Enrico Natalizio

Enrico Natalizio
Université de Technologie de Compiègne | UTC · Heudiasyc

PhD Computer and Systems Engineering

About

117
Publications
49,487
Reads
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3,237
Citations
Additional affiliations
September 2012 - present
Université de Technologie de Compiègne
Position
  • Professor (Associate)
September 2010 - August 2012
National Institute for Research in Computer Science and Control
Position
  • PostDoc Position
January 2005 - April 2006
Georgia Institute of Technology
Position
  • Researcher

Publications

Publications (117)
Article
Full-text available
Aerial robotics can be very useful to perform complex tasks in a distributed and cooperative fashion, such as localization of targets and search of point of interests (PoIs). In this work, we propose a distributed system of autonomous Unmanned Aerial Vehicles (UAVs), able to self-coordinate and cooperate in order to ensure both spatial and temporal...
Article
The concept of smart city has emerged worldwide as a feasible answer to the challenges raised by the increasing urbanisation. From the technological point of view, guaranteeing ubiquitous connectivity, reliable communications and seamless integration of multiple network access technologies are mandatory in a smart city. This is in contrast with the...
Conference Paper
Full-text available
In this paper, we introduce two families of dis-tributed algorithms to control the movement of groups of flying robots that are monitoring an event by moving over the field where the event takes place, while optimizing some specific objective. In order to show the effectiveness of our algorithms, we formulate the Sport Event Filming (SEF) problem....
Article
Environmental monitoring has become a typical application of wireless sensor net-works. The concept of monitoring certain Points of Interest (PoIs) instead of the whole sensor field helps in reducing the costs of the deployment and improving the perfor-mance in terms of coverage. However, the problems of multiple PoI discovery, cover-age and data r...
Article
There are many critical issues arising in wireless sensor and robot networks (WSRN). Based on the specific application, different objectives can be taken into account such as energy consumption, throughput, delay, coverage, etc. Also many schemes have been proposed in order to optimize a specific quality of service (QoS) parameter. With the focus o...
Article
A swarm of cellular-connected Unmanned Aerial Vehicles (UAVs) enables new possibilities for emerging services and applications as the UAVs can autonomously coordinate their activities and cooperate to accomplish a given task. Because of spatio-temporal dynamics of swarm topology, robust and reliable network formation with seamless connectivity amon...
Article
Full-text available
In new e-health applications, the ubiquitous nature of intelligent devices raises legitimate questions about peoples’ privacy, and how to cope with the heterogeneity of user and application requirements in terms of security services. This requires the development of adaptive, context-aware and user-centric security solutions. Recent e-health applic...
Chapter
“Natural disasters threaten human life, Earth's ecosystems, and countries’ economies. In the last two decades, the number and severity of natural disasters has significantly increased. Wireless communications and sensing are among other technologies promising improved disaster management. With the advancement, low cost, and flexibility of unmanned...
Conference Paper
The ability of unmanned aerial vehicles (UAVs) to communicate and cooperate among themselves in an aerial swarm network is of paramount importance for collaborative missions. It enables the swarm to function as a collective unit to plan trajectories, share tasks, coordinate flight route for collision avoidance or to optimize a given mission objecti...
Article
Full-text available
Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an exploration drone and an operator. Our algorithm only uses...
Article
The impressive advancements in embedded systems and the integration of new types of smart devices into the Internet of Things (IoT) continue to revolutionize the communication technologies. Gradually, such devices are enriched with additional capabilities (e.g., sense, learn, reason, move, act on the environment) beyond classic connectivity service...
Article
In this paper the problem of swarm rendezvous when robots exchange local coordination messages through an unreliable wireless communication network (i.e.\ message-loss occurs) is considered. Firstly, a discrete-time second order consensus algorithm is provided to deal with the effects of unreliable channels on Wireless Networked Robot (WNR) systems...
Article
As an emerging field of aerial robotics, Unmanned Aerial Vehicles (UAVs) have gained significant research interest within the wireless networking research community. As soon as national legislations allow UAVs to fly autonomously, we will see swarms of UAV populating the sky of our smart cities to accomplish different missions: parcel delivery, inf...
Article
Full-text available
Area monitoring and surveillance are some of the main applications for Unmanned Aerial Vehicle (UAV) networks. The scientific problem that arises from this application concerns the way the area must be covered to fulfill the mission requirements. One of the main challenges is to determine the paths for the UAVs that optimize the usage of resources...
Preprint
As an emerging field of aerial robotics, Unmanned Aerial Vehicles (UAVs) have gained significant research interest within the wireless networking research community. As soon as national legislations allow UAVs to fly autonomously, we will see swarms of UAV populating the sky of our smart cities to accomplish different missions: parcel delivery, inf...
Article
Full-text available
