Luigi Palmieri

I am a research engineer at Robert Bosch GmbH Corporate Research, where I work on motion planning and control systems.

I am a PhD candidate in CS at Uni Freiburg, Social Robotics Laboratory, where I am advised by Kai O. Arras and funded by the Spencer EU project. I obtained my Master and Bachelor degrees in computer engineering at the University of Naples, Luigi Vanvitelli.

Email  /  CV  /  Google Scholar  /  GitHub  /  LinkedIn

Research

My research focuses primarily on: kinodynamic motion planning in dynamic and crowded environments, control of non linear dynamic systems, path and trajectory planning considering human motions predictions and socially normative behaviors. More specifically, in the last few years, I have been working with autonomous navigation systems in dynamic and crowded environments using sampling based motion planners. I find the latter to be very powerful frameworks where control theory, AI and machine learning based techniques intersect each other and help to solve difficult motion planning tasks.

Publications

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Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Nonholonomic Motion Planning in Tight Environments
Banzhaf H., Palmieri L., Nienhueser D., Schamm T., Knoop S., and Zoellner J. M.,ITSC, 2017

[Abstract] [PDF] [Code] [Video]
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Kinodynamic Motion Planning on Gaussian Mixture Fields
Palmieri L., Kucner T. P., Magnusson M., Lilienthal A. and Arras, K. O.; 2017 IEEE International Conference on Robotics and Automation, 2017

[Abstract] [PDF] [Code] [Video]
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Predictive Planning for a Mobile Robot in Human Environments
Rudenko A., Palmieri L., and Arras, K. O.; Workshop on AI Planning and Robotics: Challenges and Methods, 2017 IEEE International Conference on Robotics and Automation, 2017

[Abstract] [PDF] [Code] [Video]
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A Fast Random Walk Approach To Find Diverse Paths for Robot Navigation
Palmieri L., Rudenko A. and Arras, K. O.; IEEE Robotics and Automation Letters, 2017

[Abstract] [PDF] [Code] [Video]
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Poster Spotlight: RRT-Based Nonholonomic Motion Planning Using Any-Angle Path Biasing
Palmieri L., Koenig S. and Arras, K. O.; Symposium on Combinatorial Search, 2016

[Abstract] [PDF] [Code] [Video]
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RRT-Based Nonholonomic Motion Planning Using Any-Angle Path Biasing
Palmieri L., Koenig S. and Arras, K. O.; International Conference on Robotics and Automation,, 2016

[Abstract] [PDF] [Code] [Video]
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A Fast Randomized Method to Find Homotopy Classes for Socially-Aware Navigation
Palmieri L., Rudenko A. and Arras, K. O.; Workshop on Assistance and Service Robotics in a Human Environment, International Conference on Intelligent Robots and Sytems,, 2015

[Abstract] [PDF] [Code] [Video]
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SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports
Triebel, R.; Arras, K.O.; Alami, R.; Beyer, L.; Breuers, S.; Chatila, R.; Chetouani, M.; Cremers, D.; Evers, V.; Fiore, M.; Hung, H.; Islas Ramirez, O.; Joosse, M.; Khambhaita, H.; Kucner, T.; Leibe, B.; Lilienthal, A.; Linder, T.; Lohse, M.; Magnusson, M.; Okal, B.; Palmieri, L.; Rafi, U.; van Rooij, M.; Zhang, L.; Field and Service Robotics (FSR), 2015

[Abstract] [PDF] [Code] [Video]
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Distance Metric Learning for RRT-Based Motion Planning with Constant-Time Inference
Palmieri L., Kai O. Arras; International Conference on Robotics and Automation, 2015

[Abstract] [PDF] [Code] [Video]
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A Novel RRT Extend Function for Efficient and Smooth Mobile Robot Motion Planning
Palmieri L., Kai O. Arras; International Conference on Intelligent Robots and Systems, 2014

[Abstract] [PDF] [Code] [Video]
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Distance Metric Learning for RRT-Based Motion Planning for Wheeled Mobile Robots
Palmieri L., Kai O. Arras; Proceedings of Machine Learning in Planning and Control of Robot Motion Workshop, International Conference on Intelligent Robots and Systems, 2014

[Abstract] [PDF] [Code] [Video]
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Efficient and Smooth RRT Motion Planning Using a Novel Extend Function for Wheeled Mobile Robots
Palmieri L. , Kai O. Arras; Proceedings of the 2nd Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling, 2014

[Abstract] [PDF] [Code] [Video]
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Wifi-based passive bistatic radar by using moving target indicator and least square adaptive filtering
Buonanno A., D'Urso M., Palmieri L.; IEEE International Symposium on Phased Array Systems, 2013

[Abstract] [PDF] [Code] [Video]
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A behavioural approach to obstacle avoidance for mobile manipulators based on distributed sensing
Palmieri L.; Master Thesis, public available on Arxiv, 2013

[Abstract] [PDF] [Code] [Video]
Projects
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ILIAD
Intra-Logistic with Integrated Automatic Development: safe and scalable fleets in shared spaces.


The EU project ILIAD will develop robotic solutions for intralogistic services with key stakeholders from the food distribution sector. ILIAD pursues ambitious goals for complex cognitive systems in human environments beyond a specific use-case. We will overcome limitations in the state of the art in tracking and analysing humans; quantifying map quality and predicting future states depending on activity patterns inferred from long-term observations; planning of socially normative movements using learned human models; integration of task allocation, coordination and motion planning for heterogeneous robot fleets; and systematically studying human safety in mixed environments, providing a foundation for future safety standards. In this project, I am jointly responsible for the motion planning system development.

[Official Project Website] [Youtube Channel] [Twitter]

Spencer
Social situation-aware perception and action for cognitive robots.


During the EU project SPENCER, I was jointly responsible for the motion planning capabilities of a new socially aware passenger guidance robot. SPENCER's research covers key areas of interactive intelligent systems such as perception of people and groups of people in sensory data, normative human behavior learning and modeling, socially-aware mapping, and socially-aware task, motion and interaction planning in unstructured real-world environments and from mobile platforms. In a final demonstration scenario we deployed a fully autonomous mobile robot for smart passengers flow management at the Amsterdam Schiphol Airport

[Official Project Website] [Youtube Channel] [GitHub]

Teaching
SRL

Summer term 14/15 - Seminar Social Robotics

Winter term 14/15 - Human-oriented robotics, Graduate Lecture and lab

Winter term 13/14 - Human-oriented robotics, Graduate Lecture and lab

Winter term 12/13 - Robotics, Graduate Lecture and lab


Web page based on Barron's code.