publications

Books:

• 1. Agostino Martinelli, Observability: A New Theory Based on the Group of Invariance, published by SIAM in Advances in Design and Control, 2020, ISBN: 978-1-61197-624-3. New extensions are available in the arXiv submission: Agostino Martinelli, Nonlinear Unknown Input Observability and Unknown Input Reconstruction: The General Analytical Solution   arXiv:2201.07610 [math.OC].

  2. Agostino Martinelli, Observability Properties and Deterministic Algorithms in Visual-Inertial Structure from Motion. Boston: Now Foundations and Trends, doi: 10.1561/2300000030

Journals:

• 1. Agostino Martinelli,  (2022). Nonlinear Unknown Input Observability and Unknown Input Reconstruction: The General Analytical Solution, Journal of Information Fusion, 2022, ISSN 1566-2535, p. 23--51, https://doi.org/10.1016/j.inffus.2022.03.004. (https://www.sciencedirect.com/science/article/pii/S156625352200029X)

  2. Agostino Martinelli,  (2022). Extension of the Observability Rank Condition to Time-Varying Nonlinear Systems, in IEEE Transactions on Automatic Control, vol. 67, no. 9, pp. 5002--5008, Sept. 2022, doi: 10.1109/TAC.2022.3180771.. IEEE TRANSACTIONS ON AUTOMATIC CONTROL

  3. Agostino Martinelli, Cooperative Visual-Inertial Odometry: Analysis of Singularities, Degenacies, and Minimal Cases, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 668-675, April 2020, doi: 10.1109/LRA.2020.2965063.

  4. Agostino Martinelli, Alessandro Renzaglia,  and Alexander Oliva, Cooperative visual-inertial sensor fusion: fundamental equations and state determination in closed-form. Auton Robot 44, 339–357 (2020). https://doi.org/10.1007/s10514-019-09841-8

  5. Agostino Martinelli, Alexander Oliva, and Bernard Mourrain, Cooperative Visual-Inertial Sensor Fusion: The Analytic Solution, in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 453-460, April 2019, doi: 10.1109/LRA.2019.2891025.

  6. Agostino Martinelli, Nonlinear Unknown Input Observability: Extension of the observability rank condition, Transaction on Automatic Control, Vol 64, N. 1, January 2019, Pag 222-237

  7. Jacques Kaiser, Agostino Martinelli, Flavio Fontana, Davide Scaramuzza, Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation, IEEE Robotics and Automation Letters, 2016, Vol 2, Issue 1, Pag 18-25.

  8. Chiara Troiani, Agostino Martinelli, Christian Laugier, Davide Scaramuzza, Low computational-complexity algorithms for vision-aided inertial navigation of micro aerial vehicles, Robotics and Autonomous Systems, 2015, Vol 69, Pag 80-97

  9. Davide Scaramuzza, Michael C Achtelik, Lefteris Doitsidis, Felice Friedrich, Elias Kosmatopoulos, Agostino Martinelli, Markus W Achtelik, Maria Chli, Savvas A Chatzichristofis, Laurent Kneip, Daniel Gurdan, Liang Heng, Gim Hee Lee, Simon Lynen, Marc Pollefeys, Alessandro Renzaglia, Roland Siegwart, Jan Carsten Stumpf, Petri Tanskanen, Chiara Troiani, Steven Weiss, Lorenz Meier, Vision-controlled micro flying robots: from system design to autonomous navigation and mapping in GPS-denied environments, Robotics & Automation Magazine, IEEE, 2014, Vol 21, Issue 3, Pag 26-40

  10. Agostino Martinelli, Overdamped 2D-Brownian motion for active and nonholonomic particles, Journal of Statistical Mechanics: theory and experiments, 2014, issue 3

  11. Agostino Martinelli, Closed-Form Solution of Visual Inertial Structure from Motion, International Journal of Computer Vision, 2014, Vol. 106, N. 2, 138--152, PDF

  12. Agostino Martinelli,  Vision and IMU Data Fusion: Closed-Form Solutions for Attitude, Speed, Absolute Scale and Bias Determination, Transaction on Robotics, Volume 28 (2012), Issue 1 (February), pp 44--60.

