@article {sturari2017integrating,
	title = {Integrating elevation data and multispectral high-resolution images for an improved hybrid Land Use/Land Cover mapping},
	journal = {European Journal of Remote Sensing},
	volume = {50},
	number = {1},
	year = {2017},
	pages = {1{\textendash}17},
	publisher = {Taylor \& Francis},
	author = {Mirco Sturari and Emanuele Frontoni and Roberto Pierdicca and Adriano Mancini and Eva Savina Malinverni and Anna Nora Tassetti and Primo Zingaretti}
}
@inbook {Liciotti2017,
	title = {An Intelligent RGB-D Video System for Bus Passenger Counting},
	booktitle = {Intelligent Autonomous Systems 14: Proceedings of the 14th International Conference IAS-14},
	year = {2017},
	pages = {473{\textendash}484},
	publisher = {Springer International Publishing},
	organization = {Springer International Publishing},
	address = {Cham},
	isbn = {978-3-319-48036-7},
	doi = {10.1007/978-3-319-48036-7_34},
	url = {http://dx.doi.org/10.1007/978-3-319-48036-7_34},
	author = {Daniele Liciotti and Annalisa Cenci and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti},
	editor = {Chen, Weidong and Hosoda, Koh and Menegatti, Emanuele and Shimizu, Masahiro and Wang, Hesheng}
}
@article {paolanti2017modelling,
	title = {Modelling and Forecasting Customer Navigation in Intelligent Retail Environments},
	journal = {Journal of Intelligent \& Robotic Systems},
	year = {2017},
	month = {10},
	pages = {1{\textendash}16},
	abstract = {<p>Understanding shopper behaviour is one of the keys to success for retailers. In particular, it is necessary that managers know which retail attributes are important to which shoppers and their main goal is to improve the consumer shopping experience. In this work, we present sCREEN (Consumer REtail ExperieNce), an intelligent mechatronic system for indoor navigation assistance in retail environments that minimizes the need for active tagging and does not require metrics maps. The tracking system is based on Ultra-wideband technology. The digital devices are installed in the shopping carts and baskets and sCREEN allows modelling and forecasting customer navigation in retail environments. This paper contributes the design of an intelligent mechatronic system with the use of a novel Hidden Markov Models (HMMs) for the representation of shoppers{\textquoteright} shelf/category attraction and usual retail scenarios such as product out of stock or changes on store layout. Observations are viewed as a perceived intelligent system performance. By forecasting consumers next shelf/category attraction, the system can present the item location information to the consumer, including a walking route map to a location of the product in the retail store, and/or the number of an aisle in which the product is located. Effective and efficient design processes for mechatronic systems are a prerequisite for competitiveness in an intelligent retail environment. Experiments are performed in a real retail environment that is a German supermarket, during business hours. A dataset, with consumers trajectories, timestamps and the corresponding ground truth for training as well as evaluating the HMM, have been built and made publicly available. The results in terms of Precision, Recall and F1-score demonstrate the effectiveness and suitability of our approach, with a precision value that exceeds the 76\% in all test cases.</p>
},
	issn = {0921-0296},
	doi = {10.1007/s10846-017-0674-7},
	url = {https://doi.org/10.1007/s10846-017-0674-7},
	author = {Marina Paolanti and Daniele Liciotti and R. Pietrini and Adriano Mancini and Emanuele Frontoni}
}
@inbook {liciotti2017person,
	title = {Person Re-identification Dataset with RGB-D Camera in a Top-View Configuration},
	booktitle = {Video Analytics. Face and Facial Expression Recognition and Audience Measurement},
	volume = {1},
	year = {2017},
	author = {Daniele Liciotti and Marina Paolanti and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@inbook {liciotti2017pervasive,
	title = {Pervasive System for Consumer Behaviour Analysis in Retail Environments},
	booktitle = {Video Analytics. Face and Facial Expression Recognition and Audience Measurement},
	volume = {2},
	year = {2017},
	author = {Daniele Liciotti and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {luchetti2017whistland,
	title = {Whistland: An Augmented Reality Crowd-Mapping System for Civil Protection and Emergency Management},
	journal = {ISPRS International Journal of Geo-Information},
	volume = {6},
	number = {2},
	year = {2017},
	pages = {41},
	publisher = {Multidisciplinary Digital Publishing Institute},
	author = {Luchetti, Gioele and Adriano Mancini and Mirco Sturari and Emanuele Frontoni and Primo Zingaretti}
}
@conference {Paolanti2016,
	title = {Accurate modeling of the microwave treatment in reverberating chamber. sanitation of agro food material},
	booktitle = {Mediterranean Microwave Symposium},
	volume = {2016-January},
	year = {2016},
	note = {cited By 0; Conference of 15th IEEE Mediterranean Microwave Symposium, MMS 2015 ; Conference Date: 30 November 2015 Through 2 December 2015; Conference Code:119001},
	publisher = {IEEE Computer Society},
	organization = {IEEE Computer Society},
	abstract = {The microwave heating is useful for drying of foodstuff, disinfestation of works of art, phitosanitary treatment and disinfection of packaging according to current international guidelines. The computer simulation allows predicting and monitoring the heating process. The microwave treatment can nevertheless present some problems such as the presence of highly heated areas (hot spots) or areas with poor radiation due to particular shapes. Simulation of complex systems has evolved into a research discovery tool: such models and simulations, drawing upon the dramatic scale up of computational power and associated architectures and algorithmic innovation, can address complex systems with many degrees of freedom and with multiple length and time scales of interest. Using specific programs, the distribution of heating power in objects to be treated, even if complex shapes, can be predicted so as to be able to define the possibility, the time necessary to the processing, the power to be transmitted in the chamber and any repair or protection to cover the most sensitive areas. It can also predict the behavior of irradiation in the presence of other entities such as nails or pests. In order to perform simulation, important data are the geometry of the object or objects in the case of multiple loading and their dielectric characteristics. As a result we obtain the distribution of heating power. {\textcopyright} 2015 IEEE.},
	keywords = {Computational power, Degrees of freedom (mechanics), Dielectric characteristics, Electromagnetic heating, Electromagnetics, Heating, Microwave heating, Microwave ovens, Microwave treatment, Microwaves, Rail-to-rail input, Reverberating chamber, Shape, Temperature measurement},
	isbn = {9781467376020},
	issn = {21579822},
	doi = {10.1109/MMS.2015.7375447},
	url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84962766321\&partnerID=40\&md5=baeea86f228c70b1b41ce30e1d94e5a3},
	author = {Marina Paolanti and Bacchiani, R.a and Emanuele Frontoni and Adriano Mancini and De Leo, R.a and Primo Zingaretti and Bisceglia, B.b}
}
@conference {frontoni2016analysing,
	title = {Analysing human movements at mass events: A novel mobile-based management system based on active beacons and AVM},
	booktitle = {Control and Automation (MED), 2016 24th Mediterranean Conference on},
	year = {2016},
	pages = {605{\textendash}610},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Emanuele Frontoni and Adriano Mancini and Roberto Pierdicca and Mirco Sturari and Primo Zingaretti}
}
@conference {Paolanti2016,
	title = {Exposure protocol setup for agro food treatment. Method and system for developing an application for heating in reverberation chamber},
	booktitle = {Mediterranean Microwave Symposium},
	volume = {2016-January},
	year = {2016},
	note = {cited By 0; Conference of 15th IEEE Mediterranean Microwave Symposium, MMS 2015 ; Conference Date: 30 November 2015 Through 2 December 2015; Conference Code:119001},
	publisher = {IEEE Computer Society},
	organization = {IEEE Computer Society},
	abstract = {Reverberation chambers are an important tool in various industrial applications: the microwave heating is useful for disinfestation of works of art, disinfection of packaging according to current international guidelines, drying of foodstuff, phitosanitary treatment. We built an application that simulates the heating of an object, assimilated to a sphere, in reverberation chamber. This application is useful for electromagnetic simulation and it is easy to use for inexperienced person in electromagnetic field. It is an user-friendly application featuring a rich graphical user interface. It can visualise the distribution of temperature in objects to be treated and it is possible to insert the power to be transmitted in the chamber. This application is built in COMSOL Multiphysics, an environment for various physics and engineering applications, especially coupled phenomena, or multiphysics. The packages are cross-platform (Windows, Mac, Linux) and they enable you to create accurate models in a very fast way. {\textcopyright} 2015 IEEE.},
	keywords = {Anechoic chambers, Computer operating systems, Comsol multiphysics, Distribution of temperature, Electromagnetic fields, Electromagnetic heating, Electromagnetic simulation, Electromagnetics, Engineering applications, Graphical user interfaces, Heat treatment, Heating, Microwave heating, Microwave theory and techniques, Microwaves, Reverberation, Reverberation chambers, User interfaces},
	isbn = {9781467376020},
	issn = {21579822},
	doi = {10.1109/MMS.2015.7375372},
	url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84962767504\&partnerID=40\&md5=9dfed9abd31c8c2fc9ca66541bb1e6a6},
	author = {Marina Paolanti and Pollini, R.a and Emanuele Frontoni and Adriano Mancini and De Leo, R.a and Primo Zingaretti and Bisceglia, B.b}
}
@conference {contigiani2016implementation,
	title = {Implementation of a tracking system based on UWB technology in a retail environment},
	booktitle = {Mechatronic and Embedded Systems and Applications (MESA), 2016 12th IEEE/ASME International Conference on},
	year = {2016},
	pages = {1{\textendash}6},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Marco Contigiani and R. Pietrini and Adriano Mancini and Primo Zingaretti}
}
@conference {sturari2016integrated,
	title = {An integrated mobility system using real-time data for traffic simulation},
	booktitle = {Mechatronic and Embedded Systems and Applications (MESA), 2016 12th IEEE/ASME International Conference on},
	year = {2016},
	pages = {1{\textendash}6},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Mirco Sturari and Ludovico Catani and Adriano Mancini and Emanuele Frontoni}
}
@conference {mancini2016multi,
	title = {A multi/hyper-spectral imaging system for land use/land cover using unmanned aerial systems},
	booktitle = {Unmanned Aircraft Systems (ICUAS), 2016 International Conference on},
	year = {2016},
	pages = {1148{\textendash}1155},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti}
}
@article {Fulvio2016273,
	title = {Multi-Point Stereovision System for Contactless Dimensional Measurements},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	volume = {81},
	number = {2},
	year = {2016},
	note = {cited By 0},
	pages = {273-284},
	abstract = {<p>The paper focuses on the design of a fast and reliable multi-point vision-based measurement system able to be flexible, low cost and accurate for quality control in industrial robotics applications. The paper discusses a new method for integrating visual quality control in highly dynamic manufacturing lines, where products are added or removed from production. The structure of the vision-based measurement system is described. In particular, the stereo system is created by the movement of a single camera mounted on a six-axis manipulator. The visual software is structured in three phases: single camera and stereo calibration, addition of the visual inspection tasks for the object to be measured, stereo measurement. The feasibility of the proposed solution has been tested in a real industrial application with strong requirements on robot speed. The comparison of experimental results on a target with a simple and well-defined shape has shown that the proposed solution provides better results, in terms of accuracy and measurement speed, when compared to commercial libraries and RGBD vision systems. Besides, the robot motion policy adopted by the solution proposed here guarantees a continuous movement without the need for stop\&amp;go phases. {\textcopyright} 2015, Springer Science+Business Media Dordrecht.</p>
},
	doi = {10.1007/s10846-015-0249-4},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84955089994\&partnerID=40\&md5=9c4abfb9d88e7dff178bbd704c850bbb},
	author = {Fulvio, G.D. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Sturari2016,
	title = {Robust and affordable retail customer profiling by vision and radio beacon sensor fusion},
	journal = {Pattern Recognition Letters},
	year = {2016},
	pages = {-},
