Recent Selected publications of Luca Iocchi


Complete list of publications ordered by year. See also DBLP or Google Scholar.



Cognitive Robotics & Planning

Improving Search and Rescue Using Contextual Information.
D. Calisi, L. Iocchi, D. Nardi, G. Randelli, and V.A. Ziparo.
In Advanced Robotics, 23 (9). 2009. pp. 1199--1216.
DOI

Context-based design of robotic systems.
D. Calisi, L. Iocchi, D. Nardi, C. M. Scalzo, and V. A. Ziparo.
Robotics and Autonomous Systems, 56 (11), 2008. pp. 992--1003. Final draft.

Reasoning about Actions with Sensing under Qualitative and Probabilistic Uncertainty.
Luca Iocchi, Thomas Lukasiewicz, Daniele Nardi and Riccardo Rosati.
ACM Transactions on Computational Logic (TOCL), 10(1), 2009.

Teamwork Design Based on Petri Net Plans.
P.F. Palamara, V.A. Ziparo, L. Iocchi, D. Nardi, and P. Lima. In RoboCup Symposium 2008 (CD-ROM Proceedings), 2008.

A Robotic Soccer Passing Task Using Petri Net Plans (Demo Paper)
P.F. Palamara, V.A. Ziparo, L. Iocchi, D. Nardi, P. Lima, and H. Costelha.
In Proc. of 7th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2008) . May, 2008. Best Robotic Demo Award.

PNP: A Formal Model for Representation and Execution of Multi-Robot Plans. 
V.A. Ziparo, L. Iocchi, D. Nardi, P.F. Palamara, and H. Costelha. In Proc. of 7th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2008). Estoril, Portugal. 2008.

Petri Net Plans
V. A. Ziparo, L. Iocchi
In Proc. of Fourth International Workshop on Modelling of Objects, Components, and Agents (MOCA'06), Turku, Finland, 2006.

Strong Cyclic Planning with Incomplete Information and Sensing
L. Iocchi, D. Nardi, R. Rosati
In Proc. of 4th International Workshop on Planning and Scheduling for Space, Darmstadt, Germany, June 2004.

Generation and Execution of Partially Correct Plans in Dynamic Environments
A. Farinelli, G. Grisetti, L. Iocchi, D. Nardi, R. Rosati
In Proc. of Third International Cognitive Robotics Workshop (COGROB'02) , Edmonton, Canada, 2002.

Planning with Sensing, Concurrency, and Exogenous Events: Logical Framework and Implementation
L. Iocchi, D. Nardi and R. Rosati
In Principles of Knowledge Representation and Reasoning: Proceedings of the 7th International Conference (KR2000), 2000.

A Theory and Implementation of Cognitive Mobile Robots
G. De Giacomo, L. Iocchi, D. Nardi and R. Rosati
Journal of Logic and Computation 9(5), pp. 759-785, 1999.

Design and Development of Cognitive Robots
Luca Iocchi
PhD Thesis, Dipartimento di Informatica e Sistemistica, Università di Roma "La Sapienza". 1999.

Planning with Sensing for a Mobile Robot
G. De Giacomo, L. Iocchi, D. Nardi, R. Rosati.
In Proceedings of the Fourth European Conference on Planning (ECP'97), Toulouse, France. 1997.

Moving a Robot: the KR&R Approach at Work
G. De Giacomo, L. Iocchi, D. Nardi, R. Rosati.
In Proceedings of the 5th International Conference on Principles of Knowledge Representation and Reasoning (KR'96), pages 198--209. Morgan Kaufmann, 1996.


Robotics Localization & Navigation

A Comparative Analysis of Particle Filter based Localization Methods
L. Marchetti, G. Grisetti, L. Iocchi
In Proc. of RoboCup Symposium, 2006.

Scan Matching in the Hough Domain
A. Censi, L. Iocchi, G. Grisetti
In Proc. of Intern. Conference on Robotics and Automation (ICRA'05), 2005.

Autonomous Navigation and Exploration in a Rescue Environment
D. Calisi, A. Farinelli, L. Iocchi, D. Nardi
In Proc. of European Conference on Mobile Robots (ECMR'05), 2005.

Planning trajectories in dynamic environments using a gradient method
A. Farinelli, L. Iocchi
In Proc. of RoboCup Symposium, 2003.

Hough Localization for Mobile Robots in Polygonal Environments
Luca Iocchi, Daniele Nardi
Robotics and Autonomous Systems, 40, pp. 43-58, 2002.

Global Hough Localization for Mobile Robots in Polygonal Environments
G. Grisetti, L. Iocchi, D. Nardi
In Proc. of International Conference on Robotics and Automation (ICRA'02), Vol. 1 pages 353-358. Washington DC, USA, 2002.

