Researcher

ISSIA CNR – Genova

SHORT BIO

Marco Bibuli received his Master degree in Information Technology Engineering in 2005, with a thesis focused on the design and implementation of distributed control systems for modular robotic manipulators.
Since the same year, he joined the National Research Council of Italy, focusing his research activity on the design and development of navigation, guidance and control algorithms for unmanned marine vehicles and software architectures for supervision and mission control.
In 2010 he received the PhD Degree in Electronic and Computer Engineering, Robotics and telecommunications with a thesis focused on these mentioned research topics.
The research activity carried out by Marco Bibuli has the goal of enhancing the development and exploitation of robotic techniques and technologies in the field of marine and maritime applications.
Regulation techniques are developed and implemented for linear and angular velocity control, while advanced guidance algorithms are developed to drive robotic platforms along desired geo-referenced trajectories. In particular, the problem of generic path-following has led to an important number of both theoretical and experimental results.
The development of mission control architectures is another key topic that leads to the autonomy capability improvement of marine robots; such frameworks allow to exploit robotic vehicles in real applications acting as effective tools for human operators.
Following the leading trends in the robotics’ community, the research activity is currently focused on the extension of the mentioned topics towards the framework of heterogeneous multi-vehicle systems, where a set of surface and/or underwater robotic agents cooperate to achieve common mission goals.

JOURNAL PUBLICATIONS

  1. Bibuli, M.; Bruzzone, G.; Caccia, M.; Gasparri, A.; Priolo, A.; Zereik, E.

    Swarm-based path-following for cooperative unmanned surface vehicles, Proceedings of the Institution of Mechanical Engineers. Proceedings part M, Journal of engineering for the maritime environment, Vol. 228, No. 2, 2014

  2. M. Bibuli, G. Bruzzone, M. Caccia, A. Gasparri, A. Priolo and E. Zereik

    Swarm based path-following for cooperative unmanned surface vehicles, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, January 2014

  3. Bibuli, M.; Caccia, M.; Lapierre, L.; Bruzzone, G.

    Guidance of Unmanned Surface Vehicles Experiments in Vehicle Following, IEEE robotics & automation magazine, Vol. 19, No. 3, 2012

  4. M. Bibuli, M. Caccia, L. Lapierre, G. Bruzzone

    “Guidance of Unmanned Surface Vehicles - Experiments in Vehicle Following”, IEEE Robotics and Automation Magazine, Vol. 19, N. 3, Pag. 92-102, ISSN 1070-9932, September 2012

  5. N. Mišković, Z. Vukić, M. Bibuli, G. Bruzzone, M. Caccia

    “Fast in-field identification of unmanned marine vehicles”, Journal of Field Robotics, Vol. 8, N. 1, Pag 101-120, DOI: 10.1002/rob.20374, January/February, 2011

  6. G. Bruzzone, M. Bibuli, M. Caccia

    "Towards coastal operations with Unmanned Surface Vehicles: the Charlie experience", Sea Technology Magazine, Vol. 52, N. 7, Pag. 46-49, July, 2011

  7. M. Caccia, M. Bibuli, G. Bruzzone

    "Unmanned Surface Vehicles for Coastal and Harbour Monitoring: the CNR Experience", Volume "Mare", CNR - DTA, 2011

  8. Bruzzone, G.; Bibuli, M.; Caccia, M.

    Improving Coastal Operations With Unmanned Surface Vehicles Charlie USV Overcomes Common Problems By Utilizing Dual-Communications System, Acoustic Integration, Mission Control, Sea technology, Vol.52, No.7, 2011

  9. M. Caccia, M. Bibuli, G. Bruzzone

    “Aluminium Autonomous Navigator for Intelligent Sampling - the ALANIS Project”, Sea Technology, Vol. 50, Nr. 2, Pag. 63-66, February 2009

  10. M. Bibuli, G. Bruzzone, M. Caccia, L. Lapierre

    “Path following algorithms and experiments for an unmanned surface vehicle”, Journal of Field Robotics, DOI: 10.1002/rob.20303, Vol. 26, Issue 8, Pag. 669-688, August 2009