	abstract = {Abstract The development of reliable and precise indoor localization systems would considerably improve the ability to investigate shopper movements and behaviour inside retail environments. Previous approaches used either computer vision technologies or the analysis of signals emitted by communication devices (beacons). While computer vision approaches provide higher level of accuracy, beacons cover a wider operational area. In this paper, we propose a sensor fusion approach between active radio beacons and RGB-D cameras. This system, used in an intelligent retail environment where cameras are already installed for other purposes, allows an affordable environment set-up and a low operational costs for customer indoor localization and tracking. We adopted a Kalman filter to fuse localization data from radio signals emitted by beacons are used to track users{\textquoteright} mobile devices and RGB-D cameras used to refine position estimations. By combing coarse localization datasets from active beacons and RGB-D data from sparse cameras, we demonstrate that the indoor position estimation is strongly enhanced. The aim of this general framework is to provide retailers with useful information by analysing consumer activities inside the store. To prove the robustness of our approach, several tests were conducted into a real indoor showroom by analysing real customers behaviour with encouraging results.},
	issn = {0167-8655},
	doi = {http://dx.doi.org/10.1016/j.patrec.2016.02.010},
	url = {http://www.sciencedirect.com/science/article/pii/S016786551600057X},
	author = {Mirco Sturari and Daniele Liciotti and Roberto Pierdicca and Emanuele Frontoni and Adriano Mancini and Marco Contigiani and Primo Zingaretti}
}
@article {pierdicca2016smart,
	title = {Smart maintenance of riverbanks using a standard data layer and Augmented Reality},
	journal = {Computers \& Geosciences},
	volume = {95},
	year = {2016},
	pages = {67{\textendash}74},
	publisher = {Pergamon},
	author = {Roberto Pierdicca and Emanuele Frontoni and Primo Zingaretti and Adriano Mancini and Eva Savina Malinverni and Anna Nora Tassetti and Marcheggiani, Ernesto and Galli, Andrea}
}
@article {cocchioni2016visual,
	title = {Visual Based Landing for an Unmanned Quadrotor},
	journal = {Journal of Intelligent \& Robotic Systems},
	volume = {84},
	number = {1-4},
	year = {2016},
	pages = {511{\textendash}528},
	publisher = {Springer Netherlands},
	author = {Francesco Cocchioni and Emanuele Frontoni and Ippoliti, Gianluca and Sauro Longhi and Adriano Mancini and Primo Zingaretti}
}
@conference {paolanti2015automatic,
	title = {Automatic Classification for Anti Mixup Events in Advanced Manufacturing System},
	booktitle = {ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
	year = {2015},
	pages = {V009T07A061{\textendash}V009T07A061},
	publisher = {American Society of Mechanical Engineers},
	organization = {American Society of Mechanical Engineers},
	author = {Marina Paolanti and Emanuele Frontoni and Adriano Mancini and Roberto Pierdicca and Primo Zingaretti}
}
@article {Mancini2015,
	title = {Embedded Multisensor System for Safe Point-to-Point Navigation of Impaired Users},
	journal = {IEEE Transactions on Intelligent Transportation Systems},
	year = {2015},
	note = {cited By 0; Article in Press},
	doi = {10.1109/TITS.2015.2489261},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84946761743\&partnerID=40\&md5=239f3356a998bb85416f5e2f91c5d623},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti}
}
@article {Frontoni201521114,
	title = {Embedded vision sensor network for planogram maintenance in retail environments},
	journal = {Sensors (Switzerland)},
	volume = {15},
	number = {9},
	year = {2015},
	note = {cited By 0},
	pages = {21114-21133},
	doi = {10.3390/s150921114},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84940689195\&partnerID=40\&md5=a67474231cc9c9f78f87d71734c24a53},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Mancini2015534,
	title = {High-resolution mapping of river and estuary areas by using unmanned aerial and surface platforms},
	booktitle = {2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015},
	year = {2015},
	note = {cited By 0},
	pages = {534-542},
	doi = {10.1109/ICUAS.2015.7152333},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84941111909\&partnerID=40\&md5=994c13558511f25e91843621dde17a5c},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti and Sauro Longhi}
}
@conference {liciotti2015human,
	title = {Human activity analysis for in-home fall risk assessment},
	booktitle = {Communication Workshop (ICCW), 2015 IEEE International Conference on},
	year = {2015},
	pages = {284{\textendash}289},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Daniele Liciotti and Gionata Massi and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {pierdicca2015low,
	title = {Low cost embedded system for increasing retail environment intelligence},
	booktitle = {Multimedia \& Expo Workshops (ICMEW), 2015 IEEE International Conference on},
	year = {2015},
	pages = {1{\textendash}6},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Roberto Pierdicca and Daniele Liciotti and Marco Contigiani and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {cenci2015non,
	title = {Non-Contact Monitoring of Preterm Infants Using RGB-D Camera},
	booktitle = {ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
	year = {2015},
	pages = {V009T07A003{\textendash}V009T07A003},
	publisher = {American Society of Mechanical Engineers},
	organization = {American Society of Mechanical Engineers},
	author = {Annalisa Cenci and Daniele Liciotti and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Cocchioni2015,
	title = {Visual Based Landing for an Unmanned Quadrotor},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	year = {2015},
	note = {cited By 0; Article in Press},
	doi = {10.1007/s10846-015-0271-6},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84941686223\&partnerID=40\&md5=9ccfc812909e8a74b64d123902639160},
	author = {Francesco Cocchioni and Emanuele Frontoni and Ippoliti, G. and Sauro Longhi and Adriano Mancini and Primo Zingaretti}
}
@conference {Cocchioni2014418,
	title = {Autonomous navigation, landing and recharge of a quadrotor using artificial vision},
	booktitle = {2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings},
	year = {2014},
	note = {cited By 1},
	pages = {418-429},
	abstract = {In this paper a solution to UAV reduced endurance and autonomous flight is proposed. With a complete on-board solution, based on artificial vision, the developed system is able to autonomously take off, navigate and land, recharging its battery by using a dedicated landing platform, both in indoor and outdoor scenarios. The landing platform includes a passive centering system to correct the landing error of the UAV, with a novel design wich reduce cost and increase the safety (thanks to small and isolated electrical contacts) without invasive hardware changes on the drone. The developed vision algorithm provides a fast and accurate measurement of UAV position with respect to the landing platform using a visual target, but at the same time it is able to automatically switch to an estimation of position that is independent from the visual target. This aspect is used during navigation or when the tracking of the target fails, ensuring a continuous position measurement feed to the controllers. The developed control system manages all the different phases of a mission (motor turning on/off, take off, navigation, landing,...) with low control error, ensuring a landing over the landing platform with an error that is lower than 5cm for both x and y axis. The developed software in ROS environment is modular and provides input/output interfaces to receive command, or send data. {\textcopyright} 2014 IEEE.},
	doi = {10.1109/ICUAS.2014.6842282},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84904565097\&partnerID=40\&md5=04076148a6e9b80c9da87ee06d339603},
	author = {Francesco Cocchioni and Adriano Mancini and Sauro Longhi}
}
@article {Frontoni2014,
	title = {Feature group matching: A novel method to filter out incorrect local feature matchings},
	journal = {International Journal of Pattern Recognition and Artificial Intelligence},
	volume = {28},
	number = {5},
	year = {2014},
	note = {cited By 4},
	abstract = {The importance of finding correct correspondences between two images is the major aspect in problems such as appearance-based robot localization and content-based image retrieval. Local feature matching has become a commonly used method to compare images, despite being highly probable that at least some of the matchings/correspondences it detects are incorrect. In this paper, we describe a novel approach to local feature matching, named Feature Group Matching (FGM), to select stable features and obtain a more reliable similarity value between two images. The proposed technique is demonstrated to be translational, rotational and scaling invariant. Experimental evaluation was performed on large and heterogeneous datasets of images using SIFT and SURF, the actual state-of-the-art feature extractors. Results show that FGM avoids almost 95\% of incorrect matchings, reduces the visual aliasing (number of images considered similar) and increases both robotic localization and image retrieval accuracy on the average of 13\%. {\textcopyright} 2014 World Scientific Publishing Company.},
	doi = {10.1142/S0218001414500128},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84905462697\&partnerID=40\&md5=e778e6ea38958157d1df890fc014a6e6},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Marinelli2014,
	title = {GPU acceleration of feature extraction and matching algorithms},
	booktitle = {MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings},
	year = {2014},
	note = {cited By 0},
	abstract = {During the last years the applications of Computer Vision have increased greatly in many different contexts, owing to the availability of more and more powerful hardware. However, in some situations, the problem of algorithms with a high computational time still continues to limit their growth. One of the causes is that the progress from the point of view of software was much lower, despite very efficient algorithms have been discovered. This paper is focused on a way to accelerate some computer vision algorithms. In particular, they will be described and tested the benefits of running on a Graphical Processing Unit (GPU) the Feature Group Matching (FGM) algorithm, a novel approach to local feature matching to select stable features and obtain a more reliable similarity value between two images. Being FGM based on the state of the art algorithms Scale-Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), also the performances of these algorithms on a GPU implementation using the Compute Unified Device Architecture (CUDA) will be described.},
	doi = {10.1109/MESA.2014.6935620},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84911974006\&partnerID=40\&md5=662fc68375fbb7536a27d28f5e8987df},
	author = {M. Marinelli and Adriano Mancini and Primo Zingaretti}
}
@conference {Contigiani2014,
	title = {Indoor people localization and tracking using an energy harvesting smart floor},
	booktitle = {MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings},
	year = {2014},
	note = {cited By 0},
	abstract = {In the recent years, different kind of intelligent floors have been proposed but they are expensive and in many cases difficult to install and manage. In this paper, we previously describe the state of the art concerning smart floors designed to satisfy different applications and then we present an intelligent floor realized for localizing and tracking people in an indoor environment. The aim of this work is to propose an innovative smart floor based on an energy harvesting system able to allow the localization and analysis of the movement of the users in a specific space. The solution presented in this paper involves the use of capacitive sensors on a polymeric support to insert between solid wood and a wooden part of a floating parquet. The proposed system is part of HDOMO, an Ambient Assisted Living (AAL) project developing smart solutions for active aging. A detailed architecture of the smart floor is proposed together with a preliminary test phase.},
	doi = {10.1109/MESA.2014.6935623},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84911959515\&partnerID=40\&md5=e0736aa6e37701f6950aee45457ef457},
	author = {Marco Contigiani and Emanuele Frontoni and Adriano Mancini and A. Gatto}
}
@article {Frontoni2014255,
	title = {Information management for intelligent retail environment: The shelf detector system},
	journal = {Information (Switzerland)},
	volume = {5},
	number = {2},
	year = {2014},
	note = {cited By 3},
	pages = {255-271},
