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Giovanni Ulivi

5 accepted papers

2021

MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards

Renzo Fabrizio Carpio, Jacopo Maiolini, Ciro Potena, Emanuele Garone, Giovanni Ulivi, Andrea Gasparn
ICRA 2021poster

In this work, we propose a global planning strategy specifically designed for precision agriculture settings, where field activities may have different requirements ranging from a full orchard inspection to sparse targeted per-plant interventions. This global planning strategy is formulated as a nov…

Cited by 7Source ↗Scholar ↗
2020

A Navigation Architecture for Ackermann Vehicles in Precision Farming

Renzo Fabrizio Carpio, Ciro Potena, Jacopo Maiolini, Giovanni Ulivi, Nicolás Bono Rosselló, Emanuele Garone +1
RA-L 2020

In this letter, inspired by the needs of the European H2020 Project PANTHEON <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> , we propose a full navigation stack purposely designed for the autonomous navigation of Ackermann steering vehicles in

Cited by 42Source ↗Scholar ↗
2018

A Distributed Swarm Aggregation Algorithm for Bar Shaped Multi-Agent Systems

Renzo F. Carpio, Letizia Di Giulio, Emanuele Garone, Giovanni Ulivi, Andrea Gasparri
IROS 2018poster

In this work we consider a swarm of agents shaped as bars with a certain orientation in the state space. Members of the swarm have to reach an aggregate state, while guaranteeing the collision avoidance and possibly achieving an angular consensus. By relying on a segment-to-segment distance definiti…

Cited by 7Source ↗Scholar ↗
2017

Decentralized matroid optimization for topology constraints in multi-robot allocation problems

Ryan K. Williams, Andrea Gasparri, Giovanni Ulivi
ICRA 2017poster

In this paper, we demonstrate how topological constraints, as well as other abstract constraints, can be integrated into task allocation by applying the combinatorial theory of matroids. By modeling problems as an intersection of matroid constraints, arbitrary combinatorial relationships can be achi…

Cited by 59Source ↗Scholar ↗
2015

Global connectivity control for spatially interacting multi-robot systems with unicycle kinematics

Ryan K. Williams, Andrea Gasparri, Gaurav S. Sukhatme, Giovanni Ulivi
ICRA 2015poster

In this paper, we consider the problem of connectivity maintenance in multi-robot systems with unicycle kinematics. While previous work has approached this problem through local control techniques, we propose a solution which achieves global connectivity maintenance under nonholonomic constraints. I…

Cited by 35Source ↗Scholar ↗