Carmelo Di Franco, PhD.
Post Doctoral Researcher at Scuola Superiore Sant'Anna.
Carmelo Di Franco Photo

email:

Address:

Via G. Moruzzi 1, 56124 Pisa (PI), Italy
Scuola Superiore Sant'Anna
TeCiP Institute (ReTiS Laboratory)

Telephone:

050 5492021

Short Bio

I am currently a Post Doctoral Researcher of the ReTiS Lab at the Scuola Superiore S.Anna, Pisa. In March 2017, I finished is Phd. in Emerging Digital Technologies, curriculum Embedded System at the ReTiS Lab of the Scuola Superiore S.Anna, Pisa, under the supervision of Professor Giorgio Buttazzo. From September 2015 I was a visiting PhD. Student for 6 months at the GRASP lab of University of Pennsylvania under the supervision of George J. Pappas.

Research topics:

My research focuses on Indoor Localization with RF rangings and RSSI and energy-aware path planning of mobile robots.

In my master thesis I developed an adaptive online channel estimator that exploits the information given by the Time of Flight technique to improve Received Signal Strength measurements. During my Ph.D., I continued the work on localization in different aspects: i) by improving the channel estimator with IMU information, ii) proposing a variant of the traditional on Multidimensional Scaling (MDS) capable of solving the ambiguities caused by translation, rotation, and flips at successive time instants, iii) designing a Calibration-free Network Localization algorithm with Non-Line-of-Sight Ultra-Wideband Measurements, and iv) deriving a mathematical formulation for MDS that includes the concept of anchors. In parallel, I was involved in a project called AVIAToR ( Autonomous Vehicles In AgriculTuRe) that aims at using fleets of drones to monitoring the growth of plants in farms and finding plant infections on time to prevent bad crops. Thanks to this project, after an initial stage in which I acquired practical skills with quadcopters, I proposed i) an Energy Aware Coverage path planning for UAVs ii) an energy model for predicting the cost of quadcopter trajectories that also consider the wind disturbances, and iii) offline and online safety mechanisms to guarantee the correct fulfillment of the missions. Despite my research focuses more on robotics, I also have a general knowledge about Real-time scheduling.

Projects

AVIATOR: is an innovative project, proposed by ReTiSLab and LandLAb of the Scuola Superiore S. Anna, that aims at using fleets of drones to monitoring the growth of plants in farms and finding plant infections on time to prevent bad crops. Using a team of cooperating drones that autonomously take off and inspects the entire field could drastically reduce the costs preventing extensive use of herbicides and reducing the manual effort of the farmer.

Click here to watch a short interview from a local TV about the project . utilization of drones in farms to inspect plants

Publications

Journals Pubblications

  1. Coverage Path Planning for UAVs Photogrammetry with Energy and Resolution Constraints. Carmelo Di Franco, Giorgio Buttazzo. Journal of Intelligent & Robotic Systems, 2016.
  2. Design and analysis of target-sensitive real-time systems. Giorgio Buttazzo, Carmelo Di Franco, Mauro Marinoni. Software: Practice and Experience, 2015.

Conference Pubblications

  1. Multidimensional Scaling with Anchors.Carmelo Di Franco, Enrico Bini, Mauro Marinoni, and Giorgio Buttazzo. Proceedings of the 17th International Conference on Autonomous Robot Systems and Competitions (ICARSC 2017). Coimbra (Portugal), 26-30 April, 2017.
  2. Calibration-free Network Localization using Non-Line-Of-Sight Ultra-wideband Measurements.Carmelo Di Franco, Amanda Prorok, Nikolay Atanasov, Benjamin Kempke, Prabal Dutta, Vijay Kumar, and George Pappas. The 16th ACM/IEE international Conference on Information and Processing om Sensor Networks, Pittsburg, Pennsylvania, USA, April 18-21, 2017.
  3. Solving Ambiguities in MDS Relative Localization.Carmelo Di Franco, Alessandra Melani and Mauro Marinoni. Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015). Istanbul (Turkey), 27-31 July, 2015.[BibTeX].
    Best Paper Award Candidate
  4. Energy-aware Coverage Path Planning of UAVs. Carmelo Di Franco and Giorgio Buttazzo. Proceedings of the International Conference on Autonomous Robot Systems and Competitions (ICARSC 2015), Villa Real, April 8- 12, 2015 [PDF] [BibTeX].
  5. Data Fusion for Relative Localization of Wireless Mobile Nodes. Carmelo Di Franco, Gianluca Franchino, and Mauro Marinoni. Proceedings of the 9th International Symposium on Industrial Embedded Systems (SIES 2014), Pisa, June 18- 20, 2014 [PDF] [BibTeX].
    Best Paper Award Candidate
  6. Fusing Time-of-Flight and Received Signal Strength for Adaptive Radio-Frequency Ranging. Luis Oliveira, Carmelo Di Franco, Traian E. Abrudan,and Luis Almeida. Proceedings of the 16th International Conference on Advanced Robotics (ICAR 2013), Montevideo, Uruguay, November 25- 29, 2013 [PDF] [BibTeX].
  7. Target-sensitive systems: Analysis and Implementation Issues. Giorgio Buttazzo, Carmelo Di Franco, and Mauro Marinoni. Proceedings of the 17th IEEE Conference on Emerging Technologies and Factory Automation (ETFA 2012), Cracow, Poland, September 17-21, 2012.[PDF] [BibTeX].

Posters

  1. RF-based Ranging for Mobile Robots: Using Time-of-Flight and RSSI for Channel Estimation. Luis Oliveira, Carmelo Di Franco, Traian E. Abrudan, and Luis Almeida. WiP at 2nd PhD. Studends conference in electrical and computer engineering (StudECE 2013) - Oporto, Portugal, June 2013