Coordinator - Coordinated control and tactile sensors skins
Mission planning and control techniques for multi agent systems
Design and development of robotic hands, including sensory aspects and control
Vision techniques for object recognition and grasp planning
Weak coordination and range only localization
Acoustic communication framework
Guidance and control
In order to achieve the ambitious general objective of the project, it is necessary to achieve some important advances within the integrated development of different enabling technologies and methodologies. In particular, the MARIS project aims at fulfilling the following goals:
The MARIS project aims to coordinately develop all the reaserch activities above, allowing the achievement of the following specific objectives:
This simulation shows an underwater vehicle endowed with two arms performing a transportation task, using the task priority control framework developed at GRAAL.
This simulation shows a preliminary simulation of a cooperative transportation carried out by two underwater floating manipulator systems, minimizing the communication load.
E. Simetti and G. Casalino. Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems. IEEE Journal of Oceanic Engineering:1--18, December 2016.
E. Simetti and G. Casalino. A Novel Practical Technique to Integrate Inequality Control Objectives and Task Transitions in Priority Based Control. Journal of Intelligent & Robotic Systems, volume 84(1):877--902, April 2016.
E. Simetti and G. Casalino. Whole body control of a dual arm underwater vehicle manipulator system. Annual Reviews in Control, volume 40:191--200, 2015.
D. Fenucci, A. Caiti, E. Simetti and G. Casalino. Underwater Communication Requirements in Coordinated Autonomous Manipulation: the MARIS Project. In Underwater Communications and Networking Conference (UCOMMS 2016), Lerici, Italy, August 2016.
G. Casalino, E. Simetti, N. Manerikar, A. Sperindé, S. Torelli and F. Wanderlingh. Cooperative Underwater Manipulation Systems Control Developments within the MARIS project. In IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV 2015) , Girona, Spain, April 2015.
E. Simetti, G. Casalino, N. Manerikar, A. Sperindé, S. Torelli and F. Wanderlingh. Cooperation between Autonomous Underwater Vehicle Manipulations Systems with Minimal Information Exchange. In OCEANS 15, pages 1--6, Genova, Italy, May 2015.
N. Manerikar, G. Casalino, E. Simetti, S. Torelli and A. Sperindé. On Cooperation between Autonomous Underwater Floating Manipulation Systems. In Underwater Technology 2015, Chennai, India, February 2015.
N. Manerikar, G. Casalino, E. Simetti, S. Torelli and A. Sperindé. On Autonomous Cooperative Underwater Floating Manipulation Systems. In International Conference on Robotics and Automation (ICRA 15), Seattle, WA, May 2015.
G. Casalino, M. Caccia, A. Caiti, G. Antonelli, G. Indiveri, C. Melchiorri and S. Caselli. MARIS: a National Project on Marine Robotics for InterventionS. In MED 2014, Palermo, Italy, June 2014.
E. Simetti, G. Casalino, S. Torelli, A. Sperinde and A. Turetta. Underwater Floating Manipulation for Robotic Interventions. In IFAC World Congress 2014, pages 3358--3363, Cape Town, South Africa, August 2014.