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Alberto Quattrini Li

36 accepted papers

2026

Mapping Pamir: Multi-Session Visual/Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck

Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang, Harish Sathishchandra, Chinmay Burgul, Monika Roznere +3
ICRA 2026poster

This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth recordings from a dive computer. SVIn2, an open-source VI-SLAM framework is utilized to generate a trajectory and a sparse…

Cited by 0Scholar ↗
2026

Underwater Dense Mapping with the First Compact 3D Sonar

Chinmay Burgul, Yewei Huang, Michalis Chatzispyrou, Ioannis Rekleitis, Alberto Quattrini Li, Marios Xanthidis
ICRA 2026poster

In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for aerial, ground, and space autonomy. Unfortunately, poor propagation of electromagnetic waves underwater, has limited the v…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Exploring Spontaneous Social Interaction Swarm Robotics Powered by Large Language Models

Yitao Jiang, Luyang Zhao, Alberto Quattrini Li, Muhao Chen, Devin J. Balkcom
IROS 2025

Traditional swarm robots rely on specific communication and planning strategies to coordinate particular tasks. Human swarms exhibit distinctive characteristics due to their capacity for language-based communication and active reasoning. This paper presents an exploratory approach to robotic swarm i

Cited by 2Source ↗Scholar ↗
2024

Active Learning-augmented Intention-aware Obstacle Avoidance of Autonomous Surface Vehicles in High-traffic Waters

Mingi Jeong, Arihant Chadda, Alberto Quattrini Li
IROS 2024poster

This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle’s passing intention and reducing its uncertainty. We introduce a topological modeling of passing intention of obstacles, which can b…

Cited by 0Source ↗code ↗Scholar ↗
2024

Persistent Monitoring of Large Environments with Robot Deployment Scheduling in between Remote Sensing Cycles

Kizito Masaba, Monika Roznere, Mingi Jeong, Alberto Quattrini Li
ICRA 2024poster

This paper proposes a novel decision-making framework for planning "when" and "where" to deploy robots based on prior data with the goal of persistently monitoring a spatio-temporal phenomenon in an environment. We specifically focus on large lake monitoring, where remote sensors, such as satellites…

Cited by 2Source ↗Scholar ↗
2024

Scalable underwater assembly with reconfigurable visual fiducials

Samuel Lensgraf, Ankita Sarkar, Adithya Pediredla, Devin Balkcom, Alberto Quattrini Li
ICRA 2024poster

We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure’s positional accuracy. Our uncertainty model…

Cited by 2Source ↗Scholar ↗
2024

Underwater Dome-Port Camera Calibration: Modeling of Refraction and Offset through N-Sphere Camera Model

Monika Roznere, Adithya K. Pediredla, Samuel E. Lensgraf, Yogesh Girdhar, Alberto Quattrini Li
ICRA 2024poster

The optical effects that are observed in underwater imagery are more complex than those in-air. This is partially because we enclose most underwater cameras in a watertight enclosure, such as a hemispheric dome window. We then observe optical issues including the distortion effects of the lens, e.g.…

Cited by 0Source ↗Scholar ↗
2023

3-D Reconstruction Using Monocular Camera and Lights: Multi-View Photometric Stereo for Non-Stationary Robots

Monika Roznere, Philippos Mordohai, Ioannis Rekleitis, Alberto Quattrini Li
ICRA 2023poster

This paper proposes a novel underwater Multi-View Photometric Stereo (MVPS) framework for reconstructing scenes in 3-D with a non-stationary low-cost robot equipped with a monocular camera and fixed lights. The underwater realm is the primary focus of study here, due to the challenges in utilizing u…

Cited by 3Source ↗Scholar ↗
2023

A GM-PHD Filter with Estimation of Probability of Detection and Survival for Individual Targets

R.A. Thivanka Perera, Mingi Jeong, Alberto Quattrini Li, Paolo Stegagno
IROS 2023poster

This paper proposes a modification of the Gaussian mixture probability hypothesis density (GM-PHD) filter to compute online the probability of detection (P_{D})(P_{D}) and probability of survival (P_{S})(P_{S}) of targets. This eliminates the need for predetermined and/or constant P_{D}P_{D} and P_{…

Cited by 1Source ↗Scholar ↗
2023

Buoyancy enabled autonomous underwater construction with cement blocks

Samuel Lensgraf, Devin Balkcom, Alberto Quattrini Li
ICRA 2023poster

We present the first free-floating autonomous underwater construction system capable of using active bal-lasting to transport cement building blocks efficiently. It is the first free-floating autonomous construction robot to use a paired set of resources: compressed air for buoyancy and a battery fo…

Cited by 6Source ↗Scholar ↗
2023

DUCK: A Drone-Urban Cyber-Defense Framework Based on Pareto-Optimal Deontic Logic Agents

Tonmoay Deb, Jürgen Dix, Mingi Jeong, Cristian Molinaro, Andrea Pugliese, Alberto Quattrini Li +4
AAAI 2023technical

Drone based terrorist attacks are increasing daily. It is not expected to be long before drones are used to carry out terror attacks in urban areas. We have developed the DUCK multi-agent testbed that security agencies can use to simulate drone-based attacks by diverse actors and develop a combinati…

