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Francesco Amigoni

The research activity of Francesco Amigoni covers the fields of autonomous mobile robotics and multiagent systems. In general, it addresses the study, development, and experimental assessment of methods for autonomous decision-making of agents operating in the real world.

The research activities reported below have been performed in cooperation with several students and researchers, prominently including: Jacopo Banfi, Nicola Basilico, Andrea Bonarini, Vincenzo Caglioti, Andrea Castelletti, Giulio Fontana, Simone Gasparini, Nicola Gatti, Maria Gini, Dirk Holz, Matteo Giuliani, Michèle Lavagna, Matteo Luperto, Matteo Matteucci, Alberto Quattrini Li, Ioannis Rekleitis, Alessandro Riva, Guido Sangiovanni, Viola Schiaffonati, and Marco Somalvico.

Current Research Interests

The current research topics of Francesco Amigoni are articulated in the following areas ([] refers to the main publications in the Publication List of the Curriculum Vitae).

Autonomous Mobile Robotics

Navigation Strategies


The research in this topic aims at defining efficient navigation strategies for autonomous mobile robots. Navigation strategies are methods used by mobile robots to autonomously decide where to go when performing a task [B11] (in contrast to classical path planning methods that are used by robots to autonomously decide how to reach a given position, which is by itself a difficult problem for multirobot systems [A29] [C86] and for single robots [C84] in presence of restrictions on communication). Francesco Amigoni has significantly contributed to the theoretical and practical development of navigation strategies for the exploration and patrolling tasks.


When exploring initially unknown environments, exploration strategies determine the next observation location a mobile robot should reach in a partially known environment. Francesco Amigoni has initially proposed an information-based criterion for defining an exploration strategy for a mobile robot equipped with a laser range finder [A19]. Moreover, Francesco Amigoni has proposed decision-theoretically based exploration strategies that exploit multi-objective optimization [C26] and multi-criteria decision making [A22] [C49]. Along the same line, an exploration strategy that, differently of the mainstream approaches, exploits not only metric information but also semantic information to determine the next observation locations has been proposed [A27].

Exploration strategies have an online nature and their performance can be compared with that of optimal offline exploration paths. An approach to find the optimal exploration paths for covering arbitrary environments is presented in [C60], while suboptimal covering paths can be found with the method of [C79] and bounds on performance of exploration strategies are reported in [C70].

Experimental comparisons of different exploration strategies in different settings are reported in [C39] [C51] [C56] [C63]. The relation between exploration strategies and coordination methods in multirobot exploration has been analyzed in [C58]. Different strategies for communication-constrained exploration [A30] are compared in [C75], while in [A34] a multirobot exploration strategy is proposed that deals with recurrent connectivity constraints. The methods proposed in [C81] [C85] build communication maps that can be used to deploy robots in communication-constrained environments. The more abstract problem of collecting joint measurements in addressed in [C89]. Switching between different communication modalities to efficient explore environments is investigated in [C83].

Exploration of environments with mobile robots in order to find gas sources is discussed in [C82].


In patrolling, mobile robots move in an environment to prevent intrusions. An efficient strategy for a mobile robot that is tasked to patrol an environment is presented in [C42]. The strategy has been developed considering patrolling as a strategic game played by the mobile robot and the intruder. Following the same approach, a more mature model for finding optimal randomized patrolling strategies is reported in [C44] [C45] and extended in [C46]. A deterministic patrolling strategy is developed in [C47], while a deterministic capture strategy is described in [C90]. A step toward the application of the approach to real mobile robots is described in [C50], an application to active patrolling cameras is reported in [C53], and an application to the problem of pursuit evasion is illustrated in [C57]. Most of the above results are summarized and applied to realistically-sized environments in [A23].

Two strategies for multiple robots patrolling environments with constraints on communication are reported in [C72] and in [C78].


Line Segment Maps


The current techniques for building maps of environments (which represent obstacles and free space) with a mobile robot work incrementally by integrating a sequence of partial maps acquired by the sensors of the robot. Usually, this integration is based on the use of other localization sensors that give information on the robot position in the already built map. The research on this topic aims at representing obstacles with line segments and at exploiting geometrical features of partial maps to improve the quality of their integration. Francesco Amigoni has proposed important contributions in this field; in particular, a method for integrating two partial maps [C24] and a method for integrating a sequence of partial maps [C19] without using any information about robot position. The obtained results are collected in [A11].