  11. M. Caccia, M. Bibuli, R. Bono, G. Bruzzone

    “Basic navigation, guidance and control of an Unmanned Surface Vehicle”, Autonomous Robots, DOI: 10.1007/s10514-008-9100-0, Vol. 25, Nr. 4, Pag. 349-365, November 2008

  12. M. Caccia, M. Bibuli, R. Bono, G. Bruzzone, G. Bruzzone, E. Spirandelli

    “Unmanned Surface Vehicle for Coastal and Protected Waters Applications: the Charlie Project”, Marine Technology Society Journal, Vol. 41, Nr. 2, Pag. 62-71, Summer 2007

CONFERENCE PUBLICATIONS

  1. Chiarella, D.; Bibuli, M.; Bruzzone, G.; Caccia, M.; Ranieri, A.; Zereik, E.; Marconi, L.; Cutugno, P.

    "Gesture-based Language for Diver-Robot Underwater Interaction", Proc. of OCEANS 2015 MTS/IEEE - Genoa (Italy), 2015

  2. E. Zereik, M. Bibuli, G. Bruzzone, F. Gagliardi, F. Bonsignorio

    "Motion planning in the belief space for compliant behaviour of a diver companion robot", IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), Bali, Indonesia, 5-10 December 2014

  3. E. Saggini, E. Zereik, M. Bibuli, G. Bruzzone, M. Caccia and E. Riccomagno

    (2014) “Performance Indices for Evaluation and Comparison of Unmanned Marine Vehicles' Guidance Systems”, 19th IFAC World Congress, Cape Town, South Africa, August 2014

  4. M. Bibuli, W. Caharija, K. Y. Pettersen, G. Bruzzone, M. Caccia and E. Zereik

    (2014) “ILOS Guidance - Experiments and Tuning”, 19th IFAC World Congress, Cape Town, South Africa, August 2014

  5. E. Fumagalli, M. Bibuli, M. Caccia, E. Zereik, F. Del Bianco, L. Gasperini, G. Stanghellini and G. Bruzzone

    (2014) “Combined Acoustic and Video Characterization of Coastal Environment by means of Unmanned Surface Vehicles”, 19th IFAC World Congress, Cape Town, South Africa, August 2014

  6. Saggini, E.; Torrente, M. L.; Riccomagno, E.; Bibuli, M.; Bruzzone, G.; Caccia, M.; Zereik, E.

    Assessing path-following performance for Unmanned Marine Vehicles with algorithms from numerical commutative algebra in 22nd IEEE Mediterranean Conference on Control and Automation (MED), Palermo, Italy, June 2014

  7. Bibuli M.; Bruzzone G.; Caccia M.; Lapierre L.; Zereik E.

    "A collision avoidance algorithm based on the virtual target approach for cooperative unmanned surface vehicles" in 22nd IEEE Mediterranean Conference on Control and Automation (MED), Palermo, Italy, June 2014

  8. E. Saggini, M. Torrente, E. Riccomagno, M. Bibuli, G. Bruzzone, M. Caccia, E. Zereik

    (2014) "A new performance criterion for Unmanned Surface Vehicles based polynomial approximation and Crossing Cell algorithm", Accepted for the 22nd IEEE Mediterranean Conference on Control and Automation (MED), Palermo (Italy), June 16-19, 2014

  9. M. Bibuli, Ga. Bruzzone M. Caccia, E. ZEREIK, Gi. Bruzzone, M. Giacopelli, E. Spirandelli

    (2014) “Final Results and Exploitation of the Cooperative Autonomous Robotic Towing System for Emergency Ship Towing Operations Support”, Proc. of the 13th Conference on Computer Applications and Information Technology in the Maritime Industries, Redworth (UK), May 12-14, 2014

  10. M. Bibuli, G. Bruzzone, M. Caccia, E. Fumagalli, E. Saggini, E. Zereik, E. Buttaro, C. Caporale and R. Ivaldi

    (2014) “Unmanned Surface Vehicles for Automatic Bathymetry Mapping and Shores’ Maintenance”. In Proc. of the MTS/IEEE Oceans'14 Conference, April 2014, Taipei (Taiwan)

  11. E. Zereik, M. Bibuli, M. Caccia and G. Bruzzone

    (2013) “Cooperative path-following in a moving path reference framework for autonomous marine vehicles”, 21st IEEE Mediterranean Conference on Control & Automation (MED), 2013, pp. 1274–1279, 2013