A Probabilistic Approach to Hough Localization
L. Iocchi, D. Mastrantuono, D. Nardi
In Proc. of International Conference on Robotics and Automation (ICRA'01), Seoul, Korea, 2001.

Self-Localization in the RoboCup Environment
L. Iocchi, D. Nardi.
In Proc. of 3rd International Workshop on RoboCup. Stockholm, Sweden, 1999.



Multi Robot Coordination


Multi-Robot Patrolling with Coordinated Behaviours in Realistic Environments.
L. Iocchi, L. Marchetti, and D. Nardi.
In Proc. of the Intern. Conf. on Intelligent Robots and Systems (IROS), 2011.

Multi-Objective Multi-Robot Surveillance.
F. Delle Fave, S. Canu, L. Iocchi, D. Nardi, and V.A. Ziparo.
In Proc. of 4th Intern. Conf. on Autonomous Robots and Agents, 2009.

Assignment of Dynamically Perceived Tasks by Token Passing in Multi-Robot Systems
A. Farinelli, L. Iocchi, D. Nardi, V. A. Ziparo
Proceedings of the IEEE, Special issue on Multi-Robot Systems, 2006.

Task Assignment with dynamic perception and constrained tasks in a Multi-Robot System
A. Farinelli, L. Iocchi, D. Nardi, V. A. Ziparo
In Proc. of Intern. Conference on Robotics and Automation (ICRA'05), 2005.

Multi Robot Systems: A classification focused on coordination
A. Farinelli, L. Iocchi, D. Nardi
IEEE Transactions on System Man and Cybernetics, part B, pp. 2015-2028, 2004.


Distributed Coordination in Heterogeneous Multi-Robot Systems
L. Iocchi, D. Nardi, M. Piaggio, A. Sgorbissa
Autonomous Robots 15 (2), pp. 155-168, 2003.

Coordination in Dynamic Environments with Constraints on Resources
Alessandro Farinelli, Giorgio Grisetti, Luca Iocchi, Daniele Nardi
IROS Workshop on Cooperative Robotics, 2002.

Coordination in multi-agent RoboCup teams
C. Candea, H. Hu, L. Iocchi, D. Nardi, M. Piaggio
Robotics and Autonomous Systems, 36, pp. 67-86, 2001.

Reactivity and Deliberation: A Survey on Multi-Robot Systems
L. Iocchi, D. Nardi, M. Salerno
In Balancing Reactivity and Social Deliberation in Multi-Agent Systems (LNAI 2103) M. Hannebauer, J. Wendler, E. Pagello Eds. Springer, 2001.

Coordination among heterogenous robotic soccer players
C. Castelpietra, L. Iocchi, D. Nardi, M. Piaggio, A. Scalzo, A. Sgorbissa
In Proc. of International Conference on Intelligent Robots and Systems (IROS 2000), Vol. 2 pages 1385-1390, 2000.





Multi Agent System Evaluation

Design and evaluation of multi agent systems for rescue operations
A. Farinelli, G. Grisetti, L. Iocchi, S. Lo Cascio, D. Nardi
In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 4 pages 3138-3143, 2003.

RoboCup Rescue Simulation: Methodologies, Tools and Evaluation for Practical Applications
A. Farinelli, G. Grisetti, L. Iocchi, S. Lo Cascio, D. Nardi
In Proc. of RoboCup Symposium, 2003.

Monitoring and Information Fusion for Search and Rescue Operations in Large-Scale Disasters
F. D'Agostino, A. Farinelli, G. Grisetti, L. Iocchi, D. Nardi
In Proc. of 5th International Conference on Information Fusion, 672-679, 2002






Robotics Development, Simulation and Benchmarking

RoboCup@Home: Scientific Competition and Benchmarking for Domestic Service Robots.
T. Wisspeintner, T. van der Zant, L. Iocchi, S. Schiffer.
Interaction Studies, 10(3), 393--428, 2009.

OpenRDK: a modular framework for robotic software development.
D. Calisi, A. Censi, L. Iocchi, and D. Nardi.
In Proc. of Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1872--1877, 2008.



A 3D Simulator of Multiple Legged Robots based on USARSim
M. Zaratti, M. Fratarcangeli, L. Iocchi
In Proc. of RoboCup Symposium, 2006. Best paper award.

Design and implementation of modular software for programming mobile robots
A. Farinelli, G. Grisetti, L. Iocchi
International Journal of Advanced Robotic Systems, 3 (1), pp. 37-42, March 2006.