A line segment-based method for matching partial maps (scans) that exploits geometrical features to improve the estimate provided by localization sensors is presented in [C67].


Francesco Amigoni has also proposed some methods for reducing the size of line segment-based maps by merging redundant line segments [C34] [C48] and has experimentally compared them with other methods for reducing line segments in maps [C40] [A31].


Semantic Maps


Semantic maps associate high-level information (e.g., labels like ‘kitchen’) to portions of environments. Different aspects of an approach for building semantic maps of indoor environments considering a priori knowledge about the type of the building in which robots are operating are proposed in [C62] [C68] [C73] [C74] [C80] [C87].


Experimental Methodologies and Standards in Autonomous Mobile Robotics


The research in this topic aims at addressing the common belief that experimentation in autonomous mobile robotics has not yet reached a level of maturity comparable with that reached in other scientific and engineering disciplines [B10]. Francesco Amigoni has been among the firsts to contribute to the definition of good experimental methodologies for robotic mapping [C37] and to the proposal of a general theoretical framework in which these methodologies are inserted [A18] [B7] [B9] [B12], with also focus on generalization of experimental results [A28] and on ethical issues [A32]. A comprehensive summary of the main results is reported in [B15]. In this context, competitions [B8] represent an interesting approach to the experimental analysis of whole robotic systems [C65] [C66] [B16] [A26].

Francesco Amigoni has also contributed to the definition of an IEEE standard for representing the maps employed by robots for navigation [C69] [A33].

Multiagent Systems

Multiagent Decision-making, Planning, and Scheduling


Francesco Amigoni has studied multiagent decision-making, planning, and scheduling in some application scenarios: ambient intelligence and energy and comfort management, space systems, and water resources systems management.


In ambient intelligence, several distributed devices, considered as agents, collectively operate to support the activities of the user and the needs of energy and comfort management. Distributed decision-making, planning, and scheduling are needed to implement goal-oriented behaviors. In this research topic, Francesco Amigoni has proposed a multiagent planner that can adapt its performance to the agents, and thus to the devices, currently present in the environment [A8]. The planner, called D-HTN, is based on the Hierarchical Task Network (HTN) approach. Some technological issues of the implementation of the planner in JADE are reported in [C41].


In space systems, autonomy in managing onboard activities is one of the most important requirements. In this scenario, Francesco Amigoni has developed a multiagent system to manage the activities onboard a space system. Each device of the system is associated to an agent that is in charge of planning, scheduling, and executing its specific activities. The description of a first prototype of the system is reported in [A20]. A study on the applicability of agent technologies to space systems is reported in [C52], while a multiagent system to detect anomalies on space systems is described in [C88].


The management of water resources systems requires an accurate modeling of the entities involved and of their interactions. Distributed approaches based on multiagent systems can be fruitfully adopted to this end. A multiagent system that can help in deciding and planning the use of water resources from the perspective of a regulation body is presented in [A25], while a more evolved multi-objective approach is reported in [C71]. A multiagent system that models preference evolution in the management of water resources systems is presented in [A35].


Cooperative Negotiation


Francesco Amigoni has proposed the use of cooperative negotiation techniques to model complex phenomena. In particular, when a phenomenon (like some physiological processes) is described by a set of models that only partially capture the phenomenon, it is possible to associate a software agent to each partial model and let a global more complete model emerge as the agreement of the cooperative negotiation between these agents [A15] [B4]. In this research topic, a cooperative negotiation model that allows the agents to reach an agreement has been formulated and its stability studied [C21], defining the conditions that guarantee stability regardless the number of agents participating in the negotiation [A14]. This approach has been applied to the development of systems for modeling and regulating the glucose-insulin metabolism and the heart rate, for modeling network normality in anomaly-based intrusion detection, and for modeling operations in management of water resources systems. The first system is described in [A6], the second system is described both in [A9], with focus on technological aspects, and in [A10], with focus on application aspects, the third system is described in [C43], while the fourth system is described in [B13].

A bargaining protocol for obtaining Pareto optimal agreements is described in [C31].

Fragment Reassembly

The research in this topic aims at reassembling two-dimensional images starting from their fragments and without any knowledge of the final images. Francesco Amigoni has proposed a method for reassembling fragments only on the basis of their shape [C17].