  12. Ga. Bruzzone, M. Bibuli, M. Caccia, E. Zereik, Gi. Bruzzone, M. Giacopelli, E. Spirandelli

    (2013) “Cooperative Autonomous Robotic Towing System – Exploitation of Autonomous Marine Vehicles in Emergency Towing Procedures”, Proc. of the 12th Conference on Computer Applications and Information Technology in the Maritime Industries, Cortona (Italy), April 15-17, 2013

  13. M. Bibuli, G. Bruzzone, M. Caccia, A. Gasparri, A. Priolo and E. Zereik

    (2013) “Speed constraints handling in USV swarm path-following frameworks”, 9th IFAC Conference on Control Applications in Marine Systems (CAMS) 2013, Osaka, Japan, 2013

  14. E. Zereik, M. Bibuli, G. Bruzzone and M. Caccia

    (2013) “Jacobian task priority-based approach for path following of unmanned surface vehicles”, 9th IFAC Conference on Control Applications in Marine Systems (CAMS) 2013, Osaka, Japan, 2013

  15. G. Bruzzone, M. Bibuli, M. Caccia and E. Zereik

    (2013) “Cooperative robotic maneuvers for emergency ship towing operations”, MTS/IEEE OCEANS-Bergen 2013, pp. 1–7, Bergen, Norway, 2013

  16. F. Ferreira, M. Bibuli, M. Caccia, G. Bruzzone, G. Bruzzone

    (2012) "Enhancing autonomous capabilities and human-robot interaction for Unmanned Surface Vehicles", Proc. of the 20th IEEE Mediterranean Conference on Control and Automation (MED), Barcelona (Spain), July 3-6, 2012

  17. S.M. Zanoli, G. Astolfi, G. Bruzzone, M. Bibuli, M. Caccia

    (2012) “Application of Fault Detection and Isolation Techniques on an Unmanned Surface Vehicle (USV)”, Proc. of IFAC 9th Conference on Manoeuvring and Control of Marine Craft (MCMC'2012), Arenzano, Italy, September 19-21, 2012

  18. M. Bibuli, A. Gasparri, A. Priolo, G. Bruzzone, M. Caccia

    (2012) “Virtual Target based Path-Following Guidance System for Cooperative USV Swarms”, Proc. of IFAC 9th Conference on Manoeuvring and Control of Marine Craft (MCMC'2012), Arenzano, Italy, September 19-21, 2012

  19. M. Bibuli, Ga. Bruzzone, Gi. Bruzzone, M. Caccia, M. Giacopelli, A. Petitti, E. Spirandelli

    (2012) "MARC: Magnetic Autonomous Robotic Crawler Development and Exploitation in the MINOAS Project", Proc. of the 11th Conference on Computer Applications and Information Technology in Maritime Industries (COMPIT), Liege (Belgium), April 16-18, 2012

  20. M. Bibuli, G. Bruzzone, M. Caccia, G. Ippoliti, S. Longhi, G. Orlando, G.M. Pelusi

    (2012) “Discrete-time Sliding Mode Control for Guidance of an Unmanned Surface Vehicle”, Proc. of IFAC 9th Conference on Manoeuvring and Control of Marine Craft (MCMC'2012), Arenzano, Italy, September 19-21, 2012

  21. M. Caccia, M. Bibuli, G. Bruzzone, V. Djapic, S. Fioravanti, A. Grati

    (2011) "Modular USV and payload design for advanced capabilities in marine security applications", Proc. of the 19th IEEE Mediterranean Conference on Control and Automation (MED), Corfu (Greece), June 20-23, 2011

  22. M. Bibuli, G. Bruzzone, M. Caccia, T. Vögele, M. Eich, A. Ortiz, L. Drikos

    (2011) "MINOAS Project: Localization, Task Allocation and Path-Planning Architecture System", Proc. of the 10th Conference on Computer Applications and Information Technology in Maritime Industries (COMPIT), Berlin (Germany), May 2-4, 2011