	abstract = {Shelf-out-of-stock is one of the leading motivations of technology innovation in the shelf of the future. The Shelf Detector project described in this paper aims to solve the problem of data knowledge in the shelf-out-of-stock problem. This paper is mainly focused on the information layer of the system and main novelties illustrated in this work are in the information field demonstrating the huge number of insights that can be derived from the use of such a tool able to gather data in real time from the store. The tool presented is the first being installed for a long time in a high number of stores and products, demonstrating the ability to gather data and extract interesting insights. This paper aims to demonstrate the feasibility and the scalability of our system in providing a high number of data and interesting insights for store and marketing teams. The cloud based architecture developed and tested in this project is a key feature of our system together with the ability to collect data from a distributed sensor network. {\textcopyright} 2014 by the authors.},
	doi = {10.3390/info5020255},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84902662564\&partnerID=40\&md5=53f917be9988ce992278dc033771abf7},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and Valerio Placidi}
}
@conference {Mancini2014,
	title = {Point to point navigation for people with mobility impairments},
	booktitle = {MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings},
	year = {2014},
	note = {cited By 0},
	abstract = {The wide availability of high resolution city maps has radically changed our life during the last years. In particular, the routing services offer the capability to plan a travel by taking into account different transportation modalities, e.g., by car, train, public transport, bike, foot. Actually these routing services are mainly oriented to the majority of end-users and does not take into account particular constraints. This paper introduces a novel framework to assist people with mobility impairments in point to point navigation. The proposed framework is based on the creation of a road graph with different levels of detail (LoD) that can be modified at run-time by users if an obstacle obstructs the pre-planned path. Sidewalks, crosswalks and dynamic obstacles are also considered during the planning due to their importance for the navigation of mobility-impaired users. The proposed framework is based on OpenStreetMap (OSM) to manage and model the road graph, OpenTripPlanner (OTP) to plan a dedicated path considering different constraints, and mobile platforms for real time navigation and obstacle detection.},
	doi = {10.1109/MESA.2014.6935622},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84911952948\&partnerID=40\&md5=a4464d155dc00c67ea2fbb6b0e214263},
	author = {Adriano Mancini and Primo Zingaretti}
}
@conference {Frontoni2014,
	title = {Real time out of shelf detection using embedded sensor network},
	booktitle = {MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings},
	year = {2014},
	note = {cited By 0},
	abstract = {Out-of-shelf problem is important to solve for retail store since the absence of products on the shelf can lead to a significant reduction of shoppers and a consequent drop on sales. For this purpose, it is necessary to study and to introduce approaches able to establish the lack of products on the shelves and thereby promptly ensuring their repositioning. In this context, the paper investigates the use of artificial intelligence techniques in detecting the out-of-shelf products. Particularly, having sales data, ordering info and product assortment of the store available, we study the development of low cost shelf detector that is based on wireless sensor network, and that can automatically discover out-of-shelf situations on a daily basis for all the stores of a retail chain. The use of an automatic method for detecting products that are not available on the shelf based on sales data would offer an accurate view of the shelf availability, both to retailers and to product suppliers. The tool presented is the first being installed for a long time in a high number of stores and products demonstrating the ability to gather data from there and extract interesting insights. This paper aims to present the hardware infrastructure of an embedded sensor network devoted to real time shelf out-of-stock management and to demonstrate the feasibility and the scalability of the system in providing a lot of data and interesting insights for store team and brand{\textquoteright}s marketing team.},
	doi = {10.1109/MESA.2014.6935614},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84911958905\&partnerID=40\&md5=8aa2443592d484a806a041db808efd3e},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Liciotti2014,
	title = {Shopper analytics: A customer activity recognition system using a distributed rgb-d camera network},
	journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
	volume = {8811},
	year = {2014},
	note = {cited By 0},
	abstract = {The aim of this paper is to present an integrated system consisted of a RGB-D camera and a software able to monitor shoppers in intelligent retail environments. We propose an innovative low cost smart system that can understand the shoppers{\textquoteright} behavior and, in particular, their interactions with the products in the shelves, with the aim to develop an automatic RGB-D technique for video analysis. The system of cameras detects the presence of people and univocally identifies them. Through the depth frames, the system detects the interactions of the shoppers with the products on the shelf and determines if a product is picked up or if the product is taken and then put back and finally, if there is not contact with the products. The system is low cost and easy to install, and experimental results demonstrated that its performances are satisfactory also in real environments.},
	doi = {10.1007/978-3-319-12811-5_11},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84921652873\&partnerID=40\&md5=44bc641a712fa9af6ffd341f41b0aec0},
	author = {Daniele Liciotti and Marco Contigiani and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and Valerio Placidi}
}
@article {Frontoni2014853,
	title = {SIT-REM: An interoperable and interactive web geographic information system for fauna, flora and plant landscape data management},
	journal = {ISPRS International Journal of Geo-Information},
	volume = {3},
	number = {2},
	year = {2014},
	note = {cited By 0},
	pages = {853-867},
	publisher = {MDPI AG},
	abstract = {The main goal of the SIT-REM project is the design and the development of an interoperable web-GIS environment for the information retrieval and data editing/updating of the geobotanical and wildlife map of Marche Region. The vegetation, plant landscape and faunistic analysis allow the realization of a regional information system for wildlife-geobotanical data. A main characteristic of the SIT-REM is its flexibility and interoperability, in particular, its ability to be easily updated with the insertion of new types of environmental, faunal or socio-economic data and to generate analyses at any geographical (from regional to local) or quantitative level of detail. Different query levels obtain the latter: spatial queries, hybrid query builder and WMSs usable by means of a GIS. SIT-REM has been available online for more than a year and its use over this period has produced extensive data about users{\textquoteright} experiences.. {\textcopyright} 2014 by the authors; licensee MDPI, Basel, Switzerland.},
	issn = {22209964},
	doi = {10.3390/ijgi3020853},
	url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84948991558\&partnerID=40\&md5=e554cb57d885eec6bb72afa03e616523},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and Eva Savina Malinverni and Pesaresi, S.c and Biondi, E.c and Pandolfi, M.d and Marseglia, M.e and Mirco Sturari and Zabaglia, C.g}
}
@conference {Di Fulvio2014,
	title = {A stereovision system for dimensional measurementws in industrial robotics applications},
	booktitle = {MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings},
	year = {2014},
	note = {cited By 0},
	abstract = {The great variety of artificial vision applications, ranging from industrial automation and robotics to analysis and classification of documents, from bioinformatics and medicine to data mining, is due to the reinforcement of information sytems by the realization of algorithms that improved stability and efficiency of the results, also from the computational complexity point of view. The purpose of this work is to propose a stereoscopic vision system for dimensional measurements in an application of industrial robotics. The paper describes as a camera mounted on a six-axis robot manipulator cna calculate the real dimension of a target object. So, in the application the vision system is not composed by two physical cameras, bu tthe stero system is created by the mnovement of a single lcamera. The work provides a calibration procedure of the camera preliminary to the stage of actual measuremetn. Experimental results on a target with a simpole and well-defined shape have shown that the accuracy of the measurement is strongly influenced by a correct calibration.},
	doi = {10.1109/MESA.2014.6935618},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84911977431\&partnerID=40\&md5=53653d90297d7f3e5afba6aee6a53c3c},
	author = {Di Fulvio, G. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Gaujens2014,
	title = {Testing of cooperative tasks for Unmanned Aerial and ground platforms},
	booktitle = {MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings},
	year = {2014},
	note = {cited By 0},
	abstract = {In the last years the Model Based Design for Unmanned Systems aided the safe and rational release of applications running on unmanned systems. In particular in this paper we focus on a hybrid methodology that merges Software in the Loop (SIL) and Model in the Loop (MIL) strategies for cooperative tasks performed by aerial and ground autonomous vehicles. The proposed work flow covers the design and testing of Ground Control Station (GCS) modelled by a finite state machine, the design and testing of navigation code running on UAV and UGV and the testing of cooperative missions. The work-flow is based on a realistic 3D physical simulator interfaced with Matlab-Simulink-Stafeflow. The proposed approach has been successfully tested and evaluated allowing to release runnable and safe code on real targets.},
	doi = {10.1109/MESA.2014.6935621},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84911957715\&partnerID=40\&md5=fa0db02cfc93a2552968c6a92df82cb8},
	author = {Gaujens, A. and Benini, A. and Adriano Mancini and Sauro Longhi}
}
@conference {Cocchioni2014374,
	title = {Unmanned ground and aerial vehicles in extended range indoor and outdoor missions},
	booktitle = {2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings},
	year = {2014},
	note = {cited By 1},
	pages = {374-382},
	abstract = {The capability to instantiate a cooperation among heterogeneous agents is a fundamental feature in mobile robotics. In this paper we focus on the interaction between Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV) to extend the endurance of UAV, thanks to a novel landing/recharging platform. The UGV acts as a docking station and hosts the UAV during the indoor/outdoor transition and vice-versa. We designed a platform and a robust landing target to automate the fast recharge of UAV. The synchronization and coordination of cooperation is managed by a Ground Control Station (GCS) developed using a versatile software toolchain based on the integration of Stateflow, auto-generation of C-code and ROS. All the software components of UAV, UGV and GCS have been developed using ROS. The obtained results show that the UAV is able to land over the UGV with high accuracy (<5cm for both x and y axis) thanks to a visual position estimation algorithm, also in presence of wind (with gust up to 20-25km/h), recharging its batteries in a short time to extend its endurance. {\textcopyright} 2014 IEEE.},
	doi = {10.1109/ICUAS.2014.6842276},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84904582437\&partnerID=40\&md5=f57cb12575d6f9ff24ff152e95b48c80},
	author = {Francesco Cocchioni and Pierfelice, V. and Benini, A. and Adriano Mancini and Emanuele Frontoni and Primo Zingaretti and Ippoliti, G. and Sauro Longhi}
}
@article {Frontoni2013509,
	title = {Customers{\textquoteright} activity recognition in intelligent retail environments},
	journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
	volume = {8158 LNCS},
	year = {2013},
	note = {cited By 6},
	pages = {509-516},
	abstract = {This paper aims to propose a novel idea of an embedded intelligent system where low cost embedded vision systems can analyze human behaviors to obtain interactivity and statistical data, mainly devoted to customer behavior analysis. In this project we addressed the need for new services into the shop, involving consumers more directly and instigating them to increase their satisfaction and, as a consequence, their purchases. To do this, technology is very important and allows making interactions between costumers and products and between customers and the environment of the shop a rich source of marketing analysis. We construct a novel system that uses vertical RGBD sensor for people counting and shelf interaction analysis, where the depth information is used to remove the affect of the appearance variation and to evaluate customers{\textquoteright} activities inside the store and in front of the shelf, with products. Also group interactions are monitored and analyzed with the main goal of having a better knowledge of the customers{\textquoteright} activities, using real data in real time. Even if preliminary, results are convincing and most of all the general architecture is affordable in this specific application, robust, easy to install and maintain and low cost. {\textcopyright} 2013 Springer-Verlag.},