In the context of multi-robot system and more generally for Technological System-of-Systems, this paper proposes a multi-UAV (Unmanned Aerial Vehicle) framework for SLAM-based cooperative exploration under limited communication bandwidth. The exploration strategy, based on RGB-D grid mapping and group leader decision making, uses a new utility func...
Preprint
Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an exploration drone and an operator. Our algorithm only uses...
Conference Paper
Unmanned Aerial Vehicles (UAVs) represent an important asset in the increasing automation required in Smart Cities. However, their short flight autonomy and limited computational resources raise a set of issues to unravel for their full exploitation. In this paper, some of these issues are addressed by leveraging the deployment of Training and Rech...
Article
This paper formulates the Sport Event Filming with Connectivity Constraints (SEF-C2) problem. The SEF-C <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> problem is an event coverage problem, which exploits a team of Unmanned Aerial Vehicles (UAVs) over a limited field in order to track the movem...
Conference Paper
Several recent studies demonstrated that the utilization of Unmanned Aerial Vehicles (UAVs) in combination with Wireless Sensor Networks (WSNs) can enhance the system performance in terms of lifetime and data delivery ratio; at the same time, the communication among Wireless Ground Sensors (WGSs) and UAVs poses several technical challenges which ar...
Article
Internet of Things applications using sensors and actuators raise new privacy related threats, such as drivers and vehicles tracking and profiling. These threats can be addressed by developing adaptive and context-aware privacy protection solutions to face the environmental constraints (memory, energy, communication channel, and so on), which cause...
Book
This book constitutes the proceedings of the 17th IFIP WG 6.2 International Conference on Wired/Wireless Internet Communications, WWIC 2019, held in Bologna, Italy, in June 2019. The 20 full papers presented were carefully reviewed and selected from 35 submissions. The papers address various aspects of next generation data networks, such as design...
Article
Full-text available
Recently, Unmanned Aerial Vehicles (UAVs) have become a cheap alternative to sense pollution values in a certain area due to their flexibility and ability to carry small sensing units. In a previous work, we proposed a solution, called Pollution-driven UAV Control (PdUC), to allow UAVs to autonomously trace pollutant sources, and monitor air qualit...
Article
Full-text available
The development of Unmanned Aerial Vehicles (UAV) along with the ubiquity of Internet of Things (IoT) enables the creation of systems that, leveraging 5G enhancements, can provide real-time multimedia communications and data streaming. However, the usage of the UAVs introduces new constraints, such as unstable network communications and security pi...
Article
Full-text available
In this paper, the Relative Pose based Redundancy Removal (RPRR) scheme is presented, which has been designed for mobile RGB-D sensor networks operating under bandwidth-constrained operational scenarios. The scheme considers a multiview scenario in which pairs of sensors observe the same scene from different viewpoints, and detect the redundant vis...
Chapter
The development of Unmanned Aerial Vehicles (UAV) along with the ubiquity of Internet of Things (IoT) enables the creation of systems that can provide real-time multimedia and data streaming. However, the high mobility of the UAVs introduces new constraints, like unstable network communications and security pitfalls. In this work, the experience of...
Conference Paper
This paper proposes a network architecture and supporting optimization framework that allows Unmanned Aerial Vehicles (UAVs) to perform city-scale video monitoring of a set of Points of Interest (PoI). Our approach is systems-driven, relying on experimental studies to identify the permissible number of hops for multi-UAV video relaying in a noisy 3...
Chapter
Discretization is one of the most efficient mathematical approaches to simplify (optimize) a system by transforming a continuous domain into its discrete counterpart. In this paper, by adopting space discretization, we have modified the previously proposed solution called PdUC (Pollution-driven UAV Control), which is a protocol designed to guide UA...
Article
Full-text available
The field of structural inspection acquired a new boost with the development of UAVs (Unmanned Aerial Vehicles). However, the flight time of a UAV is still short compared to the time needed to perform a complete structural inspection, and therefore the reliability of a single UAV is under question. This paper presents an algorithm that allows an Un...
Article
Full-text available
The current merging of networking and control research fields within the scope of robotic applications is creating fascinating research and development opportunities.However, the tools for a proper and easy management of experiments still lag behind.Although different solutions have been proposed to simulate and emulate control systems and, more sp...
Article
Wireless sensor and actuator networks are composed of sensor and actuator nodes interconnected via wireless links. The actuators are responsible for taking prompt decisions and react accordingly to the data gathered by sensor nodes. In order to ensure efficient actions in such networks, we propose a new routing protocol that provides QoS in terms o...
Article
Full-text available
Air pollution monitoring has recently become an issue of utmost importance in our society. Despite the fact that crowdsensing approaches could be an adequate solution for urban areas, they cannot be implemented in rural environments. Instead, deploying a fleet of UAVs could be considered an acceptable alternative. Embracing this approach, this pape...
Preprint
Full-text available
