Marcello Chiaberge

Marcello Chiaberge
Politecnico di Torino | polito · DET - Department of Electronics and Telecommunications

PhD

About

131
Publications
39,595
Reads
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2,098
Citations
Citations since 2016
65 Research Items
1783 Citations
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Publications

Publications (131)
Preprint
Full-text available
Learning agents can optimize standard autonomous navigation improving flexibility, efficiency, and computational cost of the system by adopting a wide variety of approaches. This work introduces the \textit{PIC4rl-gym}, a fundamental modular framework to enhance navigation and learning research by mixing ROS2 and Gazebo, the standard tools of the r...
Preprint
Full-text available
The game of Jenga represents an inspiring benchmark for developing innovative manipulation solutions for complex tasks. Indeed, it encouraged the study of novel robotics methods to extract blocks from the tower successfully. A Jenga game round undoubtedly embeds many traits of complex industrial or surgical manipulation tasks, requiring a multi-ste...
Preprint
Full-text available
Robot assistants are emerging as high-tech solutions to support people in everyday life. Following and assisting the user in the domestic environment requires flexible mobility to safely move in cluttered spaces. We introduce a new approach to person following for assistance and monitoring. Our methodology exploits an omnidirectional robotic platfo...
Article
Full-text available
Robot assistants and service robots are rapidly spreading out as cutting-edge automation solutions to support people in their everyday life in workplaces, health centers, and domestic environments. Moreover, the COVID-19 pandemic drastically increased the need for service technology to help medical personnel in critical conditions in hospitals and...
Preprint
Full-text available
Precise and accurate localization in outdoor and indoor environments is a challenging problem that currently constitutes a significant limitation for several practical applications. Ultra-wideband (UWB) localization technology represents a valuable low-cost solution to the problem. However, non-line-of-sight (NLOS) conditions and complexity of the...
Preprint
Full-text available
Single-Image Super-Resolution can support robotic tasks in environments where a reliable visual stream is required to monitor the mission, handle teleoperation or study relevant visual details. In this work, we propose an efficient Generative Adversarial Network model for real-time Super-Resolution. We adopt a tailored architecture of the original...
Preprint
Full-text available
Domain Generalization (DG) studies the capability of a deep learning model to generalize to out-of-training distributions. In the last decade, literature has been massively filled with a collection of training methodologies that claim to obtain more abstract and robust data representations to tackle domain shifts. Recent research has provided a rep...
Article
Full-text available
Population aging and pandemics have been shown to cause the isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assistants are the new frontier of innovation for domestic welfare, and elderly monitoring is one of the services a robot can handle for collective well-being. Despite these emerging n...
Chapter
Full-text available
Precise and accurate localization in outdoor and indoor environments is a challenging problem that currently constitutes a significant limitation for several practical applications. Ultra-wideband (UWB) localization technology represents a valuable low-cost solution to the problem. However, non-line-of-sight (NLOS) conditions and complexity of the...
Preprint
Full-text available
Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously monitoring and easily accessing crops for harvesting, spraying and performing time-consuming necessary tasks. N...
Preprint
Full-text available
The development of precision agriculture has gradually introduced automation in the agricultural process to support and rationalize all the activities related to field management. In particular, service robotics plays a predominant role in this evolution by deploying autonomous agents able to navigate in fields while executing different tasks witho...
Preprint
Full-text available
Technology is progressively reshaping the domestic environment as we know it, enhancing home security and the overall ambient quality through smart connected devices. However, demographic shift and pandemics recently demonstrate to cause isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assist...
Preprint
Full-text available
Expensive sensors and inefficient algorithmic pipelines significantly affect the overall cost of autonomous machines. However, affordable robotic solutions are essential to practical usage, and their financial impact constitutes a fundamental requirement to employ service robotics in most fields of application. Among all, researchers in the precisi...
Article
Deep neural networks based purely on attention have been successful across several domains, relying on minimal architectural priors from the designer. In Human Action Recognition (HAR), attention mechanisms have been primarily adopted on top of standard convolutional or recurrent layers, improving the overall generalization capability. In this work...
Conference Paper