	doi = {10.1007/978-3-642-41190-8_55},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84887121570\&partnerID=40\&md5=8a6e9b3442d8d4dbd47b404bd8248a7b},
	author = {Emanuele Frontoni and Raspa, P. and Adriano Mancini and Primo Zingaretti and Valerio Placidi}
}
@conference {Luchetti20131199,
	title = {Design and test of a precise mobile GPS tracker},
	booktitle = {2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings},
	year = {2013},
	note = {cited By 2},
	pages = {1199-1207},
	abstract = {In the last years the widespread diffusion of smartphones with sensing capabilities paved the way to smart pervasive applications. The tracking of users activities aided by the set of sensor installed on board of smartphones represents a really interesting market for users which today demand reliable, smart and tailored services. The target group of sportsmen was of particular concern in this study. We aim at offering them a tool to record their training sessions along with a web community to share their activities with similar users. To achieve this we have to deal with different issues concerning localization and modelling of the training session by using the GPS, as well as synchronization with the web service to upload the training data. {\textcopyright} 2013 IEEE.},
	doi = {10.1109/MED.2013.6608872},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84885209325\&partnerID=40\&md5=cd710f4031bf159dc90b4ee6ada8a129},
	author = {Luchetti, G. and Servici, G. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Frontoni2013,
	title = {Energy harvesting for smart shoes: A real life application},
	booktitle = {Proceedings of the ASME Design Engineering Technical Conference},
	volume = {4},
	year = {2013},
	note = {cited By 1},
	abstract = {Advanced technical developments have increased the efficiency of devices in capturing trace amounts of energy from the environment (such as from human movements) and transforming them into electrical energy (e.g., to instantly charge mobile devices). In addition, advancements in microprocessor technology have increased power efficiency, effectively reducing power consumption requirements. In combination, these developments have sparked interest in the engineering community to develop more and more applications that utilize energy harvesting for power. The approach here described aims to designing and manufacturing an innovative easy-to-use and general-purpose device for energy harvesting in general purpose shoes. The novelty of this device is the integration of polymer and ceramic piezomaterials accomplished by injection molding. In this spirit, this paper examines different devices that can be built into a shoe, (where excess energy is readily harvested) and used for generating electrical power while walking. A Main purpose is the development of an indoor localization system embedded in shoes that periodically broadcasts a digital RFID as the bearer walks. Results are encouraging and real life test are conducted on the first series of prototypes. Copyright {\textcopyright} 2013 by ASME.},
	doi = {10.1115/DETC2013-12310},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84899124826\&partnerID=40\&md5=0a32a61f326043d4dcaa963a226ec167},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and A. Gatto}
}
@article {Benini2013461,
	title = {An IMU/UWB/vision-based extended kalman filter for mini-UAV localization in indoor environment using 802.15.4a wireless sensor network},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	volume = {70},
	number = {1-4},
	year = {2013},
	note = {cited By 4},
	pages = {461-476},
	abstract = {Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mini UAV based on Ultra-WideBand technology, low cost IMU and vision based sensors. In this work an Extended Kalman Filter (EKF) is introduced as a possible technique to improve the localization. The proposed approach allows to use a low-cost Inertial Measurement Unit (IMU) in the prediction step and the integration of vision-odometry for the detection of markers nearness the touchdown area. The ranging measurements allow to reduce the errors of inertial sensors due to the limited performance of accelerometers and gyros. The obtained results show that an accuracy of 10 cm can be achieved. {\textcopyright} 2012 Springer Science+Business Media B.V.},
	doi = {10.1007/s10846-012-9742-1},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84871640127\&partnerID=40\&md5=c45e91f48415630a0fb3a388a2ca9aaa},
	author = {Benini, A. and Adriano Mancini and Sauro Longhi}
}
@article {Mancini2013409,
	title = {A novel method for fast processing of large remote sensed image},
	journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
	volume = {8157 LNCS},
	number = {PART 2},
	year = {2013},
	note = {cited By 1},
	pages = {409-418},
	abstract = {In this paper we present a novel approach to reduce the computational load of a CFAR detector. The proposed approach is based on the use of integral images to directly manage the presence of masked pixels or invalid data and reduce the computational time. The approach goes through the challenging problem of ship detection from remote sensed data. The capability of fast image processing allows to monitor the marine traffic and identify possible threats. The approach allows to significantly boost the performance up to 50x working with very high resolution image and large kernels. {\textcopyright} 2013 Springer-Verlag.},
	doi = {10.1007/978-3-642-41184-7_42},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84884709393\&partnerID=40\&md5=335f37537f59723ffcfa04255b21821b},
	author = {Adriano Mancini and Anna Nora Tassetti and Cinnirella, A. and Emanuele Frontoni and Primo Zingaretti}
}
@conference {Mancini20131589,
	title = {Road pavement crack automatic detection by MMS images},
	booktitle = {2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings},
	year = {2013},
	note = {cited By 0},
	pages = {1589-1596},
	abstract = {The research topic was to test different feature extraction methods to localize road pavement cracks useful to construct a spatial database for the pavement distress monitoring. Several images were acquired by means of a line scan camera that assembled in a Mobile Mapping System (MMS) allows tracking directly the position of the images by a GPS-INS system. Following an automatic digital image processing was performed by means of several algorithms based on different approaches (edge detection and fuzzy set theory). The detected cracks were described with some parameters in relation to some shape characteristics (dimension, typology, direction), which are necessary to recognize the gravity of the road pavement conditions. The edge detection techniques tested in this research allowed identifying fatigue cracking or alligator cracking and also thin linear cracks in images with strong radiometric jumps by applying filters, gradient functions and morphological operators. The snake approach was one of them, in particular the type called Gradient Vector Flow (GVF). Another approach was based on the fuzzy theory. The advantage of this method is that the pixels, necessary to identify the cracks in road pavement, are darker than their surroundings in an image. The last stage was the pavement distress spatial database collection. The Mobile Mapping System (MMS) has allowed localizing the raster data and consequently the vector features of the detected cracks, associating into the table their attributes too. The proposed approaches allow to automatically localize and classify the kind of road pavement crack. {\textcopyright} 2013 IEEE.},
	doi = {10.1109/MED.2013.6608934},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84885199881\&partnerID=40\&md5=bf9cd82e8356555a25eb7cc1fd02b547},
	author = {Adriano Mancini and Eva Savina Malinverni and Emanuele Frontoni and Primo Zingaretti}
}
@conference {Mancini2013,
	title = {Smart vision system for shelf analysis in intelligent retail environments},
	booktitle = {Proceedings of the ASME Design Engineering Technical Conference},
	volume = {4},
	year = {2013},
	note = {cited By 6},
	abstract = {This paper aims to propose an innovative idea of an embedded intelligent, multimedia and interactive shop system where embedded vision systems can analyse human behaviours around shelves for interactivity and statistical purposes, mostly devoted to customer behaviour analysis, planogram maintenance and out of stock detection. We discuss the need for new services into the shop, involving consumers more directly and instigating them to increase their satisfaction and, as a consequence, their purchases. To do this, technology is very important and allows making interactions between costumers and products and between customers and the environment of the shop a rich source of marketing analysis. In particular we focus on concepts of monitoring and interactivity, introducing several emerging technologies in the field of retail environments. The main novelty of the paper is the general architecture of the system together with the introduction of a series of intelligent embedded systems, yet implemented and tested in a dataset recorded during the Euro Shop trade fair, in cooperation with Grottini group, a leading company in Retail Design industry based in Italy. Results are convincing and most of all the general architecture is affordable in this specific application. Copyright {\textcopyright} 2013 by ASME.},
	doi = {10.1115/DETC2013-12317},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84899129851\&partnerID=40\&md5=9468fe9c8ec144cde0a360886f9aae83},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti and Valerio Placidi}
}
@conference {Mancini2012281,
	title = {Automatic road object extraction from Mobile Mapping Systems},
	booktitle = {Proceedings of 2012 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2012},
	year = {2012},
	note = {cited By 3},
	pages = {281-286},
	abstract = {Mobile Mapping Systems (MMSs) often represent the best choice to provide an accurate 3D modeling of the environment, especially in urban streets where the aerial/satellite surveys do not provide accurate data. MMSs are equipped with many kinds of sensors, and, in particular, laser scanners that allow 2D/3D environment modeling from very dense point clouds. Usually an operator manually explores the point cloud to discover and mark a particular feature of interest (e.g., road line, cross-walk). Obviously this procedure is tedious and expensive. One of the greater challenges is to automatically extract objects/features from co-registered data coming from LiDAR, optical and positioning sensors. This paper presents an automatic feature/object approach to extract and then to georeference with high accuracy/precision horizontal road signs, mainly lanes and crosswalks. The proposed approach exploits image processing techniques and methods for the 3D to 2D re-projection of data. The results obtained demonstrate that is possible to achieve accuracy and precision in the range of one centimeter. {\textcopyright} 2012 IEEE.},
	doi = {10.1109/MESA.2012.6275575},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84867444429\&partnerID=40\&md5=bbdfcd587f93e0fdf60be30447684e89},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti}
}
@conference {Benini2012735,
	title = {A Biased Extended Kalman Filter for indoor localization of a mobile agent using low-cost IMU and UWB wireless sensor network},
	booktitle = {IFAC Proceedings Volumes (IFAC-PapersOnline)},
	year = {2012},
	note = {cited By 0},
	pages = {735-740},
	abstract = {Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mobile agent based on Ultra-WideBand technology using a Biased Extended Kalman Filter (EKF) as a possible technique to improve the localization. The proposed approach allows to use a low-cost IMU (inertial measurement unit) which performances are improved by a calibration procedure. The obtained results show that the filter allows to obtain better result in terms of localization due to the estimation of bias and scale factor. {\textcopyright} 2012 IFAC.},
	doi = {10.3182/20120905-3-HR-2030.00144},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84880993407\&partnerID=40\&md5=c8d42599e5ee04e0b909b6265235c723},
	author = {Benini, A. and Adriano Mancini and Marinelli, A. and Sauro Longhi}
}
@article {Benini2012507,
	title = {A modular framework for fast prototyping of cooperative unmanned aerial vehicle},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	volume = {65},
	number = {1-4},
	year = {2012},
	note = {cited By 4},
	pages = {507-520},
