Foto del docente

Gianluca Palli

Full Professor

Department of Electrical, Electronic, and Information Engineering "Guglielmo Marconi"

Academic discipline: ING-INF/04 Systems and Control Engineering

Director of First Cycle Degree in Mechatronics


Dissertation topics suggested by the teacher.

- Machine learning algorithms for robotic bimanual manipulation of deformable objects

This thesis is focused on the implementation of a robotic testbed for the development of machine learning algortihms devoted to the manipulation of deformable objects. The activity will be developed with the baxter dual-arm robot in the ROS environment.

- Design and implementation of Twisted String Acutation modules

- Virtual commissioning of automatic machines for packaging

- Standardization and implementation of a new HMI (Human Man Interface) for automatic CNC loaders, based on SIEMENS hardware and TIA Portal (Totally Integrated Automation SIEMENS) framework.

- Localization with Raw data from Laser

Currenlty the AGV's position is provided form the Sick NAV350 lasers. Objetive of the thesis is to develop an algorithm for the localization of the robot based on the laser scanner's raw data. The algorithm has to be implemented in a specific programming language and it will work with the current agv's architecture;

- Sensor fusion with 2 lasers

Objective of the thesis is to localize the robot by using two laser scanners. Each laser will provide information about position of the vehicle. The information must to be fused to obtain a more robust and reliable Agv's pose estimation;

- Traffic Coordination in Multi-AGV Systems

Developing of new strategies for coordinating AGVs to optimize the traffic in a warehouse. Topics:

Deadlocks avoidance strategies

Deadlocks solver

Traffic Prediction

Collision avoidance

- Advanced Anticollision

Analysis and developing a system for obstacle anti-collision. The project will be focused on set up and configuration of sensors and tools for avoiding the collisions with obstacles (protruding, moving, on the floor, etc.). Objective of the thesis is also to evaluate and compare of different sensors;

- Shape Profile Recognition

Analysis and developing of an application for identifying the shape of loading units. The application scenario is the identification of coils' shape. In particular, the system has to check if the coil is correctly wrapped and its shape complies with coil's requirements;

- 3D Map for natural navigation

Objective of the thesis is to analyze and to identify possible ways for building a 3D map of the environment. The map will be used for navigation, thus an algorithm to extrapolate useful information must be developed: first, 2D layer (2D map at specific height) can be extrapolated for navigation; second, useful 3d features has to be detected for 3d navigation;

- 3D Localization and Mapping

Developing algorithms for SLAM applications in industrial environments.

- Dynamic Home Positioning based on Traffic

Development of a method for identifying group of AGVs with respect to the congestion level in a specific area. This parameter will be used for setting up home positions in an automatic manner.

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