  13. Alessandro Renzaglia, Lefteris Doitsidis, Agostino Martinelli, and Elias B. Kosmatopoulos (2012), Multi-robot three-dimensional coverage of unknown areas, The International Journal of Robotics Research May 2012 vol. 31 no. 6, 738-752

  14. Agostino Martinelli,  State Estimation Based on the Concept of Continuous Symmetry and Observability Analysis: the Case of Calibration,Transactions on Robotics, 2011, Vol. 27, No. 2, pp 239--255, April 2011

  15. Scaramuzza, D., Agostino Martinelli, Siegwart, R., A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and its Use in Mobile Robotics, International Journal on Robotics Research, vol. 28, issue 2, February, 2009.

  16. K. Macek, J. Matusko, Agostino Martinelli and R. Siegwart, Discussion on Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots, European Journal of Control, 2007, Vol 13, pp 440-446.

  17. Nguyen, V.T., Gachter, S., Agostino Martinelli, Tomatis, N. and Siegwart, R. (2007) A comparison of line extraction algorithms using 2D range data for indoor mobile robotics. Autonomous Robots Vol 23, 97 - 111 (2007)

  18. Agostino Martinelli, Tomatis, N. and Siegwart, R. (2007) Simultaneous Localization and Odometry Self Calibration for Mobile Robot. Autonomous Robots. Vol 22 Issue 1, January 2007, pages 75-85.

  19. Agostino Martinelli, Nguyen, V.T., Tomatis, N. and Siegwart, R. (2007) A Relative Map approach to SLAM Based on Shift and Rotation Invariants. International Journal of Robotics and Autonomous Systems. Vol 55, Issue 1, January 2007, pages 50-61.

  20. Agostino Martinelli, The Odometry Error of a Mobile Robot with a Synchronous Drive System. IEEE Transaction on Robotics and Automation, Vol 18, NO. 3 June 2002, pp 399-405.

  21. Agostino Martinelli, Matteucci, F. and Colafrancesco, S. (2000) Evolution with redshift of the ICM abundances. Astron. Astrophys.354, 387-394 (2000), PDF.

  22. Agostino Martinelli and Matteucci, F. (2000) A Possible Solution of the G-Dwarf Problem in the Frame-work of Closed Models with a Time-Dependent IMF. Astron. Astrophys., Vol 353, pag 269-275 (2000), PDF.

  23. Agostino Martinelli, Matteucci, F. and Colafrancesco, S. (1998) A Possible Theoretical Explanation of Metallicity Gradients in Elliptical Galaxies. Monthly Notices Royal Astronomy Society, Vol 298, pag 42-52, PDF.

  24. Agostino Martinelli, Metallicity Gradients and the Matter Distribution in Elliptical Galaxies. Astronomy and Astrophysics, Vol 335, pag 847-854 (1998), PDF.

Book Chapters:

• 1. Cristofaro A, Renzaglia A, Martinelli A (2013). Distributed Information Filters for MAV Cooperative Localization. In: Distributed Autonomous Robotic Systems . SPRINGER TRACTS IN ADVANCED ROBOTICS, ISSN: 1610-7438

  2. Martinelli A and R. Siegwart, (2012) Vision and IMU Data Fusion: Closed-Form Determination of the Absolute Scale, Speed and Attitude, chapter of Springer Handbook of Intelligent Vehicles, Editor Azim Eskandarian, Springer

  3. F. Conte, A. Cristofaro, A. Renzaglia and Martinelli A, (2011) Cooperative Localization and SLAM Based on the Extended Information Filter, chapter of Multi-Robot Systems, Trends and Development, INTECH Vienna, Austria

  4. D Scaramuzza, N Criblez, Martinelli A, Siegwart R (2008). Robust Feature Extraction and Matching for Omnidirec- tional Images. In: Field and Service Robotics. SPRINGER TRACTS IN ADVANCED ROBOTICS, ISSN: 1610-7438

  5. Martinelli A, Tapus A, Arras K, Siegwart R (2005). Multi-resolution SLAM for Real World Navigation. In: Robotics Research. The Eleventh International Symposium. SPRINGER TRACTS IN ADVANCED ROBOTICS, ISSN: 1610- 7438.

