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Peters, L. (author), Bajcsy, Andrea (author), Chiu, Chih Yuan (author), Fridovich-Keil, David (author), Laine, Forrest (author), Ferranti, L. (author), Alonso-Mora, J. (author)Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot's actions impact the...journal article 2024
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Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...journal article 2023
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Boldrer, M. (author), Lyons, L. (author), Palopoli, Luigi (author), Fontanelli, Daniele (author), Ferranti, L. (author)This letter proposes a distributed strategy to achieve both persistent monitoring and target detection in a rectangular and obstacle-free environment. Each robot has to repeatedly follow a smooth trajectory and avoid collisions with other robots. To achieve this goal, we rely on the time-inverted Kuramoto dynamics and the use of Lissajous...journal article 2023
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Peters, L. (author), Rubies-Royo, Vicenç (author), Tomlin, Claire J. (author), Ferranti, L. (author), Alonso-Mora, J. (author), Stachniss, Cyrill (author), Fridovich-Keil, David (author)Robots deployed to the real world must be able to interact with other agents in their environment. Dynamic game theory provides a powerful mathematical framework for modeling scenarios in which agents have individual objectives and interactions evolve over time. However, a key limitation of such techniques is that they require a priori...journal article 2023
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de Groot, O.M. (author), Ferranti, L. (author), Gavrila, D. (author), Alonso-Mora, J. (author)Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to two distinct passing behaviors per obstacle (passing left or right). For local planners, such as receding...conference paper 2023
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Lyons, L. (author), Ferranti, L. (author)We present a novel Curvature-Aware Model Pre-dictive Contouring Control (CA-MPCC) formulation for mobile robotics motion planning. Our method aims at generalizing the traditional contouring control formulation derived from machining to autonomous driving applications. The proposed controller is able of handling sharp curvatures in the reference...conference paper 2023
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Sibona, F. (author), Luijkx, J.D. (author), van der Heijden, D.S. (author), Ferranti, L. (author), Indri, Marina (author)The up-and-coming concept of Industry 5.0 fore-sees human-centric flexible production lines, where collaborative robots support human workforce. In order to allow a seamless collaboration between intelligent robots and human workers, designing solutions for non-expert users is crucial. Learning from demonstration emerged as the enabling...conference paper 2023
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Lodder, Niels (author), van der Ploeg, Chris (author), Ferranti, L. (author), Silvas, Emilia (author)With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is increasing. A variety of faults or failures could occur, and there exists a high variety of ways to respond to...journal article 2023
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Cats, O. (author), Ferranti, Francesco (author)Urban and regional areas worldwide exhibit a complex and uneven distribution of activities with certain areas attracting more people during different time periods. In this study we systemically classify different parts of the urban area which are most attractive as measured by their ability to attract visitors. A weekly visiting profile is...journal article 2022
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Peters, L. (author), Fridovich-Keil, David (author), Ferranti, L. (author), Stachniss, Cyrill (author), Alonso-Mora, J. (author), Laine, Forrest (author)In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another’s behavior. Trajectory games capture these complex effects by design. In competitive settings, this makes them a more faithful interaction model than traditional “predict then plan” approaches....conference paper 2022
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Cats, O. (author), Ferranti, Francesco (author)The increasing availability of longitudinal individual human mobility traces enables the disaggregate analysis of temporal properties of mobility patterns. The objective of this study is to identify distinctive market segments in terms of habitual temporal travel patterns of public transport users. First, travel patterns are clustered using a...journal article 2022
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Lodel, M. (author), Ferreira de Brito, B.F. (author), Serra Gomez, A. (author), Ferranti, L. (author), Babuska, R. (author), Alonso-Mora, J. (author)Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree Search, are capable of reasoning over long horizons, but they are computationally expensive. An alternative...conference paper 2022
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Tsolakis, A. (author), Benders, D. (author), de Groot, O.M. (author), Negenborn, R.R. (author), Reppa, V. (author), Ferranti, L. (author)This paper presents a rule-compliant trajectory optimization method for the guidance and control of autonomous surface vessels. The method builds on Model Predictive Contouring Control and incorporates the International Regulations for Preventing Collisions at Sea - known as COLREGs - relevant for motion planning. We use these traffic rules...journal article 2022
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de Groot, O.M. (author), Ferreira de Brito, B.F. (author), Ferranti, L. (author), Gavrila, D. (author), Alonso-Mora, J. (author)We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by incorporating chance constraints into the planning problem. This problem is not suitable for online optimization...journal article 2021
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Corradino, M. (author), Pepe, F. (author), Burrato, P. (author), Kanari, M. (author), Parrino, N. (author), Bertotti, G. (author), Bosman, A. (author), Casalbore, D. (author), Ferranti, L. (author)Diagnostic morphological features (e.g., rectilinear seafloor scarps) and lateral offsets of the Upper Quaternary deposits are used to infer active faults in offshore areas. Although they deform a significant seafloor region, the active faults are not necessarily capable of producing large earthquakes as they correspond to shallow structures...journal article 2021
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van der Heijden, D.S. (author), Ferranti, L. (author), Kober, J. (author), Babuska, R. (author)This paper presents DeepKoCo, a novel modelbased agent that learns a latent Koopman representation from images. This representation allows DeepKoCo to plan efficiently using linear control methods, such as linear model predictive control. Compared to traditional agents, DeepKoCo learns taskrelevant dynamics, thanks to the use of a tailored lossy...conference paper 2021
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Saparia, Smit (author), Schimpe, Andreas (author), Ferranti, L. (author)Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the market. Teleoperation can help smooth the transition from human operated to fully autonomous vehicles since...conference paper 2021
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Chowdhri, Nishant (author), Ferranti, L. (author), Santafé Iribarren, Felipe (author), Shyrokau, B. (author)This work presents a Nonlinear Model Predictive Control (NMPC) scheme to perform evasive maneuvers and avoid rear-end collisions. Rear-end collisions are among the most common road fatalities. To reduce the risk of collision, it is necessary for the controller to react as quickly as possible and exploit the full vehicle maneuverability (i.e.,...journal article 2021
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Pretagostini, Francesco (author), Ferranti, L. (author), Berardo, Giovanni (author), Ivanov, Valentin (author), Shyrokau, B. (author)Since their introduction, anti-lock braking systems (ABS) have mostly relied on heuristic, rule-based control strategies. ABS performance, however, can be significantly improved thanks to many recent technological developments. This work presents an extensive review of the state of the art to verify such a statement and quantify the benefits...journal article 2020
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Ferreira de Brito, B.F. (author), Floor, Boaz (author), Ferranti, L. (author), Alonso-Mora, J. (author)This letter presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local trajectory that minimizes the tracking error while avoiding obstacles. We build on nonlinear model-predictive...journal article 2019
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