In this paper, a novel mobile platform for assistive robotics tasks is presented. The machine is designed for working in a home environment, un-structured and possibly occupied by people. To work in this space, the platform must be able to get rid of all the consequent difficulties: to overpass small objects as steps and carpets, to operate with an...
Article
Full-text available
Deep convolutional neural networks, assisted by architectural design strategies, make extensive use of data augmentation techniques and layers with a high number of feature maps to embed object transformations. That is highly inefficient and for large datasets implies a massive redundancy of features detectors. Even though capsules networks are sti...
Preprint
Full-text available
Precision agriculture is a fast-growing field that aims at introducing affordable and effective automation into agricultural processes. Nowadays, algorithmic solutions for navigation in vineyards require expensive sensors and high computational workloads that preclude large-scale applicability of autonomous robotic platforms in real business case s...
Preprint
Full-text available
Deep neural networks based purely on attention have been successful across several domains, relying on minimal architectural priors from the designer. In Human Action Recognition (HAR), attention mechanisms have been primarily adopted on top of standard convolutional or recurrent layers, improving the overall generalization capability. In this work...
Article
Full-text available
The increasing availability of large-scale remote sensing labeled data has prompted researchers to develop increasingly precise and accurate data-driven models for land cover and crop classification (LC&CC). Moreover, with the introduction of self-attention and introspection mechanisms, deep learning approaches have shown promising results in proce...
Article
Full-text available
Ultra-wideband (UWB) is the state-of-the-art and most popular technology for wireless localization. Nevertheless, precise ranging and localization in non-line-of-sight (NLoS) conditions is still an open research topic. Indeed, multipath effects, reflections, refractions, and complexity of the indoor radio environment can easily introduce a positive...
Preprint
Full-text available
The increasing availability of large-scale remote sensing labeled data has prompted researchers to develop increasingly precise and accurate data-driven models for land cover and crop classification (LC&CC). Moreover, with the introduction of self-attention and introspection mechanisms, deep learning approaches have shown promising results in proce...
Article
Agriculture 3.0 and 4.0 have gradually introduced service robotics and automation into several agricultural processes, mostly improving crops quality and seasonal yield. Row-based crops are the perfect settings to test and deploy smart machines capable of monitoring and manage the harvest. In this context, global path generation is essential either...
Conference Paper
Full-text available
Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise localization and tracking, but moving obstacles and non-line-of-sight occurrences can generate noisy and unre...
Preprint
Full-text available
Deep convolutional neural networks, assisted by architectural design strategies, make extensive use of data augmentation techniques and layers with a high number of feature maps to embed object transformations. That is highly inefficient and for large datasets implies a massive redundancy of features detectors. Even though capsules networks are sti...
Preprint
Full-text available
Ultra-wideband (UWB) is the state-of-the-art and most popular technology for wireless localization. Nevertheless, precise ranging and localization in non-line-of-sight (NLoS) conditions is still an open research topic. Indeed, multipath effects, reflections, refractions and complexity of the indoor radio environment can easily introduce a positive...
Preprint
Full-text available
Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise localization and tracking, but moving obstacles and non-line-of-sight occurrences can generate noisy and unre...
Preprint
Full-text available
Agriculture 3.0 and 4.0 have gradually introduced service robotics and automation into several agricultural processes, mostly improving crops quality and seasonal yield. Row-based crops are the perfect settings to test and deploy smart machines capable of monitoring and manage the harvest. In this context, global path planning is essential either f...
Preprint
Full-text available
The vital statistics of the last century highlight a sharp increment of the average age of the world population with a consequent growth of the number of older people. Service robotics applications have the potentiality to provide systems and tools to support the autonomous and self-sufficient older adults in their houses in everyday life, thereby...
Article
Full-text available
The vital statistics of the last century highlight a sharp increment of the average age of the world population with a consequent growth of the number of older people. Service robotics applications have the potentiality to provide systems and tools to support the autonomous and self-sufficient older adults in their houses in everyday life, thereby...
Article
Full-text available
