Embedded Intelligence and Robotics Systems
The research program is mainly focused on the technological issues related to intelligent systems and their ability to be distributed in an environment to solve complex problems. This central topic stems from the description of intelligent systems as products that use communication channels, electronics, microprocessors and software technologies to accomplish predefined tasks, e.g., control objectives given to an autonomous mechatronic system. Embedded systems are fundamental for intelligent products and can be considered as computing systems dedicated to special purposes. These systems will radically change the future through new products as well as sophisticated product development, a trend that has just been started. Indeed, a lot of people don't realize that the embedded computer is by far the most common form of computer in use today; the most common consumer products, such as vacuum cleaners, washing machines or lawn mowers, use more or less complex embedded systems. Our city streets, homes and working places are supplied with embedded systems in order to control and regulate lighting, comfort and different security and safety appliances. There are two important aspects of embedded computers in real life: the necessity of robust and dedicated electronics and the increasing need for communication links between each embedded system. Dedicated electronics is in demand since embedded systems are frequently used in harsh environment and add substantial value to products. Indeed, within the next five years, the share of embedded systems is expected to increase substantially in the automotive, industrial automation, telecommunications, consumer electronics and health/medical equipment sectors. Moreover, the value added to the final product by embedded technologies and software is much higher than the cost of the device itself. For example, in case of a modern car, by 2010 over 35% of its value will be due to embedded electronics. And it is even more so for other appliances, where each computing or sensing system may be regarded as a wireless network node that participates in achieving a global goal.
In this embedded distributed framework, our research activities include: distributed algorithms, to develop lightweight distributed applications to adapt to time-varying and heterogeneous environments and to correctly collect and fuse information gathered from different sources; general methodologies, for system level architectures, paradigms and methodologies design in order to implement resource intensive algorithms; modelling for the development of power aware devices and protocol design. Another area of research investigates measurements (to devise new types of sensing techniques for physical quantities and emphasize low power and heterogeneous sensors integration and fusion), and microsensors and MEMS, for highly integrated network nodes. Finally, our researchers also study prototyping for performance assessment using system-prototyping based on resource-constrained platforms.
Publications
28 publications for 9 currently enrolled students
Advanced techniques for SPAD-based CMOS d-ToF systems
Histogram-Less LiDAR Through SPAD Response Linearization
Tontini, Alessandro; Mazzucchi, Sonia; Passerone, Roberto; Broseghini, Nicolò; Gasparini, Leonardo
in IEEE SENSORS JOURNAL, v. 24, n. 4 (2024), p. 4656-4669. - Publication URL . - DOI: 10.1109/JSEN.2023.3342609
Architectural Exploration and Design for Ultra-Reliable Low-Latency Indoor Robotics Systems
Shah, Ayub; Passerone, Roberto
in IEEE 21st Consumer Communications & Networking Conference, CCNC, USA: IEEE, 2024. Proceedings of: IEEE CCNC, Las Vegas, Nevada, USA, 6-9, January, 2024. - Publication URL . - DOI: 10.1109/CCNC51664.2024.10454762
CryptojackingTrap: An Evasion Resilient Nature-Inspired Algorithm to Detect Cryptojacking Malware
Chahoki, Atefeh Zareh; Shahriari, Hamid Reza; Roveri, Marco
in IEEE TRANSACTIONS ON INFORMATION FORENSICS AND SECURITY, v. 2024, (2024). - DOI: 10.1109/TIFS.2024.3353072
Toward Simulation-Assisted Architecture Design Space Exploration of Indoor Robotics Networks
Bianchi, Cristian; Shah, Ayub; Marangoni, Chiara; Passerone, Roberto
in IEEE 20th International Conference on Factory Communication Systems, (WFCS), IEEE: IEEE, 2024. Proceedings of: WFCS, Toulouse, France, April 17–19 2024. - Publication URL
Perception-Aware Trajectory Planning for a Pair of Unicycle-Like Robots With Absolute and Relative Ranging Measurements
Riz, Francesco; Palopoli, Luigi; Fontanelli, Daniele
in IEEE CONTROL SYSTEMS LETTERS, v. 7, (2023), p. 1530-1535. - Publication URL . - DOI: 10.1109/LCSYS.2023.3274448
Humanising robot-assisted navigation
Falqueto, Placido; Antonucci, Alessandro; Palopoli, Luigi; Fontanelli, Daniele
in INTELLIGENT SERVICE ROBOTICS, v. 2023, (2023). - Publication URL . - DOI: 10.1007/s11370-023-00495-1
When graphs meet game theory: A scalable approach for robotic car racing
Tikna, A.; Roveri, M.; Fontanelli, D.; Palopoli, L.
in Proceedings - International Computer Software and Applications Conference, 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA: IEEE Computer Society, 2023, p. 1-8. - ISBN: 979-8-3503-2697-0. Proceedings of: 47th IEEE Annual Computers, Software, and Applications Conference, COMPSAC 2023, ita, 2023. - DOI: 10.1109/COMPSAC57700.2023.00011
Multi-agent open framework: Developing a holistic system to solve MAPF (student abstract)
Saccon, E.
