Jonathan Cacace

Via Claudio 21 - Naples, IT 80125 - (+39) 3453338141 - jonathan.cacace@gmail.com

I am an enthusiastic R&D developer of advanced robotic applications. Thanks to my participation to several robotic research projects, I have gained a wide experience in interfacing and programming industrial, aerial and ground mobile robots performing service tasks.

Check the BIO to read my short biography, and the skills section to learn about some of my technical skills.
In recent works you can view some results of my work as R&D expert through nice videoclips.

You can downoald my short cv here

Contacts:
jonathan.cacace@gmail.com
+39 3453338141
live:jcacace
PRISMA Lab - via Claudio 21, 80125 Napoli


Biography

I was born in Naples, Italy, on December 13, 1987. I received my Master's degree in computer science from the University of Naples Federico II and completed the PhD degree in Information and Automation Engineering at the Department of Electrical Engineering and Information Technology (DIETI) in the same institution. After my PhD I spent two years at PRISMA Laboratory as Post-Doc and consultant at consultant at CREATE consortium. During my research activities I got the chance to be involved in several collaborative robotics research project who improve my knowledge of robotics and my skills as robotic developer.

In 2018 I have published my first book about robotics programming using ROS: Mastering ROS for Robotics Programming - Second Edition, edited by Packt Publishing.

W3Schools

Here are listed some of the International research project in which I have been involved:

  • Project HYFLIERS (2018 - 2021): "HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection".
  • Project REFILLS (2017 - 2020): "Robotics Enabling Fully-Integrated Logistics Lines for Supermarkets".
  • Project RoDyMan (2013 - 2019): "RObotic DYnamic MANipulation".
  • Project SHERPA (2013 - 2017): "Smart collaboration between Human and ground-aErial Robots for imProving rescuing activities in alphine environments".
  • Project ARCAS (2011 - 2015): "Aerial Robotics Cooperative Assembly system".
  • Project AIRobots (2010 - 2013): " Innovative Aerial Service Robots for Remote Inspections by Contact".
  • Experience

    Post-doc

    Researcher and developer in Robotics. Topics: Human-Robot Interaction and Cooperation - Autonomous action execution of Unmanned Aerial Vehicles - High-level and Low-level action planning and execution.

    Feb. 2018 - Present

    Author

    Author of Mastering ROS for Robotics Programming - Second Edition, published on Febrauary 2018.

    Jun. 2017 Apr. 2018

    Consultant

    Application developer in Robotics. Topics: Human-Robot Interaction and Cooperation - Autonomous action execution of Unmanned Aerial Vehicles - High-level and Low-level action planning and execution.

    Mar. 2016 - Gen. 2018

    Phd Candidate

    Researcher and developer in Robotics. Topics: Human-Robot interaction and control of mutliple UAVs performing Search & Rescue operations in mountains.

    Gen. 2013 - Mar. 2016

    Minor activities

    Consultant

    Earth Rover

    Developer in Robotics. Topics: Topics: Mobile navigation in cluttered environment of a steering mobile robot.

    2018

    Technical reviewer

    Technical reviewer for the book Robot operating system cookbook, by Kumar Bipin.

    Mar. 2018 Jun. 2018

    Consultant

    GE Oil & Gas

    Feasibility study for a visual inspection system suitable to be mounted on a VToL UAV.

    2017

    Technical reviewer

    Technical reviewer for the book Mastering ROS for Robotics Programming, by Joseph Lentin.

    Jul. 2015 Dec. 2015

    Education

    University of Naples "Federico II"

    Phd in Robotics.
    Robotics and automation
    May 2013 - May 2016

    University of Naples "Federico II"

    MSc in Computer Science
    Advanced in computer science and robotics.

    Score: Magna cum laude

    Sept. 2010 - Feb. 2012

    University of Naples "Federico II"

    BSc in Computer Science.
    Mathematics and Computer science

    Score: 99/110

    Sept. 2007 - Feb. 2010

    Skills

    Programming Languages & Tools
  • Programming Languages:
  • C/C++ - Python - C# - Bash - MATLAB - PHP
  • Operating systems:
  • GNU/Linux - QNX - Windows - Android
  • Development Environment:
  • Robot Operating System (ROS v1 and v2) - Sunrise Workbench - Boost - CMake - .NET framework - QT5
  • Embedded Hardware Platforms:
  • ARM Mbed - Arduino - Pixhawk and Ardupilot Mega autopilots
  • Robotic Platorms:
  • Kuka Industrial and lightweight arms - Schunk Powerball
  • Main competences:
  • Software development and maintenance - System Integration - Intelligent Systems - Robotics - Aerial Robotics - Robotic Manipulation - Automatic Control - Machine Learning


    Some of my recent works described through videoclips, check the research page for more information on the video contents.

    Making a pizza: A robotic approach:

    This video took 2nd place in the First "Robotics Made in Italy" video contest. The aim of the work is to show how the complex creation of the real napolitan pizza in a natural way can be performed by a robot.

    Shared admittance control for human-robot co-manipulation based on operator intention estimation:

    In this work the autonomy of collaborative robot is regulated according to the operator intentions in ordert to proactively assist him during collaborative manipulation tasks.

    A Robust Multimodal Fusion Framework for Command Interpretation in Human-Robot Cooperation:

    In this work I developed a multimodal framework for robust human-multirobot interaction in outdoor environments under unreliable communication.

    A control architecture for multiple drones operated via multimodal interaction:

    In this work I developed a control suitable for human-UAVs interaction in search and rescue mission.

    Hybrid visual servoing with hierarchical task composition for aerial manipulation:

    In this work I developed the visual-based control system (both perception and navigation) to perform service industrial tasks with aerial manipulators.

    Passivity-based control of UAVs with a momentum-based estimator of external wrench:

    In this work I collaborate to develop a robust controller for UAVs to estimate and compensate external disturbances.

    A mixed-initiative control system for an aerial service vehicle supported by force feedback:

    In this work I developed a control system for Mobile robots where sliding autonomy is supported by mixed-initiative planning and haptic feedback.

    Research

    My research interest are focused in the following topics, with a list of selected scientific international publications:

  • Intelligent Autonomous Systems: In this field the research is mainly focused on the design of High-level Control Architecture for mobile robots operating in cluttered and unknown environments. Results in this field are shown in [1], [2] and [3] where a High-level architecture for Aerial Service Vehicles capable of performing Search & Rescue, maintenance and inspection tasks in industrial plants have been presented.
  • Human Robot Interaction: In the HRI field my research interests regard novel interaction techniques with robotic platforms. In [4], [5] an interaction system allowing human operators to interact with flying robot using a Mixed-Initiative has been developed. In [6], a framework for implicit selection of robots in a human multi-robot interaction scenario has been proposed. In the same topic, in [7] a novel method to support physical human-robot interaction during the execution of collaborative manipulation tasks is proposed.
  • Automatic control: The research in this field is mainly focussed on topics related to modelling and implementation of new control strategies for autonomous systems, such as Unmanned Aerial Vechicle (UAV) platforms, in [8] and humanoid robots, in [9].
  • You can find the complete list of my publications on my Google Scholar page.