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Marco Aggravi

8 accepted papers

2022

Neural Style Transfer with Twin-Delayed DDPG for Shared Control of Robotic Manipulators

Raul Fernandez-Fernandez, Marco Aggravi, Paolo Robuffo Giordano, Juan G. Victores, Claudio Pacchierotti
ICRA 2022poster

Neural Style Transfer (NST) refers to a class of algorithms able to manipulate an element, most often images, to adopt the appearance or style of another one. Each element is defined as a combination of Content and Style: the Content can be conceptually defined as the “what” and the Style as the “ho…

Cited by 7Source ↗Scholar ↗
2021

Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback

Marco Aggravi, Daniel A. L. Estima, Alexandre Krupa, Sarthak Misra, Claudio Pacchierotti
RA-L 2021

We present a haptic teleoperation system capable of steering flexible needles under ultrasound imaging toward a target. With respect to similar works, this approach enables intuitive control of the needle motion while providing the user with 3D navigation and needle tip cutting force using a combina

Cited by 55Source ↗Scholar ↗
2021

Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments

Marco Aggravi, Ahmed Alaaeldin Said Elsherif, Paolo Robuffo Giordano, Claudio Pacchierotti
RA-L 2021

Teams of coordinated robots have been proven useful in several high-impact applications, including urban search and rescue (USAR) and disaster response. In this context, we present a decentralized haptic-enabled connectivity-maintenance control framework for heterogeneous human-robot teams. The prop

Cited by 43Source ↗Scholar ↗
2020

Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories

Marco Cognetti, Marco Aggravi, Claudio Pacchierotti, Paolo Salaris, Paolo Robuffo Giordano
RA-L 2020

We propose a novel shared control and active perception framework combining the skills of a human operator in accomplishing complex tasks with the capabilities of a mobile robot in autonomously maximizing the information acquired by the onboard sensors for improving its state estimation. The human o

Cited by 40Source ↗Scholar ↗
2018

Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli

Marco Aggravi, Florent Pause, Paolo Robuffo Giordano, Claudio Pacchierotti
RA-L 2018

This letter presents a wearable haptic device for the forearm and its application in robotic teleoperation. The device is able to provide skin stretch, pressure, and vibrotactile stimuli. Two servo motors, housed in a 3D printed lightweight platform, actuate an elastic fabric belt, wrapped around th

Cited by 92Source ↗Scholar ↗
2018

Haptic Guidance in Dynamic Environments Using Optimal Reciprocal Collision Avoidance

Tommaso Lisini Baldi, Stefano Scheggi, Marco Aggravi, Domenico Prattichizzo
RA-L 2018

Human guidance in situations where the users cannot rely on their main sensory modalities, such as assistive or search-and-rescue scenarios, is a challenging task. In this letter, we address the problem of guiding users along collision-free paths in dynamic environments, assuming that they cannot re

Cited by 31Source ↗Scholar ↗
2017

Teleoperation in cluttered environments using wearable haptic feedback

Joao Bimbo, Claudio Pacchierotti, Marco Aggravi, Nikos Tsagarakis, Domenico Prattichizzo
IROS 2017poster

Robotic teleoperation in cluttered environments is attracting increasing attention for its potential in hazardous scenarios, disaster response, and telemaintenance. Although haptic feedback has been proven effective in such applications, commercially-available grounded haptic interfaces still show s…

Cited by 94Source ↗Scholar ↗
2015

Evaluation of a predictive approach in steering the human locomotion via haptic feedback

Marco Aggravi, Stefano Scheggi, Domenico Prattichizzo
IROS 2015poster

In this paper, we present a haptic guidance policy to steer the user along predefined paths, and we evaluate a predictive approach to compensate actuation delays that humans have when they are guided along a given trajectory via sensory stimuli. The proposed navigation policy exploits the nonholonom…

Cited by 16Source ↗Scholar ↗