The Relative Pose based Redundancy Removal(RPRR) scheme is presented, which has been designed for mobile RGB-D sensor networks operating under bandwidth-constrained operational scenarios. Participating sensor nodes detect the redundant visual and depth information to prevent their transmission leading to a significant improvement in wireless channe...
Article
Full-text available
This paper studies the coordination problem for a wireless networked robot (WNR) system. The objective is to drive the robots to keep a desired formation through local exchange of information. Nevertheless, packet losses may occur during communications among robots, thus preventing the system to reach its specific target. Specifically, the effects...
Article
Full-text available
This work identifies the role of Wireless Sensor Networks (WSN) and Unmanned Aerial Vehicles (UAV) in the context of natural disaster management. Main applications of systems involving WSN and UAV are classified according to the disaster management phase, and a review of relevant research activities is provided along with the research and developme...
Conference Paper
We consider the problem of optimally designing a body wireless sensor network, while taking into account the uncertainty of data generation of biosensors. Since the related min-max robustness Integer Linear Programming (ILP) problem can be difficult to solve even for state-of-the-art commercial optimization solvers, we propose an original heuristic...
Article
Full-text available
Unquestionably, communicating entities (object, or things) in the Internet of Things (IoT) context are playing an active role in human activities, systems and processes. The high connectivity of intelligent objects and their severe constraints lead to many security challenges, which are not included in the classical formulation of security problems...
Article
This work studies the problem of network configuration for Wireless Sensor Networks (WSN), consisting of two interdependent problems: sensor placement and topology control, by taking into consideration both the traffic load and the transmission range assignment. The design objectives are i) reducing the overall energy consumption and ii) ensuring n...
Article
Full-text available
This article presents a vision for future unmanned aerial vehicles (UAV)-assisted disaster management, considering the holistic functions of disaster prediction, assessment, and response. Here, UAVs not only survey the affected area but also assist in establishing vital wireless communication links between the survivors and nearest available cellul...
Conference Paper
Nowadays, natural disasters become more and more frequent. In this paper we propose a communication for flood disaster scenario. In our system, nodes can directly demand a specific type of data without knowing its source. Our approach differs from classic Content Centric Network one by allowing to establish a direct communication with groups of nod...
Article
In this paper we tackle the problem of deploying mobile wireless sensors while maintaining connectivity with a sink throughout the deployment process. These mobile sensors should discover some points of interest (PoI) in an autonomous way and continuously report information from the observed events to the sink. Unlike previous works, we design an a...
Conference Paper
Full-text available
We present a scheme for multi-sensor data fusion applications, called Relative Pose based Redundancy Removal (RPRR), that efficiently enhances the wireless channel utilization in bandwidth-constrained operational scenarios for RGB-D camera equipped visual sensor networks. Pairs of nodes cooperatively determine their own relative pose, and by using...
Conference Paper
After the digital TV switch-over, national spectrum regulators are considering opportunistic spectrum access techniques in the TV White Spaces (TVWS) frequency band. At present, the reference solution envisages the utilization of geolocation spectrum databases (GLDBs), in which spectrum availability is computed through complex propagation models. H...
Article
The complexity increase in the software and hardware necessary to support more and more advanced applications for Wireless Sensor Networks conspicuously contribute to render them susceptible to security attacks. The nodes of most complex WSN applications sport desktop-level operating systems and this reliance on software make them ideal prey for tr...
Conference Paper
Full-text available
The fast-paced development of Unmanned Aerial Vehicles (UAVs) and their use in different domains, opens a new paradigm on their use in natural disaster management. In UAV-assisted disaster management applications, UAVs not only survey the affected area but also assist in establishing the communication network between the disaster survivors, rescue...
Conference Paper
Full-text available
In the context of Flying Ad hoc NETworks (FANET), this paper proposes a controlled mobility routing scheme to efficiently tracking a Moving Point of Interest (MPI). Once the MPI has been localized and its position reported to a ground station (GS), the best path in terms of number of Unmanned Aerial Vehicles (UAVs) participating in the routing and...
Article
Full-text available
In this paper we introduce a novel routing protocol for efficiently broadcasting packets in vehicular ad hoc networks, while limiting multiple copies of the same packet, and avoiding collisions. In high-congested traffic scenarios, the increase of packet collisions and medium contentions among vehicles affects the inter-vehicular communications, an...
Article
Full-text available
We propose a new method, called 3D Image Warping Based Depth Video Compression (IW-DVC), for fast and efficient compression of depth images captured by mobile RGB-D sensors. The emergence of low-cost RGB-D sensors has created opportunities to find new solutions for a number of computer vision and networked robotics problems, such as 3D map building...