective Robotic Rehabilitation of Upper Limbs
Description: Evaluation of the affective status of people involved in robotic rehabilitation

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood. Results might not be as expected.), MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: Affective VideoGames

Title: Affective VideoGames
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood. Results might not be as expected.), MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: Characterization of the NIA signal
Nia.jpg

Title: Characterization of the NIA signal From AIRWiki Jump to: navigation, search
Description: The NIA system by OCZ provides a very cheap way to get a signal that includes EOG, EMG and EEG. Aim of this project is to characterize it and investigate how could it be used as a substitute of a clinical EEG for non-clinical applications, and as one more signal for affective computing.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Driving companions

Title: Driving companions
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood. Results might not be as expected.), MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: FaceAnalysisInVideogames

Title: Face analysis in Videogames
Description: Analysis of the face of people involved in videogames aimed at identifying the elements that could be used as cues for interest and engagement.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Gestures in Videogames

Title: Gestures in Videogames
Description: Analysis of gestures and facial expressions of people involved in playing a videogame (TORCS)

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Online Emotion Classification

Title: Emotion from Interaction
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Relationship between Cognition and Emotion in Rehabilitation Robotics
SimoAffective.jpg

Title: Relationship between Cognition and Emotion in Rehabilitation Robotics
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood. Results might not be as expected.), MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: Videogame adaptation

Title: Videogame adaptation
Description: Adaptation of TORCS to match the user preferences detected from physiological signals

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Wireless Affective Devices
Wd1.jpg

Title: Wireless Affective Devices
Description:

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood. Results might not be as expected.), AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)


Benchmarking

Wiki Page: Rawseeds
Rawseeds small.jpg

Title: Rawseeds
Description: Building a Benchmarking Toolkit for robotics

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)


Bio Robotics

Wiki Page: CPG for Warugadar
Warugadar1.jpg

Title: CPG for Warugadar
Description: Study Central Pattern Generation, develop a CPG implementation in Matlab or Python. Adapt the method to a quadruped robot (Warugadar).

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Control of Whitefinger
Mano.jpg

Title: Control of Whitefinger
Description: This project aims to add further capabilities to Maximum One's hand

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: PoliManus

Title: PoliManus
Description: Project PoliManus has the aim of build an exoscheleton for hand rehabilitation.

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: PolyGlove: a body-based haptic interface
DSCN0522.JPG

Title: PolyGlove: a body-based haptic interface
Description: PolyGlove is a new kind of haptic interfaces, that try to overcome the borders of the present datagloves exploiting the EAP technology.

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: ZOIDBERG - An autonomous bio-inspired Robotic fish
ZoidbergLogo.png

Title: ZOIDBERG - An autonomous bio-inspired Robotic fish
Description: ZOIDBERG is a project about an autonomous bio-inspired robot. The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Zoidberg II, powering robot fish
ZoidbergLogo.png

Title: Zoidberg II, powering robot fish
Description: This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)


Brain-Computer Interface

Wiki Page: BCI on Sockets
Bci on socket.png

Title: BCI on Socket
Description: Communication on TCP/IP between BCI Software modules

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: Characterization of the NIA signal
Nia.jpg

Title: Characterization of the NIA signal From AIRWiki Jump to: navigation, search
Description: The NIA system by OCZ provides a very cheap way to get a signal that includes EOG, EMG and EEG. Aim of this project is to characterize it and investigate how could it be used as a substitute of a clinical EEG for non-clinical applications, and as one more signal for affective computing.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Recognition of the user's focusing on the stimulation matrix
B p300 speller.jpg

Title: Recognition of the user's focusing on the stimulation matrix
Description: A P300-based Brain-Computer Interface (BCI) stimulates the user continuously, and the detection of a P300 designates the choice of the user. When the user is not paying attention to the interface, false positives are likely. The objective of this work is to avoid this problem; the analysis of the electroencephalogram (EEG) over the visual cortex (and possibly an analysis of P300s or of other biosignals) should tell when the user is looking at the interface

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: Stimulus tagging using aperiodic visual stimulation in a VEP-based BCI

Title: Stimulus tagging using aperiodic visual stimulation in a VEP-based BCI
Description:

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)