Cited by 0Source ↗PDF ↗Scholar ↗
2023

Deep Underwater Monocular Depth Estimation with Single-Beam Echosounder

Haowen Liu, Monika Roznere, Alberto Quattrini Li
ICRA 2023poster

Underwater depth estimation is essential for safe Autonomous Underwater Vehicles (AUV) navigation. While there has been recent advances in out-of-water monocular depth estimation, it is difficult to apply these methods to the underwater domain due to the lack of well-established datasets with labell…

Cited by 7Source ↗code ↗Scholar ↗
2022

Motion Attribute-based Clustering and Collision Avoidance of Multiple In-water Obstacles by Autonomous Surface Vehicle

Mingi Jeong, Alberto Quattrini Li
IROS 2022poster

Navigation and obstacle avoidance in aquatic en-vironments for autonomous surface vehicles (ASVs) in high-traffic maritime scenarios is still an open challenge, as the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) is not defined for multi-encounter situations…

Cited by 9Source ↗Scholar ↗
2021

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Samuel E Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang +2
RSS 2021poster

This paper presents a first low-cost autonomous robotic system for underwater assembly of mortarless structures. The long-term goal is to enable the construction of large-scale underwater structures; such as retaining walls and artificial reefs. The approach follows the principle of co-design; the 2…

Cited by 11Source ↗PDF ↗code ↗Scholar ↗
2021

Efficient LiDAR-based In-water Obstacle Detection and Segmentation by Autonomous Surface Vehicles in Aquatic Environments

Mingi Jeong, Alberto Quattrini Li
IROS 2021poster

Identifying in-water obstacles is fundamental for safe navigation of Autonomous Surface Vehicles (ASVs). This paper presents a model-free method for segmenting individual in-water objects (e.g., swimmers, buoys, boats) and shorelines from LiDAR sensor data. To reduce the computational requirement, o…

Cited by 17Source ↗Scholar ↗
2021

Falling Into Place: Drop Assembly of Interlocking Puzzles

Amy Sniffen, Zezhou Sun, Samuel E Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom
RSS 2021poster

This paper explores a system for assembling structures by dropping block components into place. During and after assembly; the blocks are held together by geometric interlock; so that fasteners or mortar are only needed to bind the final block to one of its neighbors. Drop assembly is a promising st…

Cited by 1Source ↗PDF ↗Scholar ↗
2020

DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization

Bharat Joshi, Md Modasshir, Travis Manderson, Hunter Damron, Marios Xanthidis, Alberto Quattrini Li +2
IROS 2020poster

In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained underwater environment is essential for many applications su…

Cited by 34Source ↗code ↗Scholar ↗
2020

PuzzleFlex: kinematic motion of chains with loose joints

Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li +4
ICRA 2020poster

This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows…

Cited by 9Source ↗code ↗Scholar ↗
2019

Contour based Reconstruction of Underwater Structures Using Sonar, Visual, Inertial, and Depth Sensor

Sharmin Rahman, Alberto Quattrini Li, Ioannis Rekleitis
IROS 2019poster

This paper presents a systematic approach on realtime reconstruction of an underwater environment using Sonar, Visual, Inertial, and Depth data. In particular, low lighting conditions, or even complete absence of natural light inside caves, results in strong lighting variations, e.g., the cone of th…

Cited by 23Source ↗Scholar ↗
2019

Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain

Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis, Brennan Cain, James Johnson, Marios Xanthidis +5
IROS 2019poster

A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation include indoor and urban environments, where supporting videos have shown impressive performance. However, such techniques…

Cited by 119Source ↗Scholar ↗
2019

SVIn2: An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor

Sharmin Rahman, Alberto Quattrini Li, Ioannis Rekleitis
IROS 2019poster

This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain.Our previous work, SVIn, augmented the state-of-the-art visual-inertial state estimation package OKVIS t…

Cited by 133Source ↗Scholar ↗
2018

Heterogeneous Multi-Robot System for Exploration and Strategic Water Sampling

Sandeep Manjanna, Alberto Quattrini Li, Ryan N. Smith, Ioannis Rekleitis, Gregory Dudek
ICRA 2018poster

Physical sampling of water for off-site analysis is necessary for many applications like monitoring the quality of drinking water in reservoirs, understanding marine ecosystems, and measuring contamination levels in fresh-water systems. In this paper, the focus is on algorithms for efficient measure…

Cited by 85Source ↗Scholar ↗
2018

Multi-robot Dubins Coverage with Autonomous Surface Vehicles

Nare Karapetyan, Jason Moulton, Jeremy S. Lewis, Alberto Quattrini Li, Jason M. O'Kane, Ioannis Rekleitis
ICRA 2018poster

In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable. Furthermore, several real world vehicles are non-holonomic, but can b…

Cited by 93Source ↗Scholar ↗
2017

Multirobot online construction of communication maps

Jacopo Banfi, Alberto Quattrini Li, Nicola Basilico, Ioannis Rekleitis, Francesco Amigoni
ICRA 2017poster

The importance of communication in many multirobot information-gathering tasks requires the availability of reliable communication maps. These provide estimates of the radio signal strength and can be used to predict the presence of communication links between different locations of the environment.…

Cited by 38Source ↗Scholar ↗
2016

Asynchronous multirobot exploration under recurrent connectivity constraints

Jacopo Banfi, Alberto Quattrini Li, Nicola Basilico, Ioannis M. Rekleitis, Francesco Amigoni
ICRA 2016

In multirobot exploration under centralized control, communication plays an important role in constraining the team exploration strategy. Recurrent connectivity is a way to define communication constraints for which robots must connect to a base station only when making new observations. This paper

Cited by 35Source ↗Scholar ↗