  23. M. Bibuli, G. Bruzzone, M. Caccia

    (2011) "Robot task allocation and path-planning systems in the MINOAS project framework", Proc. of the 19th IEEE Mediterranean Conference on Control and Automation (MED), Corfu (Greece), June 20-23, 2011

  24. M. Bibuli, G. Bruzzone, M. Caccia, A. Ortiz, T. Vögele, M. Eich, L. Drikos, Y. Koveos, E. Kolyvas, F. Spadoni, A. Vergine, K. Tanneberger, A. Todorova, I. Gaviotis, V.Apostolopoulou

    (2011) "The MINOAS project: Marine INspection rObotic Assistant System", Proc. of the 19th IEEE Mediterranean Conference on Control and Automation (MED), Corfu (Greece), June 20-23, 2011

  25. M. Caccia, M. Bibuli, Gi. Bruzzone, Ga. Bruzzone

    (2011) "Integration of acoustic devices on small USVs: the Charlie experience", Proc. of the 19th IEEE Mediterranean Conference on Control and Automation (MED), Corfu (Greece), June 20-23, 2011

  26. G. Bruzzone, M. Bibuli, M. Caccia

    (2011) "Autonomous Mine Hunting Mission for the Charlie USV", Proc. of the MTS/IEEE Oceans 2011, Santander (Spain), June 6-9, 2011

  27. L. Lapierre, R. Zapata, M. Bibuli

    (2010) "Guidance of a flotilla of wheeled robots: a practical solution", Proc. of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Lecce (Italy), September 6-8, 2010

  28. M. Bibuli, G. Bruzzone, M. Caccia, A. Caiti, N. Di Lecce

    (2010) “A Sliding Mode Based Guidance System for Vehicle-Following Operations”, Proc. of IFAC Conference on Control Applications in Marine Systems (CAMS), Rostock (Germany), September 15-17, 2010

  29. Bibuli M., Caccia M., Robino R., Bateman W., Vogele T., Ortiz A., Drikos L., Todorova A., Gaviotis I., Spadoni F. and Apostolopoulou V.

    (2010) Robotic Tools to Assist Marine Inspection: The MINOAS Approach, in COMPIT 2010, Gubbio, Italy

  30. Bibuli M., Caccia M. and Lapierre L.

    (2010) Virtual Target Based Coordi- nated Path-Following for Multi-Vehicle Systems, in Proc. of the 8th IFAC Conference on Control Applications in Marine Systems 2010, Rostock

  31. O. Parodi, M. Bibuli, L. Lapierre, M. Caccia

    (2009) “Mission preparation and design of new algorithms for Charlie and Taipan within Thetis, a HIL simulator”, Proc. of IFAC 8th Conference on Manoeuvring and Control of Marine Craft (MCMC'2009), Guaruja, Brazil, September 16-18, 2009

  32. M.Bibuli, O. Parodi, L. Lapierre, G. Bruzzone, M. Caccia

    (2009) “Vehicle-following guidance for unmanned marine vehicles”, Proc. of IFAC 8th Conference on Manoeuvring and Control of Marine Craft (MCMC'2009), Guaruja, Brazil, September 16-18, 2009

  33. N. Miskovic, M. Bibuli, M. Caccia, G. Bruzzone, Z. Vukic

    (2009) “Tuning Marine Vehicles’ Guidance Controllers through Self-Oscillation Experiments”, Proc. of IFAC 8th Conference on Manoeuvring and Control of Marine Craft (MCMC'2009), Guaruja, Brazil, September 16-18, 2009

  34. A.A. Zizzari, G. Indiveri, M.Bibuli, G. Bruzzone, M. Caccia

    (2009) “Path Following Guidance Control with Bounded Control Effort: Application to the Charlie Unmanned Surface Vehicle”, Proc. of IFAC 8th Conference on Manoeuvring and Control of Marine Craft (MCMC'2009), Guaruja, Brazil, September 16-18, 2009

  35. M.Bibuli, G. Bruzzone, M. Caccia

    (2009) “Integrated Tele-Operation & Mission Control: preliminary experiments with a small USV”, Proc. of IFAC 8th Conference on Manoeuvring and Control of Marine Craft (MCMC'2009), Guaruja, Brazil, September 16-18, 2009