  6. Martinelli, A., Nicosia, S. and Valigi, P. (2002) Multisensor Fusion for Mobile Robot Localization and Navigation. chapter in Enabling Technologies for the PRASSI Autonomous Robot, Editors: S.Taraglio and V.Nanni, Enea, Roma, Italy.

  7. Grandoni, A., Martinelli, F., Martinelli, F., Nicosia, S. and Valigi, P. (2001) Sensor Fusion for Robot Localization. chapter of RAMSETE Articulated and Mobile Robots for SErvices and TEchnology, Springer-Verlag, Berlin, Germany.

Peer-reviewed Proceedings

• 1. Agostino Martinelli and Alessandro Renzaglia, Cooperative Visual-Inertial Sensor Fusion: Fundamental Equations, International Symposium on Multi Robot and Multi Agent Systems, MRS 2017, Los Angeles, December 2017.

  2. Agostino Martinelli, State Observability in Presence of Disturbances: the Analytic Solution and its Application in Robotics, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada.

  3. Agostino Martinelli,  The Unicycle in presence of a single disturbances: Observability properties, SIAM on Control and Applications 2017, SIAM-CT17, Pittsburgh, July 2017.

  4. Jacques Kaiser, Agostino Martinelli, Flavio Fontana, Davide Scaramuzza, Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation, 2016 IEEE/RSJ International Conference on Robotics and Automation, Stockholm.

  5. Agostino Martinelli , Nonlinear Unknown Input Observability: Analytical expression of the observable codistribution in the case of a single unknown input, SIAM on Control and Applications 2015, SIAM-CT15, Paris, France, July 2015.

  6. Agostino Martinelli, Extension of the Observability Rank Condition to Nonlinear systems driven by Unknown Inputs, MED'15 Torremolinos, Spain, June 2015.

  7. Agostino Martinelli , Minimalistic sensor design in visual-inertial structure from motion, 2015 IEEE/RSJ International Conference on Robotics and Automation, Seattle (USA).

  8. Agostino Martinelli , Visual-inertial structure from motion: observability vs minimum number of sensors, 2014 IEEE/RSJ International Conference on Robotics and Automation, Hong Kong.

  9. Troiani C., Agostino Martinelli, Laugier C. and Scaramuzza D., 2-Point-based Outlier Rejection for Camera-Imu Systems with applications to Micro Aerial Vehicles, 2014 IEEE/RSJ International Conference on Robotics and Automation, Hong Kong

  10. Agostino Martinelli , Visual-inertial structure from motion: observability and resolvability, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.

  11. Troiani C., Al Zanati S. and Agostino Martinelli, , A 3 Points Vision Based Approach for MAV Localization in GPS Denied Environments, European Conference on Mobile Robotics, ECMR 2013, Barcelona, Spain.

  12. Troiani C., Agostino Martinelli, Laugier C., Scaramuzza D., 1-Point-based Monocular Motion Estimation for Computationally- limited Micro Aerial Vehicles, European Conference on Mobile Robotics, ECMR 2013, Barcelona, Spain.

  13. A. Renzaglia, L. Doitsidis, S. Chatzichristofis, Agostino Martinelli, E. Kosmatopoulos, Distributed Multi-Robot Coverage using Micro Aerial Vehicles, Mediterranean Conference on Control and Automation, MED'13, Chania, Crete, Greece on June 25-28, 2013.

  14. C. Troiani and Agostino Martinelli, Vision-Aided Inertial Navigation using Virtual Features in IEEE International Conference on Robotics and Intelligent System (IROS'12), Vilamoura, Portugal, 2012.

  15. Rios-Martinez, J., A. Renzaglia, A. Spalanzani, Agostino Martinelli, and C. Laugier, Navigating between people: A stochastic optimization approach, in IEEE International Conference on Robotics and Automation (ICRA'12).

  16. Agostino Martinelli, C. Troiani and A. Renzaglia, Vision-Aided Inertial Navigation: Closed-Form Determination of Absolute Scale, Speed and Attitude, in IEEE International Conference on Robotics and Intelligent System (IROS'11), San Francisco, CA, 2011.

