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Dario Floreano

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Publications associées (291)

Insect Inspired Self-Righting for Fixed-Wing Drones

Dario Floreano, Victor Casas Rochel, Charalampos Vourtsis, William John Stewart

Micro Aerial Vehicles (MAVs) are being used in a wide range of applications such as surveillance, reconnaissance, inspection, and search and rescue. However, due to their size and mission profiles, they are prone to tipping over, jeopardizing their operati ...

2021

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Dario Floreano, Matteo Macchini, Manana Lortkipanidze, Fabrizio Schiano

The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising alternative to standard c ...

2021

Passive Perching with Energy Storage for Winged Aerial Robots

Dario Floreano, Yegor Piskarev, William John Stewart, Luca Guarino

Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic e ...

2021

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

Dario Floreano, Fabian Maximilian Schilling, Valentin Wüest, Koji Minoda

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to quantitatively eval ...

2021

Does spontaneous motion lead to intuitive Body-Machine Interfaces? A fitness study of different body segments for wearable telerobotics

Dario Floreano, Matteo Macchini, Fabrizio Schiano

Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans’ natural control capability over the ...

2021

Smart Textiles that Teach: Fabric‐Based Haptic Device Improves the Rate of Motor Learning

Dario Floreano, Amy Roning Wu, Vivek Ramachandran, Fabian Maximilian Schilling

People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure post-training skill ...

2021

Conditions for the emergence of circumnutations in plant roots

Dario Floreano, Ilya Loshchilov

The plant root system shows remarkably complex behaviors driven by environmental cues and internal dynamics, whose interplay remains largely unknown. A notable example is circumnutation growth movements, which are growth oscillations from side to side of t ...

2021

Tracking and Relative Localization of Drone Swarms With a Vision-Based Headset

Dario Floreano, Giuseppe Loianno, Maxim Pavliv, Fabrizio Schiano

We address the detection, tracking, and relative localization of the agents of a drone swarm from a human perspective using a headset equipped with a single camera and an Inertial Measurement Unit (IMU). We train and deploy a deep neural network detector o ...

2021

SwarmLab: a MATLAB Drone Swarm Simulator

Dario Floreano, Enrica Soria, Fabrizio Schiano

Among the available solutions for drone swarm simulations, we identified a lack of simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis. Moreover, users who want to dive in the research field of drone swa ...

2020

Downside Up:Rethinking Parcel Position for Aerial Delivery

Dario Floreano, Przemyslaw Mariusz Kornatowski, Mir Alikhan Bin Mohammad Feroskhan, William John Stewart

The conventional approach to parcel placement in most delivery drone designs today is to place the parcel centrally beneath the drone's rotor plane. However, if the parcel is too large, this will result in an obstruction of the propeller slipstream, incurr ...

2020

A Morphing Cargo Drone for Safe Flight in Proximity of Humans

Dario Floreano, Przemyslaw Mariusz Kornatowski, Mir Alikhan Bin Mohammad Feroskhan, William John Stewart

Delivery drones used by logistics companies today are equipped with unshielded propellers, which represent a major hurdle for in-hand parcel delivery. The exposed propeller blades are hazardous to unsuspecting bystanders, pets, and untrained users. One sol ...

2020

Hand-worn Haptic Interface for Drone Teleoperation

Dario Floreano, Antoine Weber, Matteo Macchini, Fabrizio Schiano

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...

2020

Variable-stiffness tensegrity spine

Dario Floreano, Roc Arandes Vilagrasa, Davide Zappetti, Enrico Ajanic

Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, ...

2020

Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators

Dario Floreano, Jun Shintake, Vivek Ramachandran, Yegor Piskarev, Michael Dickey

The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their envi ...

2020

Drone-aided Localization in LoRa IoT Networks

Dario Floreano, Alexandru Rusu, Giuseppe Cocco, Fabrizio Schiano

Besides being part of the Internet of Things (IoT), drones can play a relevant role in it as enablers. The 3D mobility of UAVs can be exploited to improve node localization in IoT networks for, e.g., search and rescue or goods localization and tracking. On ...

IEEE2020

UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Dario Floreano, Fabrizio Schiano

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely. Motion ca ...

2020

Design Optimization of Soft Robots

Dario Floreano

2020

Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures

Dario Floreano, Jun Shintake, Davide Zappetti

Soft robots leverage deformable bodies to achieve different types of locomotion, improve transportability, and safely navigate cluttered environments. In this context, variable-stiffness structures provide soft robots with additional properties, such as th ...

2020

Bioinspired wing and tail morphing extends drone flight capabilities

Dario Floreano, Flavio Noca, Stefano Mintchev, Enrico Ajanic, Mir Alikhan Bin Mohammad Feroskhan

The aerodynamic designs of winged drones are optimized for specific flight regimes. Large lifting surfaces provide maneuverability and agility but result in larger power consumption, and thus lower range, when flying fast compared with small lifting surfac ...

2020

Stretchable electrohydrodynamic pump

Dario Floreano, Herbert Shea, Jun Shintake, Vito Cacucciolo

A stretchable pump for providing electrohydrodynamic pumping of a ionisable fluid, said soft pump comprising a stretchable polymeric structure comprising at least one elongated channel, therein; and a first set of at least two electrodes operatively dispos ...

2020

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