Philosophical Aspects of Artificial Intelligence and Robotics

The research in this area, in cooperation with Viola Schiaffonati, addresses the study of the relationships and of the reciprocal influences between philosophy and artificial intelligence and robotics. In particular, we have addressed some foundational issues about the nature of interactions between computers and robots, on the one side, and the world [A1] and humans [A5] [C12], on the other side, and about the ethical implications of these interactions [C4] [C33]. We also have addressed topics related to creativity, using the multiagent paradigm as a metaphor to represent the results of creative processes [A3] [B3] and to partially represent the creative processes themselves, proposing an operational approach to creativity [C16]. Finally, the two roles multiagent systems can play in scientific discovery, as support to scientists and as representation of results [A15] [B6], have been analyzed with respect to specific examples in [A4], [C2], and [C8]. The main results of the investigation of the roles of multiagent systems in scientific discovery are summarized in [A13].

Past Research Interests

The past research activity of Francesco Amigoni has been articulated in the following areas ([] refers to the main publications in the Publication List of the Curriculum Vitae).

Multiagent Systems

Development of Cooperative Multiagent Systems


Francesco Amigoni has proposed some formalisms for describing the properties of a generic system composed of cooperative agents, both software and robotic [A2]. Such a system has been called agency to emphasize its unitary nature. Moreover, Francesco Amigoni has proposed the dynamic agency architecture for developing cooperative multiagent systems. In this architecture, each agent is composed of a pair of semiagents: the operative one, that offers specialized functions to operate in an environment, and the cooperative one, that integrates the agents in a uniform cooperation framework [C1]. The dynamic agency approach enables the development of a cooperative multiagent system for a given task according to a sequence of steps. Initially, the most suitable operative semiagents for the task are selected (this recruitment process has been studied theoretically in [A24] and more algorithmically in [C3] and [B1]). Then, the cooperative semiagents are installed exploiting the software technique of mobile code systems (a software framework for this purpose has been proposed in [C7]). The flexibility offered by the dynamic agency methodology in the management of agents allows their easy reuse and the dynamic variation of the system composition. In this scenario, the use of ontologies for describing the capabilities of agents is fundamental, especially in the case of robotic agents [C32] and of Internet of Things technologies [B14]. The main results obtained in this topic are collected in [A16].


Virtual Museums


The research in this topic, under the name Minerva project, has been oriented to enhance the use of advanced artificial intelligence techniques to support some human activities related to the museum organization. The project involved heterogeneous contributions from different sources, both academic and not. The system that has been developed, called Minerva, automatically organizes a virtual museum starting from the works of art and the environments in which they should be displayed. Minerva is implemented as a system composed of agents that communicate and cooperate. A first version of Minerva, oriented to archeological museums, has been presented in [C6], while an updated version, oriented to archeological and design museums, has been presented in [C16]. In [A17], the main features of these versions of Minerva are summarized. Moreover, a further version of Minerva for archeological objects found on the Isola Comacina (Como, Italy) has been presented in [C35].


Supporting Research in Bio-Related Fields


Autonomous agents can be employed to make the execution of distributed scientific experiments that span different organizations more flexible [C38]. Moreover, multiagent systems have been employed to provide simulations of biological processes. A critical analysis of these approaches is reported in [B6].

Autonomous Mobile Robotics

Robotic Systems for Environmental Monitoring and Search and Rescue


The research in this topic aimed at developing and implementing a system, called perceptive agency, composed of mobile robots equipped with different sensors for monitoring indoor environments. In this sense, a perceptive agency is a particular sensor network in which the nodes are implemented as perceptive mobile robots. Francesco Amigoni has defined the general aspects and requirements of perceptive agencies in [A7], [C5], [C13], and [C14]. An implementation of a perceptive agency oriented to monitor electromagnetic fields, developed within the research project described in [A12], has been presented in [C20] (with simulated sensors) and [C28] (with real magnetic field sensors), while [B5] summarizes the main features of this perceptive agency providing further experimental results.

The interface between human operators and autonomous robots is fundamental to obtain effective systems in search and rescue applications. A proposal relative to this topic is reported in [C61].


Flying Robot Formations


The research in this topic aimed at studying some parameters of formations of flying robots [C18].

Dynamic Systems Applied to Social Sciences

The goal of the research in this topic has been to study a minimal model of differential equations for describing the dynamics of production in creative professions. Francesco Amigoni, in cooperation with Sergio Rinaldi, has proposed to consider, as a fundamental variable of the model, the satisfaction of a creative person, represented as the composition of internal selfmotivation and external judgment given to production [B2].


August 1, 2018