	abstract = {Unmanned Aerial Vehicles (UAVs) are gaining increasing interest thanks to their flexibility and versatility. However, these systems are very complex and a good simulation platform is needed. In this paper, a new Framework for simulation and fast prototyping of UAV control laws is presented. The Framework exploits the high realism of the simulations carried out in a three-dimensional virtual environment with the easiness of use of development systems such as Matlab{\textregistered} for fast prototyping of control systems. Then a novel method that exploits the benefits of Model Predictive Control (MPC) for cooperative scenarios is introduced. The obtained results show good performances of MPC in solving the formation problem of unmanned aerial vehicles; finding an optimal solution and taking into account different constraints. The developed framework allows also to easily change from simulated agent to real one. {\textcopyright} 2011 Springer Science+Business Media B.V.},
	doi = {10.1007/s10846-011-9577-1},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84855437595\&partnerID=40\&md5=e426704537bd52bc6397b9152f01e978},
	author = {Benini, A. and Adriano Mancini and Minutolo, R. and Sauro Longhi and Montanari, M.b}
}
@conference {Bucchi2012207,
	title = {Summarization of echo-Doppler videos for computer-aided diagnosis},
	booktitle = {Proceedings of 2012 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2012},
	year = {2012},
	note = {cited By 0},
	pages = {207-210},
	abstract = {Summarization of echo-Doppler videos allows reducing diagnosis time, improving comparison between videos and making a more efficient storing of them. This paper aims at providing a solution to the static summarization of echo-Doppler videos. A static summary of a video is a collection of keyframes together with a description of them. The selection of keyframes discussed in this paper is based on the analysis of properties of red blobs resulting from Power Doppler technique. The properties of red blobs are extracted by a robust thresholding algorithm in the HSL colour model and via a connected-component labelling algorithm. Keyframes extracted from the echo-Doppler video satisfy specific properties for the red blobs. The work is still in progress and we are now collecting data for the construction of a decision support system to help doctors in their diagnoses. First results are encouraging and future works will bring to an interesting computer-aided system. {\textcopyright} 2012 IEEE.},
	doi = {10.1109/MESA.2012.6275563},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84867455278\&partnerID=40\&md5=2f62875baeba4f7c9118f7ebd26e06af},
	author = {Bucchi, M. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Mancini2011745,
	title = {Coalition formation for unmanned quadrotors},
	booktitle = {Proceedings of the ASME Design Engineering Technical Conference},
	volume = {3},
	number = {PARTS A AND B},
	year = {2011},
	note = {cited By 1},
	pages = {745-752},
	abstract = {Today Unmanned Aerial Vehicles (UAVs) and in particular quad-rotors represent novel platforms to accomplish a wide set of missions as surveillance, Search \& Rescue, inspection, pho-togrammetry. The main limitation of these vehicles is represented by the restricted operating area. The area is mainly limited by power supplies (batteries or fuel). A strategy to overcame this limitation is to increase the number of vehicles forming a coalition. The main benefit of coalition formation are the extended mission range and the capability to increase the sensorial set. Each vehicles is a part of a dynamic network that must be properly coordinated in order to optimize all the available resources. In this paper a new framework for simulation of unmanned vehicles in cooperative scenarios is first presented. The framework is based on the interaction of a physics-engine, which simulates the dynamics of vehicles and their interaction with world increasing the realism of simulation, and a simulation environment where the high-level strategy is designed/developed. A Model Predictive Control (MPC) is then introduced to solve the problem of leader-follower applied to quad-rotors. Using the developed framework and the MPC technique is possible to easily instantiate the coalition minimizing also a cost function. The obtained results from the control strategy point of view show that positioning error at steady state is equal to zero. The MPC allows also the modelling of different conflicting constraints as the control actions, positioning error, and fuel/energy consumption. {\textcopyright} 2011 by ASME.},
	doi = {10.1115/DETC2011-48904},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84863584753\&partnerID=40\&md5=9d10818fcd0cd5219ab5df1c9eb26502},
	author = {Adriano Mancini and Benini, A. and Emanuele Frontoni and Primo Zingaretti and Sauro Longhi}
}
@article {Malinverni20111025,
	title = {Hybrid object-based approach for land use/land cover mapping using high spatial resolution imagery},
	journal = {International Journal of Geographical Information Science},
	volume = {25},
	number = {6},
	year = {2011},
	note = {cited By 13},
	pages = {1025-1043},
	abstract = {Traditionally, remote sensing has employed pixel-based classification techniques to deal with land use/land cover (LULC) studies. Generally, pixel-based approaches have been proven to work well with low spatial resolution imagery (e.g. Landsat or System Pour L{\textquoteright}Observation de la Terre sensors). Now, however, commercially available high spatial resolution images (e.g. aerial Leica ADS40 and Vexcel UltraCam sensors, and satellite IKONOS, Quickbird, GeoEye and WorldView sensors) can be problematic for pixel-based analysis due to their tendency to oversample the scene. This is driving research towards object-based approaches. This article proposes a hybrid classification method with the aim of incorporating the advantages of supervised pixel-based classification into object-based approaches. The method has been developed for medium- scale (1:10,000) LULC mapping using ADS40 imagery with 1 m ground sampling distance. First, spatial information is incorporated into a pixel-based classification (AdaBoost classifier) by means of additional texture features (Haralick, Gabor, Law features), which can be selected {\textquoteright}ad hoc{\textquoteright} according to optimal training samples ({\textquoteright}Relief-F{\textquoteright} pproach,Mahalanobis distances). Then a rule-based approach sorts segmented regions into thematic CORINE Land Cover classes in terms of membership class percentages (a modified Winner-Takes-All approach) and shape parameters. Finally, ancillary data (roads, rivers, etc.) are exploited to increase classification accuracy. The experimental results show that the proposed hybrid approach allows the extraction of more LULC classes than conventional pixel-based methods, while improving classification accuracy considerably. A second contribution of this article is the assessment of classification reliability by implementing a stability map, in addition to confusion matrices. {\textcopyright} 2011 Taylor \& Francis.},
	doi = {10.1080/13658816.2011.566569},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-79960685342\&partnerID=40\&md5=18767c8a88bf2abff53ef96ec138f0aa},
	author = {Eva Savina Malinverni and Anna Nora Tassetti and Adriano Mancini and Primo Zingaretti and Emanuele Frontoni and A. Bernardini}
}
@conference {Benini2011406,
	title = {A simulation framework for coalition formation of Unmanned Aerial Vehicles},
	booktitle = {2011 19th Mediterranean Conference on Control and Automation, MED 2011},
	year = {2011},
	note = {cited By 3},
	pages = {406-411},
	abstract = {Unmanned Aerial Vehicles (UAVs) and in particular quad-rotors are gaining an increasing interest owing to their flexibility and versatility. Today the challenge is to integrate these versatile platforms in a wide fleet in order to perform cooperative tasks as surveillance, search \& rescue, inspection. The coalition formation problem is a pre-condition for cooperative missions. This problem can be solved with different methodologies from biologically-inspired algorithms to parasocial consensus sampling ones. In this paper a new framework for simulation of unmanned vehicles in cooperative scenarios is first presented. Then a novel method that exploits the benefits of Model Predictive Control (MPC) for a coalition formation problem (leader-follower) is introduced. The obtained results evidence the good performance of MPC to solve the problem of coalition formation for unmanned aerial vehicles finding the optimal solution taking into account different kind of constraints. The developed framework allows also to easily change from simulated agent to real one. {\textcopyright} 2011 IEEE.},
	doi = {10.1109/MED.2011.5983163},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-80052355021\&partnerID=40\&md5=51acc4875190b250928b66e5b54b01a0},
	author = {Benini, A. and Adriano Mancini and Emanuele Frontoni and Primo Zingaretti and Sauro Longhi}
}
@conference {Frontoni20111047,
	title = {UAVS safe landing using range images},
	booktitle = {Proceedings of the ASME Design Engineering Technical Conference},
	volume = {3},
	number = {PARTS A AND B},
	year = {2011},
	note = {cited By 0},
	pages = {1047-1052},
	abstract = {In this paper a mixed vision-range based approach, based on Kinect technology, for safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The guidance system allows a remote user to define target areas from an high resolution aerial or satellite image to determine the waypoints of the navigation trajectory or the landing area. The system is based on our previous work on UAV navigation and landing: a feature-based image matching algorithms finds the natural landmarks and gives feedbacks to the control system for autonomous navigation and landing. An algorithm for safe landing areas detection is proposed, based on the use of 4D RGBD (Red, Green, Blue, Distance) image analysis. The helicopter is required to navigate from an initial to a final position in a partially known environment, to locate a landing area and to land on it. Results show the appropriateness of the vision-based approach that does not require any artificial landmark (e.g., helipad) and is quite robust to occlusions, light variations and high vibrations. {\textcopyright} 2011 by ASME.},
	doi = {10.1115/DETC2011-49012},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84863583459\&partnerID=40\&md5=4a39fb31b9b944e81de89b9c26185af7},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Cesetti2011157,
	title = {A visual global positioning system for unmanned aerial vehicles used in photogrammetric applications},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	volume = {61},
	number = {1-4},
	year = {2011},
	note = {cited By 10},
	pages = {157-168},
	abstract = {The combination of photogrammetric aerial and terrestrial recording methods can provide new opportunities for photogrammetric applications. A UAV (Unmanned Aerial Vehicle), in our case a helicopter system, can cover both the aerial and quasi-terrestrial image acquisition methods. A UAV can be equipped with an on-board high resolution camera and a priori knowledge of the operating area where to perform photogrammetric tasks. In this general scenario our paper proposes vision-based techniques for localizing a UAV. Only natural landmarks provided by a feature tracking algorithm will be considered, without the help of visual beacons or landmarks with known positions. The novel idea is to perform global localization, position tracking and localization failure recovery (kidnapping) based only on visual matching between current view and available georeferenced satellite images. The matching is based on SIFT features and the system estimates the position of the UAV and its altitude on the base of the reference image. The vision system replaces the GPS signal combining position information from visual odometry and georeferenced imagery. Georeferenced satellite or aerial images must be available on-board beforehand or downloaded during the flight. The growing availability of high resolution satellite images (e.g., provided by Google Earth or other local information sources) makes this topic very interesting and timely. Experiments with both synthetic (i.e., taken from satellites or datasets and pre elaborated) and real world images have been performed to test the accuracy and the robustness of our method. Results show sufficient performance if compared with common GPS systems and give a good performance also in the altitude estimation, even if in this last case there are only preliminary results. {\textcopyright} 2010 Springer Science+Business Media B.V.},
	doi = {10.1007/s10846-010-9489-5},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-79951511981\&partnerID=40\&md5=22fb7414e9a79d5c70082f7e0e8c0684},
	author = {Cesetti, A. and Emanuele Frontoni and Adriano Mancini and Ascani, A. and Primo Zingaretti and Sauro Longhi}
}
@conference {Cesetti2010125,
	title = {Autonomous safe landing of a vision guided helicopter},
	booktitle = {Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010},
	year = {2010},
	note = {cited By 2},
	pages = {125-130},