Computational Intelligence and Games

Content Generation

Description Logics

Wiki Page: Description Logics Extensions

Title: A fuzzy description logics temporal extension
Description: This is a research about a new temporal extension for description logics - valid for fuzzy logics but for crisp ones as well, as a restriction (so it always should be). We give new definitions for some temporal operators already present in literature and introduce some new temporal operators, called "tendency operators", whose semantics describes the temporal tendency - increasing, decreasing or constant - for the membership degree concerning a given concept. In addition, we define the new "temporal quantifiers", corresponding to some natural language's temporal adverbs, as usually, often, 3 times out of 5, etc.
Coordinator:

Wiki Page: OWLIE
OWLIE image.png

Title: A Web application for collaborative editing of ontologies
Description: An user-friendly, web-based application that provides collaborative editing for OWL ontologies, using classic and graphical notations

Coordinator: MarcoColombetti (
   
MarcoColombetti colombet@elet.polimi.it
warning.pngThe part "|MarcoColombetti" of the query was not understood.

Results might not be as expected.)


Emotion from Interaction

Wiki Page: Emotion From Mouse and Keyboard

Title: Emotion from mouse and keyboard
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: FaDe

Title: FaDE
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Interpretation of facial expressions and movements of the head

Title: Interpretation of facial expressions and movements of the head
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)


Exploration Strategies

Wiki Page: Spatial Allocation in Swarm Robotics

Title: Spatial Allocation in Swarm Robotics.
Description: Methods for the allocation of an autonomous swarm of robots to spatially distributed activities.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)


Feature Extraction

Game Theory

Wiki Page: Research on Nash Equilibria Calculation Algorithms

Title: Research on Nash Equilibria Calculation Algorithms
Description:

Coordinator: NicolaGatti (
   
NicolaGatti ngatti@elet.polimi.it
warning.pngThe part "|NicolaGatti" of the query was not understood. Results might not be as expected.), MarcoRocco (
   
MarcoRocco mrocco@elet.polimi.it
warning.pngThe part "|MarcoRocco" of the query was not understood.

Results might not be as expected.)


Living Objects

Wiki Page: EmotionalTrashBin
EmotionalTrashBin.jpg

Title: EmotionalTrashBin
Description: Development of an emotional trash bin

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: NaughtyFan

Title: NaughtyFan
Description: Development of a robotic basket

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)


Racing

RoboCup Rescue

Robogames

Wiki Page: Alien-Bot

Title: Alien-Bot
Description: The goal of the project is to develop an interactive game between an autonomous robot and a remotely-controlled one, based on the metaphor of the movie Alien.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: BasketBot
Basketbot.jpg

Title: BasketBot
Description: Development of a robotic basket

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Drone Laser Game

Title: Robotic Laser Game
Description: The goal of the project is to develop a laser game between flying drones, one of which autonomous and the other remotely controlled.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: FCBot

Title: FCBot
Description: The goal of the project is to develop a game based on the popular game "Quattro Cantoni".

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: GesturesForRoboWII
WiiMoteAxes.jpg

Title: Gestures for RoboWII
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Hide and Seek 2
SkypeWII2Small.JPG

Title: Hide and Seek 2
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Jedi Robot Training 1.0

Title: JediRobot Training
Description:

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Jedi Robot Training 2.0
FunzionamentoJediTraining.jpg

Title: Jedi Robot Training 2.0
Description:
Coordinator:

Wiki Page: Jedi Robot Training 3.0
Jedi Training-Lambrate.png

Title: Jedi Robot Training 3.0
Description: An highly competitive robotic game, which is inspired by George Lucas' Star Wars Saga.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Jedi Training Robogame
Jedi Training-Lambrate.png

Title: Jedi Robot Training
Description: Robogame where a drone is trying to hit by a laser a Jedi trainee who has to avoid it

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: KartBot
Karts.jpg

Title: KartBot
Description: The goal of the project is to develop an interactive game between an autonomous robot and a remotely-controlled one, based on the metaphor of the game Mario Kart Wii.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: King of the Hill

Title: King of the Hill
Description: Robogame where a robot should conquer hills, and a human player should contrast it

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Laser Game Bot
LaserGameBot foto.jpeg