in Sixteenth International Symposium on Combinatorial Search, Washington, DC, USA: The AAAI Press, 2023, p. 198-199. Proceedings of: SOcS23, Praha, 14 July-16 July 2023. - DOI: 10.1609/socs.v16i1.27312
Why Three Measurements are not Enough for Trilateration-based Localisation
Riz, Francesco; Palopoli, Luigi; Fontanelli, Daniele
in I2MTC 2023: International Instrumentation and Measurement Technology Conference Proceedings, Piscataway, NJ, USA: IEEE, 2023. - (CONFERENCE PROCEEDINGS - IEEE INSTRUMENTATION/MEASUREMENT TECHNOLOGY CONFERENCE). - ISBN: 978-1-6654-5383-7. Proceedings of: I2MTC 2023, Kuala Lumpur, Malaysia, 22nd May-25th May 2023. - Publication URL . - DOI: 10.1109/I2MTC53148.2023.10176002
A SPAD-based linear sensor with in-pixel temporal pattern detection for interference and background rejection with smart readout scheme
Tontini, Alessandro; Gasparini, Leonardo; Passerone, Roberto
in Proceedings of the 2023 International Image Sensor Workshop, United Kingdom: International Image Sensor Society, 2023. Proceedings of: IISW, Crieff, Scotland, UK, 21-25 May 2023
Comparing Multi-Agent Path Finding Algorithms in a Real Industrial Scenario
Saccon, Enrico; Palopoli, Luigi; Roveri, Marco
in AIxIA 2022 – Advances in Artificial Intelligence, Cham: Springer, 2023, p. 184-197. - (LECTURE NOTES IN COMPUTER SCIENCE). - ISBN: 978-3-031-27180-9. Proceedings of: AIxIA 2022, Udine, 28th November-2nd December 2022. - DOI: 10.1007/978-3-031-27181-6_13
Comparison of background-rejection techniques for SPAD-based LiDAR}systems
Tontini, Alessandro; Gasparini, Leonardo; Manuzzato, Enrico; Perenzoni, Matteo; Passerone, Roberto
in Proceedings of the 17th International Conference on PhD Research in Microelectronics and Electronics, Piscataway, NJ: IEEE, 2022. Proceedings of: International Conference on PhD Research in Microelectronics and Electronics, Villasimius, Sardinia, Italy, 12th June-15th June 2022
Comparative evaluation of background-rejection techniques for SPAD-based LiDAR systems
Tontini, Alessandro; Gasparini, Leonardo; Manuzzato, Enrico; Perenzoni, Matteo; Passerone, Roberto
in INTEGRATION, v. 2022, 90, (2022)
On Local/Global Constructibility for Mobile Robots Using Bounded Range Measurements
Riz, Francesco; Palopoli, Luigi; Fontanelli, Daniele
in IEEE CONTROL SYSTEMS LETTERS, v. 6, (2022), p. 3038-3043. - Publication URL . - DOI: 10.1109/LCSYS.2022.3181787
Towards low cost monolithic QRNGs
Massari, N; Zou, Y; Garcia, Mm; Parmesan, L; Tontini, A; Mazzucchi, S; Leone, N; Azzini, S; Pavesi, L; Herrmann, I; Strohm, T
in Quantum Technologies 2022, 1000 20TH ST, PO BOX 10, BELLINGHAM, WA 98227-0010 USA: SPIE-INT SOC OPTICAL ENGINEERING, 2022, p. 20. - (PROCEEDINGS OF SPIE, THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING). - ISBN: 9781510651425. Proceedings of: SPIE Photonics Europe, Strasbourg, 3-7/04/2022. - DOI: 10.1117/12.2621617
Solving nonlinear algebraic loops arising in input-saturated feedbacks
Blanchini, F.; Giordano, G.; Riz, F.; Zaccarian, L.
in IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v. 2022, (2022), p. 1-15. - Publication URL . - DOI: 10.1109/TAC.2022.3170858
Migration-Aware Optimized Resource Allocation in B5G Edge Networks
Prastowo, Tadeus; Shah, Ayub; Palopoli, Luigi; Passerone, Roberto; Piro, Giuseppe
in Proceedings of the IEEE Consumer Communications & NetworkingConference, Piscataway, NJ, USA: IEEE, 2022. Proceedings of: IEEE Consumer Communications & Networking Conference, Las Vegas, NV, 8-11 January 2022
A monolithic SPAD-based random number generator for cryptographic application
Massari, Nicola; Tontini, Alessandro; Parmesan, Luca; Perenzoni, Matteo; Gruijć, Miloš; Verbauwhede, Ingrid; Strohm, Thomas; Oshinubi, Dayo; Herrmann, Ingo; Brenneis, Andreas
in ESSCIRC 2022- IEEE 48th European Solid State Circuits Conference (ESSCIRC), 345 E 47TH ST, NEW YORK, NY 10017 USA: IEEE, 2022, p. 73-76. - ISBN: 978-1-6654-8494-7. Proceedings of: ESSCIRC, Milano, 19-22 Settembre 2022. - DOI: 10.1109/ESSCIRC55480.2022.9911498
A 64x64-Pixel Flash LiDAR SPAD Imager with Distributed Pixel-to-Pixel Correlation for Background Rejection, Tunable Automatic Pixel Sensitivity and First-Last Event Detection Strategies for Space Applications
Manuzzato, Enrico; Tontini, Alessandro; Seljak, Andrej; Perenzoni, Matteo
in 2022 IEEE International Solid-State Circuits Conference (ISSCC), San Francisco, CA, USA: IEEE, 2022. - ISBN: 978-1-6654-2800-2. Proceedings of: International Solid-State Circuits Conference, San Francisco, CA, USA, 20-26 Febbraio 2022. - DOI: 10.1109/ISSCC42614.2022.9731622
Robot motion planning: Can GPUs be a game changer?