	abstract = {In this paper a vision-based system for safe autonomous landing of a helicopter-based Unmanned Aerial Vehicle (UAV) is presented. The remote user selects target areas from high resolution aerial or satellite images. These areas are tracked by a feature-based image matching algorithm that identifies natural landmarks and gives feedbacks for control purposes. {\textcopyright} 2010 IEEE.},
	doi = {10.1109/MESA.2010.5552081},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-77957363095\&partnerID=40\&md5=105d5126c8256e58ab2a67b66bd8c271},
	author = {Cesetti, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Zingaretti2010185,
	title = {Particle clustering to improve omnidirectional localization in outdoor environments},
	booktitle = {Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009},
	volume = {3},
	year = {2010},
	note = {cited By 1},
	pages = {185-192},
	abstract = {Monte Carlo Localization (MCL) is a common method for self-localization of a mobile robot under the assumption that a map of the environment is available. In addition to laser scan-ners and sonar sensors, localization approaches using vision sensors have also been recently developed with good results. In this paper we present two variations to improve the standard im-plementation of the MCL algorithm. The first change consists in a new strategy for the generation of particles, both at the initialization and at the resampling stage, which tries to generate new particles near the position of images in the learning dataset or in the neighborhood of particles with higher weights in the previous estimate, respectively. The second variation is related to a new approach to the estimate of the robot position, now based on two steps: clustering of particles and taking as estimate of robot position the center of the cluster, computed as a weighted sum of particle weights, with higher weight. The improved MCL algorithm described in this paper is compared with the standard MCL algorithm in terms of localization accuracy. In particular, tests were performed using local feature matching of omnidirectional images implemented on a real robot system operating in large outdoor environments with high dynamic content. Obtained results show that the localization accuracy of the improved MCL algorithm is more than twice that of the standard MCL algorithm. Copyright {\textcopyright} 2009 by ASME.},
	doi = {10.1115/DETC2009-87373},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-77953702059\&partnerID=40\&md5=bf8d639ae45538fb4d049602073a0907},
	author = {Primo Zingaretti and Ascani, A. and Adriano Mancini and Emanuele Frontoni}
}
@article {Khoshelham2010123,
	title = {Performance evaluation of automated approaches to building detection in multi-source aerial data},
	journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
	volume = {65},
	number = {1},
	year = {2010},
	note = {cited By 25},
	pages = {123-133},
	abstract = {Automated approaches to building detection in multi-source aerial data are important in many applications, including map updating, city modeling, urban growth analysis and monitoring of informal settlements. This paper presents a comparative analysis of different methods for automated building detection in aerial images and laser data at different spatial resolutions. Five methods are tested in two study areas using features extracted at both pixel level and object level, but with the strong prerequisite of using the same training set for all methods. The evaluation of the methods is based on error measures obtained by superimposing the results on a manually generated reference map of each area. The results in both study areas show a better performance of the Dempster-Shafer and the AdaBoost methods, although these two methods also yield a number of unclassified pixels. The method of thresholding a normalized DSM performs well in terms of the detection rate and reliability in the less vegetated Mannheim study area, but also yields a high rate of false positive errors. The Bayesian methods perform better in the Memmingen study area where buildings have more or less the same heights. {\textcopyright} 2009 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS).},
	doi = {10.1016/j.isprsjprs.2009.09.005},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-72949110177\&partnerID=40\&md5=016e5e523686951f9fa75cccf7957c8d},
	author = {Khoshelham, K. and C. Nardinocchi and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Bernardini201043,
	title = {Pixel, object and hybrid classification comparisons},
	journal = {Journal of Spatial Science},
	volume = {55},
	number = {1},
	year = {2010},
	note = {cited By 3},
	pages = {43-54},
	abstract = {The choice of the best classification approach for thematic map generation relies on many factors, such as image resolution and minimum mapping unit. The generalized GIS-ready products derived from the results of pixel-based approaches and the availability of higherresolution imagery have directed research towards object-based classification approaches. In this paper we present the superior performance of a hybrid methodology that combines the results of automatic segmentation with the land cover information derived from a pixel classification by means of the Winner Takes All (WTA) algorithm. Land use and land cover results obtained through this hybrid classification approach are compared with those of a One Against All (OAA) object-oriented classification approach. {\textcopyright} 2010 Surveying and Spatial Sciences Institute and Mapping Sciences Institute, Australia.},
	doi = {10.1080/14498596.2010.487641},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-80052137947\&partnerID=40\&md5=74b7a4fe82987b5213c27b7315b0f768},
	author = {A. Bernardini and Emanuele Frontoni and Eva Savina Malinverni and Adriano Mancini and Anna Nora Tassetti and Primo Zingaretti}
}
@conference {Mancini2010448,
	title = {Road change detection from multi-spectral aerial data},
	booktitle = {Proceedings - International Conference on Pattern Recognition},
	year = {2010},
	note = {cited By 2},
	pages = {448-451},
	abstract = {The paper presents a novel approach to automate the Change Detection (CD) problem for the specific task of road extraction. Manual approaches to CD fail in terms of the time for releasing updated maps; in the contrary, automatic approaches, based on machine learning and image processing techniques, allow to update large areas in a short time with an accuracy and precision comparable to those obtained by human operators. This work is focused on the road-graph update starting from aerial, multi-spectral data. Georeferenced, ground data, acquired by a GPS and an inertial sensor, are integrated with aerial data to speed up the change detector. After roads extraction by means of a binary AdaBoost classifier, the old road-graph is updated exploiting a particle filter. In particular this filter results very useful to link (track) parts of roads not extracted by the classifier due to the presence of occlusions (e.g., shadows, trees). {\textcopyright} 2010 IEEE.},
	doi = {10.1109/ICPR.2010.118},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-78149486517\&partnerID=40\&md5=6fcdcfdf8b76c0c7c79a8cd6f6eaef25},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti}
}
@conference {Frontoni2010428,
	title = {Robot localization in urban environments using omnidirectional vision sensors and partial heterogeneous apriori knowledge},
	booktitle = {Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010},
	year = {2010},
	note = {cited By 3},
	pages = {428-433},
	abstract = {This paper addresses the problem of long term mobile robot localization in large urban environments using a partial apriori knowledge made by different kind of images. Typically, GPS is the preferred sensor for outdoor operation. However, using GPS-only localization methods leads to significant performance degradation in urban areas where tall nearby structures obstruct the view of the satellites. In our work, we use omnidirectional vision-based sensors to complement GPS and odometry and provide accurate localization. We also present some novel Monte Carlo Localization optimizations and we introduce the concept of online knowledge acquisition and integration presenting a framework able to perform long term robot localization in real environments. The vision system identifies prominent features in the scene and matches them with a database of geo-referenced features already known (with a partial coverage of the environment and using both directional and omnidirectional images and with different resolutions) or learned and integrated during the localization process (omnidirectional images only). Results of successful robot localization in the old town of Fermo are presented. The whole architecture behaves well also in long term experiments, showing a suitable and good system for real life robot applications with a particular focus on the integration of different knowledge sources. {\textcopyright} 2010 IEEE.},
	doi = {10.1109/MESA.2010.5551994},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-77957367131\&partnerID=40\&md5=619cedb309b8e6e9bf546721e565a793},
	author = {Emanuele Frontoni and Ascani, A. and Adriano Mancini and Primo Zingaretti}
}
@conference {Raspa2010,
	title = {Selection of Lithium cells for EV battery pack using self organizing maps},
	booktitle = {EVS 2010 - Sustainable Mobility Revolution: 25th World Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition},
	year = {2010},
	note = {cited By 0},
	abstract = {A challenging problem in energy storage systems for electric vehicles is the efficiency use of lithium multicell batteries. Because of production tolerances, unbalanced cells can be overstressed during usage leading to the reduction of the available capacity and premature failure of the battery pack. In order to reduce this problem the Universit{\`a} Politecnica delle Marche and FAAM Group S.p.A. developed a method for the selection and classification of homogenous cells to form uniform battery pack using Self Organizing Maps neural networks. Experimental data are collected from a set of LiFePo4 cells tested in FAAM laboratories. The selection considers both experimental data and identified characteristics: Discharge Voltage, Open Circuit Voltage, Total Capacity and identified parameters from Randle{\textquoteright}s equivalent circuit modelling. The State of Charge variability within each selected group of cells has been chosen as the clustering criterion to find the method which gives the best results in terms of homogeneity of the battery. Simulation results consider an experimental EV load profile and show a great reduction of the SOC variability and, consequently, in the balance of the battery pack for all the methods presented compared to random selection. Capacity and discharge voltage based methods give the best results over all.},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84907415017\&partnerID=40\&md5=42dc9ff2c6cfe464e796818859e805ce},
	author = {Raspa, P. and Frinconi, L. and Adriano Mancini and Cavalletti, M. and Sauro Longhi and L. Fulimeni and P. Bellesi and Isidori, R.}
}
@article {Cesetti2010233,
	title = {A Vision-based guidance system for UAV navigation and safe landing using natural landmarks},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	volume = {57},
	number = {1-4},
	year = {2010},
	note = {cited By 45},
	pages = {233-257},
	abstract = {In this paper a vision-based approach for guidance and safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The UAV is required to navigate from an initial to a final position in a partially known environment. The guidance system allows a remote user to define target areas from a high resolution aerial or satellite image to determine either the waypoints of the navigation trajectory or the landing area. A feature-based image-matching algorithm finds the natural landmarks and gives feedbacks to an onboard, hierarchical, behaviour-based control system for autonomous navigation and landing. Two algorithms for safe landing area detection are also proposed, based on a feature optical flow analysis. The main novelty is in the vision-based architecture, extensively tested on a helicopter, which, in particular, does not require any artificial landmark (e.g., helipad). Results show the appropriateness of the vision-based approach, which is robust to occlusions and light variations. {\textcopyright} 2009 Springer Science+Business Media B.V.},
	doi = {10.1007/s10846-009-9373-3},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84893415343\&partnerID=40\&md5=1af91a05c14c688e97131ab24f43e2bd},
	author = {Cesetti, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and Sauro Longhi}
}
@conference {Ascani2010415,
	title = {Wireless sensor network for exhausted oil collection management},
	booktitle = {Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010},
	year = {2010},
	note = {cited By 1},
	pages = {415-420},
	abstract = {Sensor networks have a large diffusion in several areas, using different kind of sensors, different line for data transmission and different ways for their collection and management. In this paper we present a particular typology of sensor network, created for optimally manage the collection of exhausted oil stored in particular bins located in a wide area (about 20.000 km2). A sensor is located on each bin measuring the distance from the lid of the collected oil; a transmission module communicate, once a day, the oil and the battery level to a web server via GPRS. In this way the control center (on a web server) has a complete overview of the situation in a wide zone, in way to optimize the run of collectors only in points that require an operation. {\textcopyright} 2010 IEEE.},