Title: Laser Game Bot
Description: Laser game between an autonomous robot and a remote controlled robot.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Lupin
Nophoto.png

Title: Lupin
Description: Development of a Robogame

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Mr. Mike

Title: Mr. Mike
Description: The goal of the project is to develop an interactive robot for children affected by autism or phisical impairments. The robot reacts to the kid's manipulation showing different emotions.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: POLIFemo

Title: POLIFemo
Description: Roomba-based robogame. It uses the Pixy camera.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Pac-Bot

Title: Pac-Bot
Description: The goal of the project is to develop an interactive game between an autonomous robot and a remotely-controlled one, based on the rules of the well-known Pac-Man game.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Pokety

Title: Pokety, a pocket robot
Description: The purpose of the project is to manifacture a pocket-size interactive robot for the amusement of children affected by autism or dyspraxia. The robot has its own personality, which is displayed in accordance with kid's movements.
Coordinator:

Wiki Page: Robo-Hide-and-Hunt
SkypeWII2Small.JPG

Title: Robot-Hide-and-Hunt
Description:
Coordinator:

Wiki Page: RoboArena

Title: RoboArena
Description: Robogame where the player have to prevent the robot from touching the columns of the arena, using only his remote control.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

… further results


Robot development

Wiki Page: AGW
LURCH wheelchair.jpg

Title: AGW - Automatic Guided Wheelchair
Description: Control system design of an electric wheelchair for autonomous drive with obstacle avoidance
Coordinator:

Wiki Page: Adaptive Behaviors for Robogames
Nophoto.png

Title: Adaptive Behaviors for Robogames
Description: The goal of the project is to develop a system to adapt behaviors of a robot to the way of playing of a human player

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Adaptive Predicates

Title: Adaptive Predicates
Description: Adapting predicates to the robot needs

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Affective Robot force sensor
MaugeriSimoneLow.JPG

Title: Affective Robot force sensor
Description: Implementation of a new force sensor for the robot used in affective rehabilitation

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Autonomous Robot for emotional interaction
Nophoto.png

Title: Autonomous Robot for emotional interaction
Description: Expressing emotions in interaction with children wih disabilities.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Balancing robots: Tilty, TiltOne
Tiltone 2.png

Title: BalancingRobots
Description: Meta-project about balancing robots.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Ballbot

Title: Ballbot
Description: A unicycle robot, running on a ball

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: C-SLAM

Title: C-SLAM
Description: Development of a Cognitive SLAM system

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Cestino

Title: Cestino
Description: A trash basket with a character

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Concierge
Concierge.jpg

Title: Concierge
Description: Development of an emotional concierge head

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: CrickBot

Title: CrickBot
Description:

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Crocobot
Crocobot.jpg

Title: Crocobot
Description: Game for children with physical impairments

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: DiffDrivePlanner

Title: Search-based Differential Drive Planner
Description: A Search-Based Trajectory Planner for differential drive vehicles in ROS Context

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: E-2? - A robot for exhibitions
E2LateralHeadCutSmall.JPG

Title: E-2? - A robot for exhibitions
Description: A robot to interact with people at an exhibition

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: E-2? Behaviors
E2LateralHeadCutSmall.JPG

Title: E-2? Behaviors
Description: development of behaviors for E-2?

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: E-2? Body
E2LateralHeadCutSmall.JPG

Title: E-2? Body
Description: Development of a new body for E-2?

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: E2GoHome

Title: E2GoHome
Description: The goal of the project is to develop a system to bring E-2? home while maintaining a relationship with people that interacts with it.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
warning.pngThe part "|AndreaBonarini" of the query was not understood.

Results might not be as expected.)

Wiki Page: EKF on Manifolds
SE3 Manifold.jpg

Title: EKF on Manifolds
Description: Extended Kalman Filtering operating on Lie Groups

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
warning.pngThe part "|MatteoMatteucci" of the query was not understood.

Results might not be as expected.)

Wiki Page: EMBOT

Title: EMBOT
Description:

Coordinator: GiuseppinaGini (
   
GiuseppinaGini gini@elet.polimi.it
warning.pngThe part "|GiuseppinaGini" of the query was not understood.

Results might not be as expected.)

