Giuseppe Silano

Giuseppe Silano
Czech Technical University in Prague | ČVUT · Faculty of Electrical Engineering (FEL)

PhD
Working on Temporal Logic as a mission specification language for path planning problems and MPC applied to multi-rotors

About

20
Publications
9,649
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147
Citations
Introduction
Giuseppe Silano received the BD'12, the MD'16, and the PhD'20 from the University of Sannio, Benevento, Italy. He was a visiting Ph.D. student at LAAS-CNRS, in Toulouse, working with Prof. Antonio Franchi and his team. He is currently a postdoctoral researcher at the Czech Technical University in Prague.
Additional affiliations
June 2020 - present
Czech Technical University in Prague
Position
  • PostDoc Position
Description
  • All details on the post-doc position are available from http://mrs.felk.cvut.cz/people/silano
December 2019 - June 2020
Università degli Studi del Sannio
Position
  • Research Associate
Description
  • Scholarship post-graduated entitled "Modeling and simulations of flight control systems for UAV" - SSD ING/INF 04 (Automatic Control)
December 2016 - March 2019
Università degli Studi del Sannio
Position
  • Research Assistant
Description
  • I was a teaching assistant for the Automatic Control, Advanced Controls, Dynamic Systems, and Discrete Systems courses.
Education
November 2016 - November 2019
Università degli Studi del Sannio
Field of study
  • Information Engineering, Automatic Control
September 2012 - March 2016
Università degli Studi del Sannio
Field of study
  • Electronic Engineering

Publications

Publications (20)
Conference Paper
Full-text available
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visi...
Conference Paper
Full-text available
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions where vehicles are required to support human operators. A reso...
Conference Paper
Full-text available
Fig. 1: MRS UAV Platforms used for diverse range of real-world applications (a)-(f) and their simulated variants (g)-(l). Abstract-This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators,...
Article
Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landi...
Conference Paper
Full-text available
An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the...
Conference Paper
Full-text available
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV’s antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS)and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering...
Presentation
Full-text available
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV’s antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering...
Conference Paper
Full-text available
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quad-rotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out succe...
Conference Paper
Full-text available
A novel prizewinner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path for a quad-rotor UAV is obtained by using downward facing came...
Article
Full-text available
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the pl...
Article
Full-text available
The main motivation of this work is to propose a simulation approach for a specific task within the Un-manned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described MAT-Fly, a numerical simulation platform for multi-rotor aircraft characterized by the ease of use and control d...
Thesis
Aerial robotics is a fast-growing field of robotics and in particular multi-rotor aircraft are rapidly increasing in popularity also out of the scientific community. However, designing autopilots for these vehicles is a challenging task, which involves multiple interconnected aspects. Hence, having tools able to show what happens when some new appl...
Preprint
Full-text available
Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking for strategies that satisfy different requirements expressed in terms of potential damage and faults detection....
Conference Paper
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations....
Poster
Full-text available
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations d...
Chapter
This chapter proposes a typical use case dealing with the physical simulation of autonomous robots (specifically, quadrotors) and their interfacing through ROS (Robot Operating System). In particular, we propose CrazyS, an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano-quadcopter in the phy...
Conference Paper
Full-text available
In recent years, there has been a strong activity in the so-called precision agriculture, particularly the monitoring aspect, not only to improve productivity, but also to meet demand of a growing population. At a large scale, precise monitoring of cultivated fields is a quite challenging task. Therefore, this paper aims to propose a survey on tech...
Conference Paper
In this paper we propose CrazyS, an extension of the ROS (Robot Operating System) package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano-quadcopter in the physics based simulation environment Gazebo. Such simulation platform allows to understand quickly the behavior of the flight control system by comparing and evaluat...
Poster
Full-text available
The main motivation of this work is to propose the simulation-in-the-loop approach for educational purposes within the UAV field. In particular the visual-based object tracking problem is illustrated through the use of the MathWorks Virtual Reality Toolbox together with MATLAB, by simulating the behavior of a drone in a 3D environment when detectio...
Conference Paper
The main motivation of this work is to show, for educational purposes, that the visual based object tracking problem can be illustrated through the simulation-in-the-loop approach: by using the MathWorks TM Virtual Reality Toolbox together with Matlab R , it is possible to simulate the behavior of a drone in a 3D environment when detection and cont...