Convolutional Neural Networks (CNNs) consistently proved state-of-the-art results in image Super-resolution (SR), representing an exceptional opportunity for the remote sensing field to extract further information and knowledge from captured data. However, most of the works published in the literature focused on the Single-image Super-resolution pr...
Preprint
Full-text available
Convolutional Neural Networks (CNNs) have been consistently proved state-of-the-art results in image Super-Resolution (SR), representing an exceptional opportunity for the remote sensing field to extract further information and knowledge from captured data. However, most of the works published in the literature have been focusing on the Single-Imag...
Chapter
With the rapid growth of the world population over the past years, the agriculture industry is asked to respond properly to the exponential augmentation of global demand for food production. In the past few years, autonomous agricultural field machines have been gaining significant attention from farmers and industries in order to reduce costs, hum...
Preprint
Full-text available
With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to...
Article
Full-text available
With the advent of agriculture 3.0 and 4.0, in view of efficient and sustainable use of resources, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gainin...
Article
Full-text available
Precision agriculture is considered to be a fundamental approach in pursuing a low-input, high-efficiency, and sustainable kind of agriculture when performing site-specific management practices. To achieve this objective, a reliable and updated description of the local status of crops is required. Remote sensing, and in particular satellite-based i...
Preprint
Full-text available
Precision agriculture is considered to be a fundamental approach in pursuing a low-input, high-efficiency, and sustainable kind of agriculture when performing site-specific management practices. To achieve this objective, a reliable and updated description of the local status of crops is required. Remote sensing, and in particular satellite-based i...
Preprint
Full-text available
Real-time apple detection in orchards is one of the most effective ways of estimating apple yields, which helps in managing apple supplies more effectively. Traditional detection methods used highly computational machine learning algorithms with intensive hardware set up, which are not suitable for infield real-time apple detection due to their wei...
Preprint
Full-text available
The increasing spatial and temporal resolution of globally available satellite images, such as provided by Sentinel-2, creates new possibilities for researchers to use freely available multi-spectral optical images, with decametric spatial resolution and more frequent revisits for remote sensing applications such as land cover and crop classificati...
Article
Full-text available
Real-time apple detection in orchards is one of the most effective ways of estimating apple yields, which helps in managing apple supplies more effectively. Traditional detection methods used highly computational machine learning algorithms with intensive hardware set up, which are not suitable for infield real-time apple detection due to their wei...
Chapter
Field machines play an important role in the management of agricultural environments. Increasing use of automated machines in precision agriculture has gained significant attention of farmers and industries to minimize human work load to perform tasks such as land preparation, seeding, fertilizing, plant health monitoring and harvesting. Path plann...
Article
Full-text available
Understanding the use of current land cover, along with monitoring change over time, is vital for agronomists and agricultural agencies responsible for land management. The increasing spatial and temporal resolution of globally available satellite images, such as provided by Sentinel-2, creates new possibilities for researchers to use freely availa...
Book
Full-text available
Advanced Thermoelectric Materials for Energy Harvesting Applications is a research-intensive textbook covering the fundamentals of thermoelectricity and the process of converting heat energy into electrical energy. It covers the design, implementation, and performance of existing and advanced thermoelectric materials. Chapters examine such topics a...
Article
Full-text available
In agriculture, remotely sensed data play a crucial role in providing valuable information on crop and soil status to perform effective management. Several spectral indices have proven to be valuable tools in describing crop spatial and temporal variability. In this paper, a detailed analysis and comparison of vineyard multispectral imagery, provid...
Article
Autonomous air drones, known as unmanned aerial vehicles (UAVs), often accomplish missions with real-time video streaming leveraging the available cellular network. Video streaming is a typical application with stringent quality of service (QoS) requirements, which are not always supported in the whole mission area. In this paper, we address the of...
Chapter
Nowadays, applications of ultrasonic proximity sensors are limited to a post-processing of the acquired signals with a pipeline of filters and threshold comparators. This article proposes two different and novel processing methodologies, based on machine learning algorithms, that outperform classical approaches. Indeed, noisy signals and presence o...