	doi = {10.1109/MESA.2010.5551992},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-77957355959\&partnerID=40\&md5=623731d74fba78b45e4b811bf63ec2b9},
	author = {Ascani, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Mancini2009307,
	title = {A framework for simulation and testing of UAVs in cooperative scenarios},
	journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
	volume = {54},
	number = {1-3 SPEC. ISS.},
	year = {2009},
	note = {cited By 18},
	pages = {307-329},
	abstract = {Today, Unmanned Aerial Vehicles (UAVs) have deeply modified the concepts of surveillance, Search\&Rescue, aerial photogrammetry, mapping, etc. The kinds of missions grow continuously; missions are in most cases performed by a fleet of cooperating autonomous and heterogeneous vehicles. These systems are really complex and it becomes fundamental to simulate any mission stage to exploit benefits of simulations like repeatability, modularity and low cost. In this paper a framework for simulation and testing of UAVs in cooperative scenarios is presented. The framework, based on modularity and stratification in different specialized layers, allows an easy switching from simulated to real environments, thus reducing testing and debugging times, especially in a training context. Results obtained using the proposed framework on some test cases are also reported. {\textcopyright} 2008 Springer Science+Business Media B.V.},
	doi = {10.1007/s10846-008-9268-8},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-56649092912\&partnerID=40\&md5=dc161c1b0a0533432e58fcdf588aec40},
	author = {Adriano Mancini and Cesetti, A. and Iual{\`e}, A. and Emanuele Frontoni and Primo Zingaretti and Sauro Longhi}
}
@article {Zingaretti2009500,
	title = {A hybrid approach to land cover classification from multi spectral images},
	journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
	volume = {5716 LNCS},
	year = {2009},
	note = {cited By 5},
	pages = {500-508},
	abstract = {This work is part of a wider project whose general objective is to develop a methodology for the automatic classification, based on CORINE land-cover (CLC) classes, of high resolution multispectral IKONOS images. The specific objective of this paper is to describe a new methodology for producing really exploitable results from automatic classification algorithms. Input data are basically constituted by multispectral images, integrated with textural and contextual measures. The output is constituted by an image with each pixel assigned to one out of 15 classes at the second level of the CLC legend or let unclassified (somehow a better solution than a classification error), plus a stability map that helps users to separate the regions classified with high accuracy from those whose classification result should be verified before being used. {\textcopyright} 2009 Springer Berlin Heidelberg.},
	doi = {10.1007/978-3-642-04146-4_54},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-76249123810\&partnerID=40\&md5=fcaeb5e46615d9bbdf96fcbf4ffac41a},
	author = {Primo Zingaretti and Emanuele Frontoni and Eva Savina Malinverni and Adriano Mancini}
}
@conference {Zingaretti2009185,
	title = {Particle clustering to improve omnidirectional localization in outdoor environments},
	booktitle = {Proceedings of the ASME Design Engineering Technical Conference},
	volume = {3},
	year = {2009},
	note = {cited By 0},
	pages = {185-192},
	abstract = {Monte Carlo Localization (MCL) is a common method for self-localization of a mobile robot under the assumption that a map of the environment is available. In addition to laser scanners and sonar sensors, localization approaches using vision sensors have also been recently developed with good results. In this paper we present two variations to improve the standard implementation of the MCL algorithm. The first change consists in a new strategy for the generation of particles, both at the initialization and at the resampling stage, which tries to generate new particles near the position of images in the learning dataset or in the neighborhood of particles with higher weights in the previous estimate, respectively. The second variation is related to a new approach to the estimate of the robot position, now based on two steps: clustering of particles and taking as estimate of robot position the center of the cluster, computed as a weighted sum of particle weights, with higher weight. The improved MCL algorithm described in this paper is compared with the standard MCL algorithm in terms of localization accuracy. In particular, tests were performed using local feature matching of omnidirectional images implemented on a real robot system operating in large outdoor environments with high dynamic content. Obtained results show that the localization accuracy of the improved MCL algorithm is more than twice that of the standard MCL algorithm. {\textcopyright} 2009 by ASME.},
	doi = {10.1115/DETC2009-87373},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-82155166811\&partnerID=40\&md5=46091a6bd1c837a8652000dffdfa0861},
	author = {Primo Zingaretti and Ascani, A. and Adriano Mancini and Emanuele Frontoni}
}
@conference {Mancini20092544,
	title = {RoboBuntu: A linux distribution for mobile robotics},
	booktitle = {Proceedings - IEEE International Conference on Robotics and Automation},
	year = {2009},
	note = {cited By 2},
	pages = {2544-2549},
	abstract = {During last years Linux started to climb the market of operating systems (OSs), and Ubuntu, derived by Debian OS, has become a good alternative to common OSs like Windows XP or Vista. The mobile robotics scientific community makes use of Linux based OSs to avoid the lack of stability that affects Microsoft OSs, especially when real time conditions must be satisfied. In this paper we present the Linux distribution RoboBuntu, acronym formed by the union of ROBOt and uBUNTU, to overcome the almost totally independent robotic software platforms existing today. The key idea behind RoboBuntu is the integration of different tools for mobile robotics into an embedded Ubuntu distribution. Another important characteristics of RoboBuntu is that every "hard step", like installation and configuration of OS and tools, is hidden to common users. In particular, RoboBuntu can be used either by students or researchers, as LiveCd, permanent installation on standard hard drive or, more interesting, on aUSB storage flash disk. {\textcopyright} 2009 IEEE.},
	doi = {10.1109/ROBOT.2009.5152548},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-70350399144\&partnerID=40\&md5=7ad3e306e93a56d841f7c4fdaf250a03},
	author = {Adriano Mancini and Emanuele Frontoni and Ascani, A. and Primo Zingaretti}
}
@conference {Cesetti2009,
	title = {A single-camera feature-based vision system for helicopter autonomous landing},
	booktitle = {2009 International Conference on Advanced Robotics, ICAR 2009},
	year = {2009},
	note = {cited By 4},
	abstract = {In this paper a feature based single camera vision system for the safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The autonomous helicopter used for tests is required to navigate from an initial to a final position in a partially known environment, to locate a landing area and to land on it. The algorithm proposed for the detection of safe landing areas is based on the analysis of optical flow and of mutual geometric position of different kinds of features, observed from different points of view. Vision allows estimating the position and velocity of a set of features with respect to the helicopter while the onboard, hierarchical, behavior-based control system autonomously guides the helicopter. Results, obtained using real data and a real helicopter in a outdoor scenario, show the appropriateness of the vision-based approach. It does not require any artificial landmark (e.g., helipad), is able to estimate correctly and autonomously safe landing areas and is quite robust to occlusions.},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-70449334565\&partnerID=40\&md5=3373a2496d17d58330e7a887f552c6ba},
	author = {Cesetti, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and Sauro Longhi}
}
@conference {Frontoni2009,
	title = {Stability maps for really exploitable automatic classification results},
	booktitle = {2009 17th International Conference on Geoinformatics, Geoinformatics 2009},
	year = {2009},
	note = {cited By 1},
	abstract = {The paper describes a new methodology for producing really exploitable results from automatic classification algorithms. The output of these algorithms is usually constituted by an image with each region assigned to one out of n classes. If the end user, on the basis of results obtained from a control set provided with a ground truth, simply knows that classification over the whole dataset can be considered correct at, for example, 85\% (s)he cannot know where correct and erroneously classified regions are really located in the whole dataset. Obviously, the result obtained can be exploited to effectively compute global indexes over the dataset, but it cannot be used as a thematic map. Thus, in addition to the assignment of a class to each region we propose an approach that provides a stability map, a binary image that separates regions (S) classified with high accuracy from those (U) whose classification result should be verified before being used. Two further benefits derive from the construction of the stability map: the control set can be used to set up a good threshold for binarizing the stability map (that is, a threshold by which all regions S are effectively correctly classified); unreliable regions U can help the end user to identify principal causes of (types of regions leading to) misclassification and corresponding (fuzzy, neural, rule based, etc.) approaches to overcome them.},
	doi = {10.1109/GEOINFORMATICS.2009.5293443},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-74349085598\&partnerID=40\&md5=9cde6053a2e8199444209988fccd5e2c},
	author = {Emanuele Frontoni and A. Bernardini and Eva Savina Malinverni and Adriano Mancini and Primo Zingaretti}
}
@conference {Cesetti2009910,
	title = {Vision-based autonomous navigation and landing of an unmanned aerial vehicle using natural landmarks},
	booktitle = {2009 17th Mediterranean Conference on Control and Automation, MED 2009},
	year = {2009},
	note = {cited By 13},
	pages = {910-915},
	abstract = {This paper presents the design and implementation of a vision-based navigation and landing algorithm for an autonomous helicopter. The vision system allows to define target areas from a high resolution aerial or satellite image to determine the waypoints of the navigation trajectory or the landing area. The helicopter is required to navigate from an initial position to a final position in a partially known environment using GPS and vision, to locate a landing target (a helipad of a known shape or a natural landmark) and to land on it. The vision system, using a feature-based image matching algorithm, finds the area and gives feedbacks to the control system for autonomous landing. Vision is used for accurate target detection, recognition and tracking. The helicopter updates its landing target parameters owing to vision and uses an on board behavior-based controller to follow a path to the landing site. Results show the appropriateness of the vision-based approach that does not require any artificial landmark (e.g., helipad) and is quite robust to occlusions, light variations and seasonal changes (e.g., brown or green leaves). {\textcopyright} 2009 IEEE.},
	doi = {10.1109/MED.2009.5164661},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84885338997\&partnerID=40\&md5=e544d46c421bd62be9c0ad9fa4ac016b},
	author = {Cesetti, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti and Sauro Longhi}
}
@conference {Mancini2009,
	title = {A winner takes all mechanism for automatic object extraction from multi-source data},
	booktitle = {2009 17th International Conference on Geoinformatics, Geoinformatics 2009},
	year = {2009},
	note = {cited By 3},
	abstract = {Automatic object extraction from multi-source aerial data is a desirable property for many activities, such as detecting 3D city model changes or updating road databases. This paper applies the Winner Takes All (WTA) mechanism, derived from other research fields, to combine the benefits of pixel and region classification. We fuse LiDAR data and multi-spectral high-resolution images to generate the set of features used by boosted classifiers to detect buildings, trees, bare land and grass. The main benefit of region based classification is that it removes the sensibility to noise of pixel based classifiers. The WTA approach is useful especially when pixel based approaches leave many pixels unclassified; typical cases are borders of building roofs or thin canopies, where LiDAR data are often noisy. Results in an urban environment using high-resolution LiDAR and multi-spectral data are presented comparing the performance of pixel, region and WTA approaches.},
