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Dario Floreano

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Publications associées (291)

Sharp turning maneuvers with avian-inspired wing and tail morphing

Dario Floreano, Enrico Ajanic, Mir Alikhan Bin Mohammad Feroskhan, Valentin Wüest

Flight in dense environments, such as forests and cities requires drones to perform sharp turns. Although fixed-wing drones are aerodynamically and energetically more efficient than multicopters, they require a comparatively larger area to turn and thus ar ...

2022

On the Scalability of Vision-based Drone Swarms in the Presence of Occlusions

Dario Floreano, Fabian Maximilian Schilling, Enrica Soria

Vision-based drone swarms have recently emerged as a promising alternative to address the fault-tolerance and flexibility limitations of centralized and communication-based aerial collective systems. Although most vision-based control algorithms rely on th ...

2022

How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Matthias Müller, Dario Floreano, Enrico Ajanic, William John Stewart

There is a growing interest in unmanned aerial vehicles (UAVs) grasping, perching, and interacting with their surroundings by means of claws, arms, hooks, and other appendages. While multirotor vehicles can slowly lower onto a target object and grasp it, w ...

2022

Robotic Avian Wing Explains Aerodynamic Advantages of Wing Folding and Stroke Tilting in Flapping Flight

Dario Floreano, Enrico Ajanic

Avian flapping strategies have the potential to revolutionize future drones as they may considerably improve agility, increase slow speed flight capability, and extend the aerodynamic performance. The study of live birds is time-consuming, laborious, and, ...

2022

Accurate Vision-based Flight with Fixed-Wing Drones

Dario Floreano, Enrico Ajanic, Valentin Wüest

Fixed-wing drones must navigate to the desired location accurately for maneuvers such as picking up objects and perching. However, current GNSS receivers limit their navigation accuracy to several meters in outdoor environments, making such maneuvers impos ...

2022

Towards edible drones for rescue missions: design and flight of nutritional wings

Dario Floreano, Jun Shintake, Bokeon Kwak

Drones have shown to be useful aerial vehicles for unmanned transport missions such as food and medical supply delivery. This can be leveraged to deliver life-saving nutrition and medicine for people in emergency situations. However, commercial drones can ...

IEEE2022

What we look for at Science Robotics

Dario Floreano

AMER ASSOC ADVANCEMENT SCIENCE2022

Arm-wrist haptic sleeve for drone teleoperation

Dario Floreano, Matteo Macchini, Vivek Ramachandran

Teleoperators rely on both visual and haptic feedback to perform drone teleoperation tasks, such as obstacle avoidance. Haptic feedback becomes essential when visual feedback is compromised, either due to visual occlusions or poor depth perception. However ...

2022

Autonomous Detection and Deterrence of Pigeons on Buildings by Drones

Dario Floreano, Fabrizio Schiano, Davide Zambrano, Dominik Natter

Pigeons may transmit diseases to humans and cause damages to buildings, monuments, and other infrastructure. Therefore, several control strategies have been developed, but they have been found to be either ineffective or harmful to animals and often depend ...

2022

Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

Dario Floreano, Yi Sun, Krishna Manaswi Digumarti, Omar Aloui, Hoang Vu Phan

Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Ou ...

IEEE2022

Distributed Predictive Drone Swarms in Cluttered Environments

Dario Floreano, Enrica Soria, Fabrizio Schiano

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...

2022

Reconfigurable Drone System for Transportation of Parcels With Variable Mass and Size

Dario Floreano, Przemyslaw Mariusz Kornatowski, Leonardo Cencetti, Fabrizio Schiano

Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. This lack of flexibility requires a fleet of diverse drones tailored to specific cargo dimensions. Here we propose a new reconfigurable drone based on a modular design th ...

2022

A Lightweight Device for Energy Harvesting from Power Lines with a Fixed-Wing UAV

Dario Floreano, William John Stewart

Modern UAVs (Unmanned Aerial Vehicles) suffer from restrictions in flight range and time due to battery capacity limitations. One way to overcome these limitations is to harvest energy from overhead power lines. A growing body of scientific literature has ...

IEEE2022

How to compete with robots by assessing job automation risks and resilient alternatives

Dario Floreano, Nicola Nosengo, Fabrizio Schiano, William John Stewart, Davide Zambrano, Antonio Paolillo, Rafael Lalive

The effects of robotics and artificial intelligence (AI) on the job market are matters of great social concern. Economists and technology experts are debating at what rate, and to what extent, technology could be used to replace humans in occupations, and ...

2022

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

Dario Floreano, Auke Ijspeert, Matthew Alfonso Estrada, William John Stewart, Won Dong Shin

Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on an invert ...

2022

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Dario Floreano, Charalampos Vourtsis, William John Stewart

Winged drones that fly in close proximity to obstacles or that are capable of aerial and terrestrial locomotion can benefit from protective systems that prevent damage to delicate aerial structures. Existing protective solutions focus on multi-copter drone ...

2021

Vision-based Drone Flocking in Outdoor Environments

Dario Floreano, Fabian Maximilian Schilling, Fabrizio Schiano

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm that enables gr ...

2021

Seeking Quality Diversity in Evolutionary Co-design of Morphology and Control of Soft Tensegrity Modular Robots

Dario Floreano, Giovanni Iacca, Davide Zappetti, Davide Zambrano

Designing optimal soft modular robots is difficult, due to non-trivial interactions between morphology and controller. Evolutionary algorithms (EAs), combined with physical simulators, represent a valid tool to overcome this issue. In this work, we investi ...

Association for Computing Machinery2021

Predictive control of aerial swarms in cluttered environments

Dario Floreano, Enrica Soria, Fabrizio Schiano

Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with potential fields. Despite their explanatory suc ...

2021

Personalized Human-Swarm Interaction Through Hand Motion

Dario Floreano, Matteo Macchini, Fabrizio Schiano

The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being teleoperated by human ...

2021

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