Wiki Page: Emotional Bioinspired Control

Title: Emotional Bioinspired Control
Description: A control system able to control motors to emulate the movement of biological entities, with the possibility to show emotional features at control level.

Coordinator: AndreaBonarini (
   
AndreaBonarini andrea.bonarini@polimi.it
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Results might not be as expected.)

… further results


SLAM

Wiki Page: OmniSLAM

Title: OmniSLAM
Description: Simultaneous Localization and Mapping (SLAM) using omnidirectional cameras

Coordinator: MatteoMatteucci (
   
MatteoMatteucci matteo.matteucci@polimi.it
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Results might not be as expected.)


Semantic Annotations

Wiki Page: A Unifying Framework for Semantic Annotation

Title: A Unifying Framework for Semantic Annotation
Description: See http://davide.eynard.it/elc/
Coordinator:

Wiki Page: A tool to find and store annotations into a unifying semantic ontology

Title: A tool to find and store annotations into a unifying semantic ontology
Description:

Coordinator: DavideEynard (
   
DavideEynard eynard@elet.polimi.it
warning.pngThe part "|DavideEynard" of the query was not understood.

Results might not be as expected.)

Wiki Page: Firefox Extension for Semantic Annotation

Title: Firefox Extension for Semantic Annotation
Description:

Coordinator: DavideEynard (
   
DavideEynard eynard@elet.polimi.it
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Results might not be as expected.)

Wiki Page: SpeakinAbout

Title: Speakin' About - a tool for semantic annotation of text documents
Description: This project is aimed at designing and developing an application for semantic annotation of text documents, typically on the Internet. The goal is to make any user of the Internet able to associate a portion of text to its specific meaning (i.e., to a link to a page that talks about that portion of text).
Coordinator:


Semantic Filesystems

Wiki Page: JOFS
Jofs-logo.png

Title: Java Ontology for File Storage
Description: JOFS is a Java project concerning the develop of an OWL ontology to store meta informations about files and documents. We have implemented a Java library which mainly permits to create, manipulate and query the ontology and a JEE Web Application to demonstrate a part of our work's characteristics.
Coordinator:

Wiki Page: TaggyFS

Title: TaggyFS
Description:
Coordinator:


Semantic Search

Wiki Page: Enriching search results with semantic metadata

Title: Enriching search results with semantic metadata
Description:
Coordinator:

Wiki Page: SeQuEx

Title: SeQuEx - Semantic Query Expansion
Description: SeQuEx finds its collocation inside the area of semantic search. Its purpose is to expand query in a semantic manner providing related concepts.
Coordinator:

 … further results

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Robot development

Benchmarking

Bio Robotics

Robogames

People


Project Proposals

Wiki Page: 3D Scene Understanding
FreeCamera.png

Title: 3D Indoor scene understanding and layout reconstruction for a mobile robot in collaboration with UnimiB
Description: The proposed project aims to reconstruct the 3D structural layout of an indoor environment perceived by a mobile robot. From the sensorial data, the robot should be able to reconstruct a geometrical structure of an indoor environment (e.g., an office).

Methods for indoor layout reconstruction must be significantly more tolerant to missing data than their outdoor counterparts, since environments such as offices and apartments exhibit extremely high levels of clutter, which typically results in heavy occlusions of walls and other structures of interest, large-scale artifacts, noise and missing data. The proposed work will be developed in collaboration with IRALAB, the Robotics Lab of University of Milano Bicocca.

The work will be based on an existing project, Free Your Camera (http://www.ira.disco.unimib.it/research/robotic-perception-research/free-your-camera-3d-indoor-scene-understanding-from-arbitrary-camera-motion/) and will be part of a robotic framework based on with ROS and in development at IRALAB.
Tutor: FrancescoAmigoni, MatteoLuperto
Additional Info: CFU 10 - 20 / Master of Science / Thesis

Wiki Page: Autistic Children Play Robot
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Title: Autistic Children Play Robot
Description: Within a Polisocial project we will have to implement a robot suitable to play autonomously with autistic children that will interact with it and a game system by gestures. The thesis will explore some of the aspects of the problem, eventually participating to the production of prototypes to be tested with real users. The thesis gives the possibility to develop a robot with special requirements, and to work with gesture interpretation by using devices such as Kinect or the WII Mote. The work is done in an interdisciplinary group including care givers and designers.
Tutor: AndreaBonarini
Additional Info: CFU 20 - 20 / Master of Science / Thesis