  17. A. Renzaglia, L. Doitsidis, Agostino Martinelli, and E.B. Kosmatopoulos, Multi-robot 3D coverage of unknown terrains, in 50th IEEE Conference on Decision and Control (CDC), Orlando, Florida, USA, 2011.

  18. A. Renzaglia, L. Doitsidis, Agostino Martinelli, E Kosmatopoulos, Adaptive-based Distributed Cooperative Multi-Robot Coverage, American Control Conference 2011, San Francisco, CA, July 2011

  19. Agostino Martinelli, Closed-Form Solution for Attitude and Speed Determination by Fusing Monocular Vision and Inertial Sensor Measurements, IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China May 2011

  20. L. Kneip, Agostino Martinelli, S. Weiss, D. Scaramuzza, R. Siegwart, Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence, IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China May 2011

  21. F. Conte and Agostino Martinelli, A Hybrid Filtering and Maximum Likelihood approach to SLAM, ROBIO 2010 Tianjin (China)

  22. A. Cristofaro, A. Renzaglia and Agostino Martinelli, Distributed Information Filters for MAV Cooperative Localization, 10th International Symposium on Distributed Autonomous Robotics Systems (DARS), Lausanne, Switzerland, November, 2010

  23. A. Renzaglia and Agostino Martinelli, Potential Field based Approach for Coordinate Exploration with a Multi-Robot Team, in 8th IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR'10), Bremen, Germany, 2010.

  24. A. Renzaglia, L. Doitsidis, Agostino Martinelli, and E.B. Kosmatopoulos, Cognitive-based Adaptive Control for Cooperative Multi-Robot Coverage, in IEEE International Conference on Robotics and Intelligent System (IROS'10), Taipei, Taiwan, 2010.

  25. A. Renzaglia, L. Doitsidis, Agostino Martinelli, and E.B. Kosmatopoulos, Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance, in 49th IEEE Conference on Decision and Control (CDC), Atlanta, Georgia, USA, 2010.

  26. A. Cristofaro and Agostino Martinelli, Optimal Trajectories for Multi Robot Localization, in 49th IEEE Conference on Decision and Control (CDC), Atlanta, Georgia, USA, 2010.

  27. Agostino Martinelli, Using the Distribution Theory to Simultaneously Calibrate the Sensor of a Mobile Robot, Robotics Science and Systems (RSS'09), Seattle, USA, 2009.

  28. Agostino Martinelli, Local Decomposition and Observability Properties for Automatic Calibration in Mobile Robotics, IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, 2009.

  29. E. Nerurkar, S. Roumeliotis and Agostino Martinelli, Distributed Maximum A Posteriori Estimation for Multi Robot Cooperative Localization, IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, 2009.

  30. A. Renzaglia, {Agostino Martinelli, Distributed coverage control for a multi-robot team in a non-convex environment IEEE IROS09 3rd Workshop on Planning, Perception and Navigation for Intelligent vehicles, St Louis, USA, 2009.

  31. Agostino Martinelli, Improving the Precision on Multi Robot Localization by Using a Series of Filters Hierarchically Distributed, International Conference on Intelligent Robot and Systems, San Diego.

  32. Scaramuzza, D., Criblez, N., Agostino Martinelli, and Siegwart, R., Robust Feature Extraction and Matching for Omnidirectional Images. in Proceedings at the 6th International Conference on Field and Service Robotics.

  33. Manes, C., Agostino Martinelli, Martinelli, F. and Palumbo, P. (2007) Mobile Robot Localization based on a Polynomial Approach. International Conference on Robotics and Automation, Rome, April 2007.

  34. Agostino Martinelli, and Siegwart, R. (2007) Exploiting the Information at the Loop Closure in SLAM, International Conference on Robotics and Automation, Rome, April 2007

  35. Scaramuzza, D., Agostino Martinelli, and Siegwart, R. (2006) A Toolbox for Easy Calibrating Omnidirectional Cameras. In Proceedings of IEEE International Conference on Intelligent Robots and Systems.

  36. Agostino Martinelli, and Siegwart, R. (2006) Observability Properties and Optimal Trajectories for On-line Odometry Self-Calibration. In Proceedings of IEEE International Conference on Decision and Control.

