Embedded Systems

Authority-Sharing Control of Assistive Robotic Vehicles

Marco Andreetto

Publications | marco.andreetto [at] unitn.it (Email)


An increasing number of applications requires the interaction between robotic vehicles and humans. Classical robot control applies to completely autonomous vehicles. Although this approach secures the typical precision and accuracy of robots in executing low-level tasks, it does not exploit the superior high-level cognitive abilities of humans in managing complex and unpredictable situations. We propose to improve human-robot interaction through an authority-sharing paradigm in which the control system shares the control authority with the human by combining the advantages of the low-level robot abilities and the high-level human cognition.

Reactive Planning for Assistive Robots

Paolo Bevilacqua

Publications | paolo.bevilacqua [at] unitn.it (Email)


The aim of this research is the development of a "reactive planning" module, responsible for the dynamic generation of the trajectory to be followed by a robot. In particular, our focus is on a solution specifically designed for a robotic rollator moving in public environments (museums, shopping malls, ...). The planner is thus required to model and predict the behaviour of the surrounding pedestrians, and to update the trajectory followed by the robot accordingly, in order to avoid collisions. Among the set of candidate trajectories minimizing the risk of collision, the planner seeks the one maximizing the comfort perceived by the user of the assistive walker.

Co-Design of Mechanics and Control Software for the Next Generation of Service Robots

Stefano Divan

Publications | stefano.divan [at] unitn.it (Email) | Website


We propose a new generation of robotic walking assistants whose mechanical and electronic components are conceived to optimize the collaboration between the robot and its users, as exemplified by the following two possible cases: 1) Clinical context: in this scenario the robot can be used as a rehabilitative robot. Doctors can exploit the sensing ability of the walker in order to gather information about patients' stability, strength and mobility; 2) Museum context: the user can decide which part of the museum he/she would like to visit, so the robot will gently guide him/her through the planned path, avoiding unexpected obstacles and dangerous situations;

Optimization-Based Methodology for the Exploration of Cyber-Physical System Architectures

Dmitrii Kirov

Publications | dmitrii.kirov [at] unitn.it (Email)


In this research, we address the design space exploration of cyber-physical system architectures to select correct-by-construction configuration and interconnection of system components taken from pre-defined libraries. We formulate the exploration problem as a mapping problem and use optimization to solve it by searching for a minimum cost architecture that meets system requirements.

Robot Localization

Valerio Magnago

Publications | valerio.magnago [at] unitn.it (Email)


My reserarch interests are focused on authonomous veichle. I am investigating state estimation of a mobile robot through sensor fusion of an arbitrary number of sensors. For example I am working on an alghorithm that aim to optimize the landmark placement.

Practical Correct Multilingual Programming Using C++ Active Library

Tadeus Prastowo

Publications | tadeus.prastowo [at] unitn.it (Email)


Developing and maintaining software systems could be done faster with better outcomes by using multiple domain-specific languages (DSLs) if keeping multiple DSLs coherent were easy (e.g., a web application uses SQL, HTML, PHP, and JS to program different aspects of the application quickly with better results, but it is easy to change some SQL programs while forgetting to change some related JavaScript programs). In keeping multiple DSLs coherent, C++ presents a unique opportunity through its template meta-programming facility at the cost of syntax diversity. Realizing individual DSLs as C++ active libraries, they can then be composed as a larger active library that ensures their coherency.

Bringing Probabilistic Real-Time Guarantees to the Real World

Bernardo Villalba Frias

Publications | br.villalbafrias [at] unitn.it (Email)


My research focuses on the development of a stochastic analysis tool for soft real-time systems scheduled by a reservation-based algorithm and presenting correlated inter-arrival and computation times. The analysis considers, not only single-task applications but also applications composed of multiple interacting tasks running on multicore platforms.