Wiki Page: Automatic Differentiation Techniques for Real Time Kalman Filtering
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Title: Evaluation of Automatic Differentiation Techniques for Gauss-Newton based Simultaneous Localization and Mapping
Description: In Gauss-Newton non linear optimization one of the most tedious part is computing Jacobians. At the AIRLab we have developed a framework for non linear Simultaneous Localization and Mapping suitable for different motion models and measurement equations, but any time you need to change something you need to recompute the required Jacobian. Automatic differentiation is a tool for the automatic differentiation of source code either at compiling time or at runtime; we are interested in testing these techniques in the software we have developed and compare their performance with respect to (cumbersome) optimized computation.

Material

Expected outcome: New modules implementations based on automatic differentiation A comparison between the old stuff and new approach

Required skills or skills to be acquired:

  • C++ programming under Linux

Tutor: MatteoMatteucci
Additional Info: CFU 10 - 20 / Master of Science / Thesis

Wiki Page: Barking Robots
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Title: Barking Robots
Description: Aim of this project is the development of a robot that can operate autonomously at exhibitions and malls to attract people to a given location, by showing interesting behaviors and interacting with people.

The robot first exhibition has been at Robotica 2009, within HI-Tech Expo at Fiera di Milano, on November 23-25, 2009. Here, the robot had to go around in an area delimited by a white stripe and contact verbally and with gestures people entering the area, in order to attract them to the booth.

Behaviors and gestures have still to be developed to come to an interesting and robust demo at next Robotica, or at other ehibits (e.g. at the Museo della Scienza of Milan).
Tutor: AndreaBonarini
Additional Info: CFU 5 - 20 / Bachelor of Science, Master of Science / Thesis

Wiki Page: BringMeHome
E2LateralHeadCutSmall.JPG

Title: BringMeHome
Description:
Tutor: AndreaBonarini
Additional Info: CFU 2 - 20 / Bachelor of Science, Master of Science / Course, Thesis

Wiki Page: CAN Bus bootloader for STM32 microcontrollers
STM32-H103-1.jpg

Title: CAN Bus bootloader for STM32 microcontrollers
Description: JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/) In order to speed up the development and the maintenance of embedded applications, a way to update the firmware on a microcontroller without the need of connecting cables or programmers can be very handy. We are developing a framework for rapid prototyping of low-cost robots, with smart devices that exchange data on a CAN bus network. The CAN bus bootloader is one of the components we need for this project, enabling remote firmware upgrades of all the devices connected to the CAN network.

This project aims to develop a CAN bus bootloader for STM32 ARM Cortex-M3 microcontrollers, and eventually for other architectures.
Tutor: AndreaBonarini, MartinoMigliavacca
Additional Info: CFU 2 - 5 / Bachelor of Science, Master of Science / Course

Wiki Page: Cognitive SLAM
C SLAM Recognition2.png

Title: Cognitive SLAM
Description: We have developed a system that is able to detect, recognize and track objects in an image taken from a low cost robot equipped with a IMU and a low cost camera. The system is capable to detect and recognize objects using a user defined fuzzy tree classifier. However the system performance is heavily dependent on high level feature extraction, such as geometric features. The problem is non trivial due to noisy low cost camera and changes in the light conditions. The aim of this project is to improve the feature extraction and description process, both in performance and quality, possible adding a more complete description or others type of features. The long term aim of the research is to have an autonomuos robot capable to create a semantic map of the envirorment, localize himself , make inference on the map, navigate into the envirorment using the objects as landmarks. No special skills are required, except basic c and object oriented programming.
Tutor: AndreaBonarini, DavideTateo
Additional Info: CFU 5 - 20 / Master of Science / Course, Thesis

Wiki Page: Designing Living Objects
EmotionalTrashBin.jpg

Title: Designing Living Objects
Description: The aim of this activity is to investigate how one or more objects in an antropic environment (home, office, hospital) can be designed and implemented to have a character and to move, having nice interactions with people. The work to be done concerns the analysis, definition, design and implementation of at least one of these objects.
Tutor: AndreaBonarini
Additional Info: CFU 5 - 20 / Bachelor of Science, Master of Science / Thesis, Course