	doi = {10.1109/GEOINFORMATICS.2009.5293425},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-74349100965\&partnerID=40\&md5=d8aa4248c0d2835fde5d5a907e76ad8d},
	author = {Adriano Mancini and Emanuele Frontoni and Primo Zingaretti}
}
@conference {Zingaretti2008227,
	title = {Autonomous helicopter for surveillance and security},
	booktitle = {2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007},
	volume = {4},
	year = {2008},
	note = {cited By 0},
	pages = {227-234},
	abstract = {Unmanned Aerial Vehicles represent today an advanced and complex robotics platform for novel tasks. For example, UAVs can be used in applications for traffic monitoring and surveillance, emergency services assistance, photogrammetry and surveying. Generally, an UAV must be fully autonomous; autonomy is accomplished by a complex interconnection of systems related to a wide range of topics, e.g., flight low level control, navigation and task-based planning, elaboration of sensor signals, software architecture for reactive behaviours, communication. Today the challenge is the ability to insert UAVs in a cooperative network based on autonomous agents as UAV, UGV (Unmanned Ground Vehicle) to accomplish a specific task a priori defined. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications as surveillance and security. Copyright {\textcopyright} 2007 by ASME.},
	doi = {10.1115/DETC2007-35427},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-44849089281\&partnerID=40\&md5=722c3bbead7b4107ed7b860dd3c492b3},
	author = {Primo Zingaretti and Adriano Mancini and Emanuele Frontoni and Monteri{\`u}, A. and Sauro Longhi}
}
@conference {Ascani20083933,
	title = {Feature group matching for appearance-based localization},
	booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS},
	year = {2008},
	note = {cited By 24},
	pages = {3933-3938},
	abstract = {Local feature matching has become a commonly used method to compare images. For mobile robots, a reliable method for comparing images can constitute a key component for localization tasks. In this paper, we address the issues of appearance-based topological and metric localization by introducing a novel group matching approach to select less but more robust features to match the current robot view with reference images. Feature group matching is based on the consideration that feature descriptors together with spatial relations are more robust than classical approaches. Our datasets, each consisting of a large number of omnidirectional images, have been acquired over different day times (different lighting conditions) both in indoor and outdoor environments. The feature group matching outperforms the SIFT in indoor localization showing better performances both in the case of topological and metric localization. In outdoor SURF remains the best feature extraction method, as reported in literature. {\textcopyright}2008 IEEE.},
	doi = {10.1109/IROS.2008.4651023},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-69549135915\&partnerID=40\&md5=26b54613d0a4e016f6a3b8bec2face46},
	author = {Ascani, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@article {Cesetti200817,
	title = {From simulated to real scenarios: A framework for multi-UAVs},
	journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
	volume = {5325 LNAI},
	year = {2008},
	note = {cited By 2},
	pages = {17-28},
	abstract = {In this paper a framework for simulation of Unmanned Aerial Vehicles (UAVs), oriented to rotary wings aerial vehicles, is presented. It allows UAV simulations for stand-alone agents or multi-agents exchanging data in cooperative scenarios. The framework, based on modularity and stratification in different specialized layers, allows an easy switching from simulated to real environments, thus reducing testing and debugging times. CAD modelling supports the framework mainly with respect to extraction of geometrical parameters and virtualization. Useful applications of the framework include pilot training, testing and validation of UAVs control strategies, especially in an educational context, and simulation of complex missions. {\textcopyright} 2008 Springer Berlin Heidelberg.},
	doi = {10.1007/978-3-540-89076-8-6},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-58049115678\&partnerID=40\&md5=8301ffc2a6a97aefca4df012079ad726},
	author = {Cesetti, A. and Adriano Mancini and Emanuele Frontoni and Primo Zingaretti and Sauro Longhi}
}
@conference {Ascani2008576,
	title = {Robot localization using omnidirectional vision in large and dynamic outdoor environments},
	booktitle = {2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008},
	year = {2008},
	note = {cited By 3},
	pages = {576-581},
	abstract = {Local feature matching has become a commonly used method to compare images. For mobile robots, a reliable method for comparing images can constitute a key component for localization tasks. In this paper we present a mobile robot localization system based on local feature matching of omnidirectional images. In particular, we address the issues of appearance-based topological localization by comparing common feature-extractor methods (SIFT and SURF) to select robust features to match the current robot view with reference images. Our datasets, each consisting of a large number of omnidirectional images, have been acquired over different day times (different lighting conditions) and dynamic content in large outdoor environments (over 80.000 m2). Two different approaches (WTA and MCL) were used to evaluate performances, which, in general, are satisfactory. In particular, the use of Monte Carlo particle filtering improves topological localization results for all datasets with all algorithms. {\textcopyright} 2008 IEEE.},
	doi = {10.1109/MESA.2008.4735695},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-60749133774\&partnerID=40\&md5=71ab60c63c96799064ca0bbb23fb7656},
	author = {Ascani, A. and Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Kidiamboko2008866,
	title = {A scalable telemedicine architecture for under developed countries. A case study: Democratic Republic of Congo},
	booktitle = {2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED{\textquoteright}08},
	year = {2008},
	note = {cited By 0},
	pages = {866-871},
	abstract = {Telemedicine, defined as the use of telecommunications technologies to provide medical information and services, is electronic transfer of medical data being able to include the sound and the images to practice remote medicine. In under developed countries, as the Democratic Republic of Congo, the capability to remote monitor patients that live in villages or small rural town, is a "Big step ahead" for the health system and citizens. In this paper we present a Scalable Telemedicine Architecture designated to be used in a real scenario as the Dem.Rep. of Congo. A prototype of low cost sensor, integrable into architecture, as a pulse oximeter called Ebloops (Experimental Blood Pressure Smart Sensor), is also presented. Pulse oximetry allows doctors to monitor vital parameters as oxygen levels in a human body, heart frequency and other ones. {\textcopyright} 2008 IEEE.},
	doi = {10.1109/MED.2008.4602255},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-52949139070\&partnerID=40\&md5=855f2f2f7ebeaf934c0f0718b306fcf0},
	author = {Kidiamboko, S. and Adriano Mancini and Sauro Longhi and Spalazzi, L.}
}
@conference {Frontoni2007,
	title = {Prototype UAV helicopter working in cooperative environments},
	booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM},
	year = {2007},
	note = {cited By 7},
	abstract = {Today small autonomous helicopters offer a low budget platform for aerial applications such as surveillance (both military and civilian), land management, and earth science. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications in a cooperative network based on autonomous agents as UAV and UGV. We present our scalable and robust architecture, focusing in particular on hardware and real time solutions. A mechanical structure for safe testing is then presented. {\textcopyright}2007 IEEE.},
	doi = {10.1109/AIM.2007.4412564},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-48649092977\&partnerID=40\&md5=79d155f3eb244add87a4d8ba5d7616ed},
	author = {Emanuele Frontoni and Adriano Mancini and Caponetti, F. and Primo Zingaretti and Sauro Longhi}
}
@conference {Mancini2007,
	title = {Safe flying for an UAV helicopter},
	booktitle = {2007 Mediterranean Conference on Control and Automation, MED},
	year = {2007},
	note = {cited By 9},
	abstract = {Today small autonomous helicopters offer a low budget platform for aerial applications such as surveillance (both military and civil), land management and earth sciences. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications in cooperative networks. Fundamental steps in the design process of an UAV are shown. We also present work in progress in the field of failure detection and a novel idea to the problem of failure recovery using a terrain vision system. {\textcopyright}2007 IEEE.},
	doi = {10.1109/MED.2007.4433946},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-50249099214\&partnerID=40\&md5=290b41c35e2f9a3766073505671d036a},
	author = {Adriano Mancini and Caponetti, F. and Monteri{\`u}, A. and Emanuele Frontoni and Primo Zingaretti and Sauro Longhi}
}
@conference {Frontoni2007,
	title = {Vision based approach for active selection of robot{\textquoteright}s localization action},
	booktitle = {2007 Mediterranean Conference on Control and Automation, MED},
	year = {2007},
	note = {cited By 4},
	abstract = {The paper presents a mobile robot localization system that integrates Monte-Carlo Localization (MCL) with an active action-selection approach based on an aliasing map. The main novelties of the approach are: the off-line evaluation of the perceptual aliasing of the environment; the use of this knowledge to actively perform the localization processes; the use of an improved SIFT feature extractor to aliasing map evaluation and to measure image similarity. Results, obtained in a real scenario using a real robot, show improved performances in the number of steps needed to correctly localize the robot and in the localization error, compared with the classic MCL approach. Also better performances in computational time due to improvements in the vision system are shown. {\textcopyright}2007 IEEE.},
	doi = {10.1109/MED.2007.4433677},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-50249111061\&partnerID=40\&md5=c6e81b44708accfe6472fb11aa06e510},
	author = {Emanuele Frontoni and Adriano Mancini and Primo Zingaretti}
}
@conference {Frontoni2006,
	title = {Fast mobile robot localization using low cost sensors},
	booktitle = {IFAC Proceedings Volumes (IFAC-PapersOnline)},
	volume = {8},
	number = {PART 1},
	year = {2006},
	note = {cited By 2},
	abstract = {Bayesian filtering is a well known probabilistic filtering method. Its applications to mobile robot localization are very popular, but an active approach to the problem of localization was never presented. An interesting question is: what is the best action that the robot should choose to localize itself in the minimum number of steps? This paper presents the Fast Particle Filtering (FPF) algorithm to select the best action that allows a fast global localization using particle filtering. The appropriateness of our approach is demonstrated empirically using a mobile robot equipped with low cost sonar sensors in a structured office environment. Comparisons with classical Bayesian filtering approaches are also presented to demonstrate the better performances and the lower computational cost of the FPF algorithm. Copyright {\textcopyright} 2006 IFAC.},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-80051600774\&partnerID=40\&md5=b6c6e42ff4df40128cbe9bf76d128f44},
	author = {Emanuele Frontoni and Adriano Mancini and Caponetti, F. and Primo Zingaretti}
}
@conference {Frontoni2006,
	title = {A framework for simulations and tests of mobile robotics tasks},
	booktitle = {14th Mediterranean Conference on Control and Automation, MED{\textquoteright}06},
	year = {2006},
	note = {cited By 13},
	abstract = {This paper presents an education framework, developed in Matlab, for studying and experimenting typical mobile robotics tasks such as obstacle avoidance, localization, navigation and SLAM. The most important characteristic of this framework is the ability to easily switch from a simulator to a real robot to tune and test algorithms and to evaluate results in simulated and real environments. The framework is being used with interesting results in robotic courses at the Universit{\`a} Politecnica delle Marche in Ancona, Italy. In the second part of the paper a test case to evaluate an optimization of a Monte Carlo Localization process with sonar sensors is presented.},
	doi = {10.1109/MED.2006.328842},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-35949002522\&partnerID=40\&md5=c56db964d779bed90b4aff91801d06cf},
	author = {Emanuele Frontoni and Adriano Mancini and Caponetti, F. and Primo Zingaretti}
}