Saccon, E.; Bevilacqua, P.; Fontanelli, D.; Frego, M.; Palopoli, L.; Passerone, R.
in Proceedings - 2021 IEEE 45th Annual Computers, Software, and Applications Conference, COMPSAC 2021, 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA: Institute of Electrical and Electronics Engineers Inc., 2021, p. 21-30. - ISBN: 978-1-6654-2463-9. Proceedings of: 45th IEEE Annual Computers, Software, and Applications Conference, COMPSAC 2021, esp, 12-16, July, 2021. - DOI: 10.1109/COMPSAC51774.2021.00015
Time-Inverted Kuramoto Dynamics for κ-Clustered Circle Coverage
Boldrer, M.; Riz, F.; Pasqualetti, F.; Palopoli, L.; Fontanelli, D.
in Proceedings of the IEEE Conference on Decision and Control, Piscataway, NJ USA: Institute of Electrical and Electronics Engineers Inc., 2021, p. 1205-1211. - (PROCEEDINGS OF THE ... IEEE CONFERENCE ON DECISION & CONTROL.). - ISBN: 978-1-6654-3659-5. Proceedings of: 60th IEEE Conference on Decision and Control, CDC 2021, usa, December 2021. - Publication URL . - DOI: 10.1109/CDC45484.2021.9683310
Resource Optimization in MEC-based B5G Networks for Indoor Robotics Environment
Prastowo, Tadeus; Shah, Ayub; Palopoli, Luigi; Passerone, Roberto
in Proceedings of the International Conference on Applications in Electronics Pervading Industry, Environment and Society, Amsterdam, Netherlands: Elsevier, 2021. Proceedings of: International Conference on Applications in Electronics Pervading Industry, Environment and Society, Pisa, italy, 21-22 September 2021
An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem
Frego, M.; Bevilacqua, P.; Saccon, E.; Palopoli, L.; Fontanelli, D.
in IEEE ROBOTICS AND AUTOMATION LETTERS, n.s., v. 5, n. 2 (2020), p. 2482-2489. - Publication URL . - DOI: 10.1109/LRA.2020.2972787
Numerical Model of SPAD-Based Direct Time-of-Flight Flash LIDAR CMOS Image Sensors
Tontini, Alessandro; Gasparini, Leonardo; Perenzoni, Matteo
in SENSORS, v. 20, n. 18 (2020). - DOI: 10.3390/s20185203
An optical chip for self-testing quantum random number generation
Leone, N.; Rusca, D.; Azzini, S.; Fontana, G.; Acerbi, F.; Gola, A.; Tontini, A.; Massari, N.; Zbinden, H.; Pavesi, L.
in APL PHOTONICS, v. 5, n. 10 (2020), p. 101301. - DOI: 10.1063/5.0022526
SPAD-Based Quantum Random Number Generator with an Nth-Order Rank Algorithm on FPGA
Tontini, A.; Gasparini, L.; Massari, N.; Passerone, R.
in IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS. II, EXPRESS BRIEFS, v. 2019, 66, n. 12 (2019), p. 2067-2071. - Publication URL . - DOI: 10.1109/TCSII.2019.2909013
Design and Characterization of a Low-Cost FPGA-Based TDC
Tontini, Alessandro; Gasparini, Leonardo; Pancheri, Lucio; Passerone, Roberto
in IEEE TRANSACTIONS ON NUCLEAR SCIENCE, v. 65, n. 2 (2018), p. 680-690. - Publication URL . - DOI: 10.1109/TNS.2018.2790703
Students
 | Falqueto, Placido | placido.falqueto [at] unitn.it | webpage |
 | Manuzzato, Enrico | enrico.manuzzato [at] unitn.it | webpage |
| Panjkovic, Stefan | stefan.panjkovic [at] unitn.it | webpage |
 | Riz, Francesco | francesco.riz [at] unitn.it | webpage |
 | Saccon, Enrico | enrico.saccon [at] unitn.it | webpage |
| Shah, Ayub | ayub.shah [at] unitn.it | webpage |
| Tikna, Ahmet | ahmet.tikna [at] unitn.it | webpage |
| Tontini, Alessandro | alessandro.tontini [at] unitn.it | webpage |
 | Zareh Chahoki, Atefeh | atefeh.zareh [at] unitn.it | webpage |