  37. Agostino Martinelli, Weingarten, J. and Siegwart, R. (2006) Theoretical Results on On-line Sensor Self-Calibration. In Proceedings of IEEE International Conference on Intelligent Robots and Systems.

  38. Nguyen, V.T., Agostino Martinelli, and Siegwart, R. (2006), Improving the Consistency of Relative Map. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Beijing, China.

  39. Nguyen, V.T., Harati, A., Tomatis, N., Agostino Martinelli, and Siegwart, R. (2006) Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Beijing, China.

  40. Agostino Martinelli, Scaramuzza, D. and Siegwart, R. (2006), Automatic Self-Calibration of a Vision System during Robot Motion. In Proceedings of ICRA06.

  41. Scaramuzza, D., Agostino Martinelli, and Siegwart, R. (2006) A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion. Proceedings of IEEE International Conference on Computer Vision Systems.

  42. Scaramuzza, D., Agostino Martinelli, and Siegwart, R. (2005) Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing. In Proceedings of European Conference on Mobile Robots.

  43. Agostino Martinelli, and Siegwart, R. (2005) Observability Analysis for Mobile Robot Localization. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada.

  44. Agostino Martinelli, Tomatis, N. and Siegwart, R. (2005) Some Results on SLAM and the Closing the Loop Problem. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada.

  45. Nguyen, V.T., Agostino Martinelli, Tomatis, N. and Siegwart, R. (2005) A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada.

  46. Agostino Martinelli, Pont, F. and Siegwart, R. (2005) Multi-Robot Localization Using Relative Observations. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, Barcelona, Spain.

  47. Nguyen, V.T., Agostino Martinelli, and Siegwart, R. (2005) Handling the Inconsistency of Relative Map Filter. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, Barcelona, Spain.

  48. Altermatt, M., Agostino Martinelli, Tomatis, N. and Siegwart, R. (2004) SLAM with Corner Features Based on a Relative Map. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 2004.

  49. Agostino Martinelli, Svensson, A., Tomatis, N. and Siegwart, R. (2004) SLAM Based on Quantities Invariant of the Robot's Configuration. IFAC Symposyum on Inteligent Autonomous Vehicles.

  50. Agostino Martinelli, Tomatis, N. and Siegwart, R. (2004) Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants. In Proceedings of the International Conference on Robotics and Automation, New Orleans, April 2004.

  51. Agostino Martinelli, and Siegwart, R. (2004) Improving the SLAM Convergence with a Relative Map Filter. In Proceedings of IAS04, Amsterdam.

  52. Agostino Martinelli, and Siegwart, R. (2003) Estimating the Odometry Error of a Mobile Robot during Navigation. In Proceedings of European Conference on Mobile Robots, ECMR03.

  53. Agostino Martinelli, Tapus, A., Arras, K.O. and Siegwart, R. (2003) Multi-resolution SLAM for Real World Navigation. In Proceedings of the 11th International Symposium of Robotics Research, Siena, Italy, October 2003.

  54. Agostino Martinelli, Tomatis, N., Tapus, A. and Siegwart, R. (2003) Simultaneous Localization and Odometry Calibration for Mobile Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, U.S.A., October 2003, vol.2, 1499 - 1504.

  55. Agostino Martinelli, (2002) Evaluating the Odometry Error of a Mobile Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

  56. Agostino Martinelli, The Accuracy on the Parameter Estimation of an Odometry System of a Mobile Robot. In Proceedings of the 2002 IEEE Int. Conf. on Robotics and Automation, ICRA02, Washington, May, 2002.

  57. Agostino Martinelli, Modeling and Estimating the Odometry Error of a Mobile Robot. In Proceedings of the Int. Conf. on Nonlinear Control NOLCOS01, St Petesburg, July, 2001.

  58. Agostino Martinelli, A Possible Strategy to Evaluate the Odometry Error of a Mobile Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

  59. Agostino Martinelli, Martinelli, F., Nicosia, S. and Valigi, P. (2000) Multisensor Fusion for Mobile Robot Positioning and Navigation. In Proceedings of SYROCO00.

Technical Report

Agostino Martinelli, Closed-form solution to cooperative visual-inertial structure from motion, PDF