Robot Vision

Person Following through Appearance Models and Stereo Vision using a Mobile Robot
D. Calisi, L. Iocchi, G. R. Leone
In Proc.of International Workshop on Robot Vision, 2007.

Robust Color Segmentation through Adaptive Color Distribution Transformation
Luca Iocchi.
In Proc. of RoboCup Symposium, 2006.

Real-time detection of independent motion using stereo
Motilal Agrawal, Kurt Konolige and Luca Iocchi.
In Proc. of IEEE Workshop on Motion, 2005, Breckenridge, Colorado, USA.

Visually Realistic Mapping of a Planar Environment with Stereo
L. Iocchi, K. Konolige, M. Bajracharya
In Proc. of Seventh International Symposium on Experimental Robotics (ISER 2000), Hawaii 2000.

A Multiresolution Stereo Vision System for Mobile Robots
L. Iocchi, K. Konolige.
In AI*IA'98 Workshop on New Trends in Robotics. Padua, Italy 1998.



Stereo Vision and Tracking

Robotic, Sensory and Problem-Solving Ingredients for the Future Home.
A. Cesta, L. Iocchi, G. R. Leone, D. Nardi, F. Pecora, and R. Rasconi.
In Intelligent Environments: Methods, Algorithms and Applications, D. Monekosso and P. Remagnino and Y. Kuno (Eds.). Springer. 2009. pp. 67--87.

ARGOS - A Video Surveillance System for Boat Trafic Monitoring in Venice.
D. D. Bloisi and L. Iocchi.
In International Journal of Pattern Recognition and Artificial Intelligence. 2009. Draft.

A Novel Segmentation Method for Crowded Scenes.
D. D. Bloisi, L. Iocchi, D. N. Monekosso, and P. Remagnino.
In Proc. of 4th Int. Conf. on Computer Vision Theory and Applications (VISAPP), 2009.

Rek-means: A k-means based clustering algorithm.
D. D. Bloisi, L. Iocchi.
In  Computer Vision Systems, volume 5008 of  LNCS, pages 109--118.  Springer, 2008.

Human Posture Tracking and Classification through Stereo Vision and 3D Model Matching
Stefano Pellegrini, and Luca Iocchi 
EURASIP Journal on Image and Video Processing, Volume 2008.
Draft

A Distributed Vision System for Boat Traffic Monitoring in the Venice Grand Canal
D. Bloisi, L. Iocchi, G.R. Leone, R. Pigliacampo, L. Tombolini, L. Novelli
In Proc. of Intern. Conf. on Computer Vision Theory and Applicartions (VISAPP), 2007.

Real-Time People Localization and Tracking through Fixed Stereo Vision
S. Bahadori, L. Iocchi, G.R. Leone, D. Nardi, L. Scozzafava
Applied Intelligence, vol. 26. 2007. pp. 83--97. Draft


Integrating Plan-View Tracking and Color-Based Person Models for Multiple People Tracking
L. Iocchi, R. C. Bolles
In Proc. of IEEE International Conference on Image Processing (ICIP), 2005.

Towards Ambient Intelligence for the domestic care of the elderly.
S.Bahadori, A.Cesta, L.Iocchi, G.R.Leone, D.Nardi, F.Pecora, R.Rasconi and L.Scozzafava
In Ambient Intelligence: A Novel Paradigm P. Remagnino, G.L. Foresti, T. Ellis (Eds.), Springer, 2004.



Robot Learning

LearnPNP: A Tool for Learning Agent Behaviors.
M. Leonetti, L. Iocchi.
In RoboCup 2010: Robot Soccer World Cup XIV, 2010.

Improving the Performance of Complex Agent Plans Through Reinforcement Learning.
M. Leonetti, L. Iocchi.
In Proc. of 9th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS). 2010.

Policy Gradient Learning for a Humanoid Soccer Robot
A. Cherubini, F. Giannone, L. Iocchi, M. Lombardo, and G. Oriolo.
Robotics and Autonomous System, 2009.


Learning Biped Locomotion using Interleaved Simulated and Real Data.
Iocchi, L., Dalla Libera, F., Menegatti, E., Luca Iocchi, Fabio Dalla Libera, and Emanuele Menegatti. In Proc. of 2nd Workshop on Humanoid Soccer Robots. 2007.

An extended policy gradient algorithm for robot task learning
A. Cherubini, F. Giannone, L. Iocchi, and P.F. Palamara.
In Proc. of International Conference on Intelligent Robots and Systems (IROS). 2007.

Layered learning for a soccer legged robot helped with a 3D simulator
A. Cherubini, F. Giannone, and L. Iocchi. 
In Proceedings of 11th International Robocup Symposium, 2007



 

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