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Projects

Projects (3)
Project
Comp4Drones is an ECSEL JU project with the aim of providing a framework of key enabling technologies for safe and autonomous drones. It brings to bear a holistically designed ecosystem from application to electronic components, realized as a tightly integrated multi-vendor and compositional UAV embedded architecture solution and a tool chain complementing the compositional architecture principles. The ecosystem aims at supporting (1) efficient customization and incremental assurance of drone embedded platforms, (2) safe autonomous decision making concerning individual or cooperative missions, (3) trustworthy drone-to-drone and drone-to-ground communications even in presence of malicious attackers and under the intrinsic platform constraints, and (4) agile and cost-effective compositional design and assurance of drone modules and systems.
Archived project
Farming is facing many economic challenges in terms of productivity and cost-effectiveness, as well as an increasing labour shortage partly due to depopulation of rural areas. Furthermore, reliable detection, accurate identification and proper quantification of pathogens and other factors affecting both plant and animal health, are critical to be kept under control in order to reduce economic expenditures, trade disruptions and even human health risks. AFarCloud will provide a distributed platform for autonomous farming that will allow the integration and cooperation of agriculture Cyber Physical Systems in real-time in order to increase efficiency, productivity, animal health, food quality and reduce farm labour costs. This platform will be integrated with farm management software and will support monitoring and decision making solutions based on big data and real time data mining techniques. The AFarCloud project also aims to make farming robots accessible to more users by enabling farming vehicles to work in a cooperative mesh, thus opening up new applications and ensuring reusability, as heterogeneous standard vehicles can combine their capabilities in order to lift farmer revenue and reduce labour costs. The achievements from AFarCloud will be demonstrated in 3 holistic demonstrators (Finland, Spain and Italy), including cropping and livestock management scenarios and 8 local demonstrators (Latvia, Sweden, Spain and Czech Republic) in order to test specific functionalities and validate project results in relevant environments located in different European regions. AFarCloud outcomes will strengthen partners’ market position boosting their innovation capacity and addressing industrial needs both at EU and international levels. The consortium represents the whole ICT-based farming solutions’ value chain, including all key actors needed for the development, demonstration and future market uptake of the precision farming framework targeted in the project. This project has received funding from the ECSEL Joint Undertaking (JU) under grant agreement No 783221. The JU receives support from the European Union’s Horizon 2020 research and innovation programme and Austria, Belgium, Czech Republic, Finland, Germany, Greece, Italy, Latvia, Norway, Poland, Portugal, Spain, Sweden.
Archived project
The control of small UAVs, such as Parrot AR.Drone 2.0 and Bebop 2.0 (micro-quadcopter) and Bitcraze Crazyflie 2.0 (nano-quadcopter), has been extensively investigated worldwide for functionalities augmentation and costs reduction with respect to a single larger vehicle. Machine learning techniques (e.g., reinforcement and deep learning) are often used to reduce the time-consuming process of programming the UAV desired behavior, an activity that requires a large amount of time by an interdisciplinary team. In this way, programmers can specify what action the robot should perform without ever detailing how it should perform the action. This abstraction is especially beneficial when controlling a robot with multiple actuators, such as aerial robots, moving through a dynamic environment. The aim of this research is to propose a co-design approach based on simulation-in-the-loop and software-in-the-loop methodologies for performance evaluation, designing and developing algorithms for autonomous systems. The simulation scheme consists of specific middleware, namely ROS, where one node or computer simulates the control unit (MATLAB/Simulink equipped with Robotics System Toolbox), and another one the vehicles in the scenario (sensor models and obstacles are simulated, too), through virtual reality environments (e.g., Gazebo, V-REP), with the aim of implementing the overall control system together with the flight dynamics and the environment.