Wiki Page: Electromagnetic kicker for middle-size RoboCup soccer robots
Kicker.jpg

Title: Electromagnetic kicker for middle-size RoboCup soccer robots
Description: The Milan RoboCup Team, a team of soccer robots that play in the Middle Size league of RoboCup (1) employs as kicker an electromagnetic device entirely designed within the AIRLab with external collaborations such as the Energetic department at Politecnico di Milano and the Electronics section at DEI. Basically, the device consists of a solenoid, a capacitor and a PIC-based board that controls (through an external integrated circuit) the charge of the capacitor at 400V (using the 24V batteries of the robot) and the generation of the magnetic field in the solenoid. The magnetic field accelerates a metallic cylinder that hits the soccer ball.

The aim of the project is to design, implement, test, and evaluate a new version of the device. While the charge phase, implemented by an ad-hoc IC controlled by the PIC, is quite efficient, some work has to be done in order to design a new solenoid and improve the way the PIC implements a sort of modulation of strength of the shoot, in order to implement small passages between robots. The final purpose is to improve the efficiency of the system, with the aim of minimize the energy consumed and maximize the energy transmitted to the ball, in order to obtain more powerful shots.

The first part of the project is focused on some theoretical aspects in order to understand the current design and evaluate how to improve it, while the second phase will be focused on the implementation and test of a new prototype of the kicking device. Experience with PIC-based systems is a plus, but not required, while some experience with electronics circuits is highly recommended. Students are supposed to work in the lab following a set of safety guidelines and rules with circuits at 400V, with 10A pick current during charge phase, and even more during shots. Student from electronics engineering are really welcomed to choose this project.

  1. http://www.er.ams.eng.osaka-u.ac.jp/robocup-mid/index.cgi

Tutor: LuigiMalago, MarcelloRestelli, MartinoMigliavacca
Additional Info: CFU 5 - 5 / Master of Science / Course

Wiki Page: Embedded registers view plug-in for Eclipse
STM32-H103-1.jpg

Title: Embedded registers view plug-in for Eclipse
Description: JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/) When developing embedded applications it is frequently needed to look at *hardware register content* in order to *debug the code*. All commercial development suites offer register views that show their contents as well as the meaning of each bit. Open source development solutions currently lack this feature, meaning that you have to look to the correct memory location and map the content to the corresponding register bits manually. This seems to be one of the most limiting issues when developing embedded application using open source solutions.

This project aims to fill this gap, developing an Eclipse plug-in that shows the register contents in a tree viewer, like most commercial suites do.
Tutor: AndreaBonarini, MartinoMigliavacca
Additional Info: CFU 2 - 5 / Bachelor of Science, Master of Science / Course

Wiki Page: Extended Kalman Filtering on Manifolds
SE3 Manifold.jpg

Title: Extended Kalman Filtering on Manifolds
Description: Extended Kalman filtering is a well known technique for the estimation of the state of a dynamical system also used in robotics for localization and mapping. However in the basic formulation it assumes all variables to live in an Euclidean space while some components may span over the non-Euclidean 2D or 3D rotation group SO(2) or SO(3). It is thus possible to write tha Extended Kalman filter to operate on Lie Groups to take into account the presence of manifolds (http://www.ethaneade.org/latex2html/lie/lie.html). We are interestend in investigation this further applying it to the EKF-SLAM framework we have developed. Material:

  • papers about Manifold based optimization and space representations
  • C++ framework for EKF-SLAM

Expected outcome:

  • An extended Kalman filter which uses this new representation

Required skills or skills to be acquired:

  • Good mathematical background
  • C++ programming under Linux

Tutor: MatteoMatteucci, SimoneCeriani, DavideCucci
Additional Info: CFU 20 - 20 / Master of Science / Thesis

Wiki Page: LCM middleware on embedded platform
STM32-H103-1.jpg

Title: LCM middleware on embedded platform
Description: We are developing a framework for rapid prototyping of low-cost robotic systems. To fasten robot design and building, and to make software and hardware reuse easier, a modular architecture is mandatory. In a context of smart modules that have to cooperate by exchanging data to reach their common goal, the communication protocol and middleware are core components. This project is about the middleware component, a publish/subscribe system that takes care of managing topics, publisher and subscribers, and of marshaling data before sending it. This project aims at porting the LCM marshaling and middleware library, developed at MIT and used in the Grand Challenge competition, to embedded systems, in order to exploit the existing LCM tools and to be compliant with an existing and efficient technology.

