Enrico Natalizio

Lorenzo Lamberti, Vlad Niculescu, Michał Barcis et al.

Pocket-sized autonomous nano-drones can revolutionize many robotic use cases, such as visual inspection in narrow, constrained spaces, and ensure safer human-robot interaction due to their tiny form factor and weight -- i.e., tens of grams. This compelling vision is challenged by the high level of intelligence needed aboard, which clashes against the limited computational and storage resources available on PULP (parallel-ultra-low-power) MCU class navigation and mission controllers that can be hosted aboard. This work moves from PULP-Dronet, a State-of-the-Art convolutional neural network for autonomous navigation on nano-drones. We introduce Tiny-PULP-Dronet: a novel methodology to squeeze by more than one order of magnitude model size (50x fewer parameters), and number of operations (27x less multiply-and-accumulate) required to run inference with similar flight performance as PULP-Dronet. This massive reduction paves the way towards affordable multi-tasking on nano-drones, a fundamental requirement for achieving high-level intelligence.

Evgenii Vinogradov, Debashisha Mishra, Mariam Ali Askar Alobeidli et al.

Advanced Air Mobility (AAM) uses electric vertical take-off and landing (eVTOL) vehicles to address urban congestion and emissions. However, corridor design, operation management, and separation standards remain underexamined for safe high-density operations. This paper applies the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines to systematically review relevant literature from IEEE Xplore and Web of Science, focusing on publications from 2010 to 2024. A Context, Intervention, Mechanism, and Outcome (CIMO) framework guided the development of research questions. After screening 2,039 journal and conference papers, 62 articles met the inclusion criteria. The findings reveal a lack of integrated corridor design approaches, limited operational strategies, and reliance on standards originally designed for conventional aviation. A unified corridor design and separation definition frameworks and taxonomies are proposed to address these shortcomings, informing future investigations and operational frameworks for safe, efficient eVTOL operation deployment in urban settings.

Lorenzo Bellone, Boris Galkin, Emiliano Traversi et al.

Network slicing is a well assessed approach enabling virtualization of the mobile core and radio access network (RAN) in the emerging 5th Generation New Radio. Slicing is of paramount importance when dealing with the emerging and diverse vertical applications entailing heterogeneous sets of requirements. 5G is also envisioning Unmanned Aerial Vehicles (UAVs) to be a key element in the cellular network standard, aiming at their use as aerial base stations and exploiting their flexible and quick deployment to enhance the wireless network performance. This work presents a UAV-assisted 5G network, where the aerial base stations (UAV-BS) are empowered with network slicing capabilities aiming at optimizing the Service Level Agreement (SLA) satisfaction ratio of a set of users. The users belong to three heterogeneous categories of 5G service type, namely, enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), and massive machine-type communication (mMTC). A first application of multi-agent and multi-decision deep reinforcement learning for UAV-BS in a network slicing context is introduced, aiming at the optimization of the SLA satisfaction ratio of users through the joint allocation of radio resources to slices and refinement of the UAV-BSs 2-dimensional trajectories. The performance of the presented strategy have been tested and compared to benchmark heuristics, highlighting a higher percentage of satisfied users (at least 27% more) in a variety of scenarios.

Pierre Laclau, Vladislav Tempez, Franck Ruffier et al.

Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an exploration drone and an operator. Our algorithm only uses the measurement of the signal quality between two successive robots as well as an estimate of the ground speed based on an optic flow sensor. We evaluate our approach formally and in simulation, and we describe experimental results with a chain of 3 real miniature quadrotors (12 by 12 cm) and a base station.

Xiaoqin Wang, Y. Ahmet Sekercioglu, Tom Drummond et al.

The Relative Pose based Redundancy Removal(RPRR) scheme is presented, which has been designed for mobile RGB-D sensor networks operating under bandwidth-constrained operational scenarios. Participating sensor nodes detect the redundant visual and depth information to prevent their transmission leading to a significant improvement in wireless channel usage efficiency and power savings. Experimental results show that wireless channel utilization is improved by 250% and battery consumption is halved when the RPRR scheme is used instead of sending the sensor images independently.

Fabio D'Andreagiovanni, Antonella Nardin, Enrico Natalizio

We consider the problem of optimally designing a body wireless sensor network, while taking into account the uncertainty of data generation of biosensors. Since the related min-max robustness Integer Linear Programming (ILP) problem can be difficult to solve even for state-of-the-art commercial optimization solvers, we propose an original heuristic for its solution. The heuristic combines deterministic and probabilistic variable fixing strategies, guided by the information coming from strengthened linear relaxations of the ILP robust model, and includes a very large neighborhood search for reparation and improvement of generated solutions, formulated as an ILP problem solved exactly. Computational tests on realistic instances show that our heuristic finds solutions of much higher quality than a state-of-the-art solver and than an effective benchmark heuristic.