The project consists in:

  • stripping non necessary features of LCM to match the constraints of an embedded system and of the communication protocol
  • adding necessary features, like the concept of deadline (and priority as a consequence), that are mandatory for a real time distributed system
  • building a gateway, on an embedded platform, that acts as gateway between the standard-LCM world and the embededd-LCM network

The projects has to be developed in ANSI C, and experience with embedded platforms is a plus.
Tutor: AndreaBonarini, MartinoMigliavacca
Additional Info: CFU 20 - 20 / Master of Science / Thesis

Wiki Page: MoonSLAM Reengineering
SofwareEingineer.jpg

Title: Reengineering of a flexible framework for simultaneous localization and mapping
Description: In the last three years a general framework for the implementation of EKF-SLAM algorithm has been developed at the AIRLab. After several improvements it is now time to redesign it based on the experience cumulated. The goal is to have an international reference framework for the development of EKF based SLAM algorithms with multiple sensors (e.g., lasers, odometers, inertial measurement ) and different motion models (e.g., free 6DoF motion, planar motion, ackerman kinematic, and do on). The basic idea is to implement it by using C++ templates, numerically stable techniques for Kalman filtering and investigation the use of automatic differentiation. It should be possible to seamlessly exchange motion model and sensor model without having to write code beside the motion model and the measurement equation.

Material

  • lots of theoretical background and material
  • an existing (and working) C++ implementation of the framework

Expected outcome:

  • a C++ library for the implementation of generic EKF-SLAM algorithms

Required skills:

  • Experienced C++ programming under Linux

Tutor: MatteoMatteucci
Additional Info: CFU 20 - 20 / Master of Science / Thesis

Wiki Page: Odometric system for robots based on laser mice
Calibration.png

Title: Odometric system for robots based on laser mice
Description: We developed an odometric system for robots by combining the reading of several laser mice. The system consists of a master PIC-based board and several slave boards where the sensors employed in optical mice are located. The readings are collected on the PIC and sent on the serial port to a PC which elaborates and combines the x and y readings in order to obtain a x,y,theta estimation of the movement of the robot.

The aim of the project is first to improve the current design of the PIC-based board, and realize a new working prototype, and then to implement and evaluate different algorithms able to estimate more precisely the x,y and theta odometric data from the mice readings. Experience with PIC-based systems and some experience with electronics circuits is a plus. Students are supposed to redesign the electronic board, improve the firmware of the PIC, and work on the algorithm that estimates the robot position on the PC. It would be also interesting to evaluate the possibility to embed the optimization and estimation algorithms in the firmware of the PIC in order to produce a stand-alone device.

Ask the tutors of the project for extra material, such as data-sheets and other documentation.
Tutor: MatteoMatteucci, LuigiMalago, MarcelloRestelli
Additional Info: CFU 5 - 20 / Master of Science / Course, Thesis

Wiki Page: R2P IMU firmware development
R2P IMU.png

Title: Embedded Inertial Measurement Unit for Unmanned Aerial Vehihcles
Description: We have developed the electronics of an Inertial Measurement Unit based on an ARM microcontroller to be integrated on an autonomous embedded aerial platform. The IMU has already some attitude heading reference system (AHRS) code implemented, but we are interested in:

  • implementing embedded algorithms for the estimation of the IMU attitude to be compared with the actual one (e.g., Kalman filter, DCM, Madgwick, etc.)
  • developing a, easy to use, procedure for the calibration of IMU parameters
  • making a comparison with commercial units using a robot arm as testbed
  • validate the accuracy of the IMU on a flying platform
  • integrate the measurements from a GPS to reduce drift and provide accurate positiong (this will make it definitely a MS thesis)

Material

  • electronic board and eclipse based C development toolkit for ARM processors
  • papers describing the algorithms we are interested in implementing

Expected outcome:

  • few different AHRS algorithms with comparative results
  • user-friendly procedure to calibrate the IMU
  • a sistem which integrated IMU and GPS to provide accurate positioning

Required skills or skills to be acquired:

  • C programming on ARM microcontroller
  • background on kalman filtering and attitude estimation

Tutor: AndreaBonarini, MartinoMigliavacca, MatteoMatteucci
Additional Info: CFU 2 - 20 / Bachelor of Science, Master of Science / Course, Thesis

Wiki Page: ROS navigation local planner

Title: ROS_navigation_local_planner
Description: The project will be focused on the implementation of a planner and tracking algorithms for Ackermann vehicles
Tutor: MatteoMatteucci,
Additional Info: CFU 2 - 20 / Master of Science / Thesis

Wiki Page: Robocentric MoonSLAM
RobocentricSLAM.gif

Title: Robocentric implementation in the MoonSLAM framework
Description: Simultaneous Localization and Mapping (SLAM) is one of the basic functionalities required from an autonomous robot. In the past we have developed a framework for building SLAM algorithm based on the use of the Extended Kalman Filter and vision sensors. The actual implementation of the EKF SLAM in the framework developed uses a world-centric approach, but from the literature it is known that a robocentric approach can provide higher performances on small maps. We would like to have both implementation to compare the results in two scenarios: pure visual odometry, conditional independent submapping.

Material

  • A framework for multisensor SLAM using the world centric approach
  • Papers and report about robocentric slam

Expected outcome:

  • a fully functional robocentric version of the MoonSLAM framework

Required skills or skills to be acquired:

  • Basic background in computer vision
  • Background in Kalman filtering
  • C++ programming under Linux

Tutor: MatteoMatteucci, SimoneCeriani
Additional Info: CFU 20 - 20 / Master of Science / Thesis

Wiki Page: Robot Games
Spykeecontorri.jpg

Title: Robot Games
Description: Projects may include the design of an interactive game on an existing or a new robot, and its evaluation. These projects allow to experiment with real mobile robots and interaction devices. Some games may be designed for disabled children. The project can be considered a MS thesis if it can produce a new game and, possibly, a new robot, and includes adapting the behavior of the robot to the player.
Tutor: AndreaBonarini
Additional Info: CFU 2 - 20 / Bachelor of Science, Master of Science / Course, Thesis

Wiki Page: Scan Matching Odometry and Multisensor SLAM
ScanMatching.jpg

Title: Scan Matching Odometry and Multisensor SLAM
Description: Starting from some C/C++ code for laser scan alignment and the covariance information associated to the matching, we are interested in the development of a library for the matching and fusion of laser scans under the ROS (www.ros.org) environment. From this we are interested in the development of an odometric system based on laser scan matching and in a Simultaneous Localization and Mapping system integrating scan matching with visual SLAM. The result is a complete navigation system that fuses laser and visual information to build consisten maps in an EKF-based environment.

Material:

  • a MS thesis which describes the scan matching algorithms
  • a BS thesis which implements a prototype of the system

Expected outcome:

  • a complete system that build maps integrating laser scan and visual informtion

Required skills or skills to be acquired:

  • Background on Kalman filtering
  • C++ programming under Linux

Tutor: MatteoMatteucci, SimoneCeriani, DavideCucci
Additional Info: CFU 10 - 20 / Bachelor of Science, Master of Science / Thesis

Wiki Page: Scripting language on embedded platforms
STM32-H103-1.jpg

Title: Scripting language on embedded platforms
Description: JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/) When developing embedded applications it is common the need to test some algorithm in some fast way, without to re-program the whole firmware every time. PAWN (http://www.compuphase.com/pawn/) is a *simple and lightweight scripting language with a C-like syntax*. Execution speed, stability, simplicity and a small footprint were essential design criteria for both the language and the abstract machine, making PAWN suitable for embedded applications.

This project aims to port the abstract machine to ARM Cortex-M3 microcontrollers, add a set of functions to interface with the underlying hardware peripherals and then to embed it as ChibiOS/RT (http://www.chibios.org) thread.
Tutor: AndreaBonarini, MartinoMigliavacca
Additional Info: CFU 2 - 5 / Bachelor of Science, Master of Science / Course

… further results

Past Projects


Resources

Theories and useful algorithms