  36. N. Miskovic, M. Bibuli, M. Caccia , G. Bruzzone, Z. Vukic

    (2009) “Marine Vehicles' Line Following Controller Tuning through Self-Oscillation Experiments”, Proc. of 17th Mediterranean Conference on Control and Automation (MED 2009), June 24-26, 2009

  37. Caccia M.; Bibuli M.; Bono R.; Bruzzone Ga.; Bruzzone Gi.; Spirandelli E.

    (2009) Aluminum hull USV for coastal water and seafloor monitoring, in OCEANS 2009 Conference, Bremen, Germany, May 11-14, 2009

  38. Caccia Massimo; Bibuli Marco; Bono Riccardo; Bruzzone Gabriele; Bruzzone Giorgio; Spirandelli Edoardo

    (2009) Charlie, a Testbed for USV Research, in 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Guarujà, Brazil, September 16-18, 2009

  39. Caccia M., Bibuli M., Bono R., Bruzzone Ga., Bruzzone Gi., Spirandelli E.

    (2009) The ALANIS USV: ALuminum Autonomous Navigator for Intelligent Sampling, in COMPIT 2009, Budapest, Hungary

  40. N. Miskovic, M. Bibuli, G. Bruzzone, M. Caccia, Z. Vukic

    (2008) “Heading Control Design Based on Self-Oscillation Identification Method Applied to Charlie USV”, Proc. of International Conference on Intelligent Robots and Systems, Nice, France, September 22-26, 2008

  41. M. Bibuli, G. Bruzzone, M. Caccia,

    (2008) “Mission Control for Unmanned Underwater Vehicles: Functional Requirements and Basic System Design”, Proc. of Navigation Guidance Control of Underwater Vehicles Conference, Killaloe, Ireland, April 8-10, 2008

  42. M. Caccia, M. Bibuli, R. Bono, Ga. Bruzzone, Gi. Bruzzone, E. Spirandelli

    (2008) “Unmanned Marine Vehicles at CNR-ISSIA”, Proc. of the 17th IFAC World Congress, Seoul, Korea, July 6-11, 2008

  43. M. Bibuli, G. Bruzzone, M. Caccia, G. Indiveri, A. Zizzari

    (2008) “Line Following Guidance Control: Application to the Charlie Unmanned Surface Vehicle”, Proc. of International Conference on Intelligent Robots and Systems, Nice, France, September 22-26, 2008

  44. M. Bibuli, G. Bruzzone, M. Caccia, N. Miskovic, Z. Vukic

    (2008) “Self-Oscillation Based Identification and Heading Control for Unmanned Surface Vehicles”, Proc. of International Workshop on Robotics in Alpe-Adria-Danube Region, Ancona, Italy, September 15-17, 2008

  45. M. Bibuli, R. Bono, G. Bruzzone, M. Caccia

    (2007) “Event handling towards mission control for unmanned marine vehicles”, Proc. of IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, September 19-21, 2007

  46. M. Bibuli, M. Caccia, L. Lapierre

    (2007) “Path-following algorithms and experiments for an autonomous surface vehicle”, Proc. of IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, September 19-21, 2007

  47. M. Caccia, M. Bibuli, R. Bono, G. Bruzzone

    (2007) “Basic navigation, guidance and control of the Charlie2005 ASC”, Proc. of European Control Conference, Kos, Greece, July 2-5, 2007

BOOK CHAPTERS

  1. M. Caccia, E. Saggini, M. Bibuli, G. Bruzzone, E. Zereik and E. Riccomagno

    (2013) “Towards good experimental methodologies for unmanned marine vehicles”, Computer Aided Systems Theory – EUROCAST 2013, Lecture Notes in Computer Science, Springer, vol. 8112, pp. 365-372

  2. M. Caccia, M. Bibuli, G. Bruzzone, L. Lapierre

    (2012) “Vehicle-following for Unmanned Surface Vehicles”, Chapter of Further Advances in Unmanned Marine Vehicles, IET Control Engineer Series 77, Edited by G. N. Roberts and R. Sutton, Pag. 201-230, ISBN 978-1-84919-479-2

  3. G. Bruzzone, M. Bibuli, M. Caccia

    (2009) “A Free Software Platform for Embedded Real-Time Robotics and Industrial Automation”, Title: Large Scale Computations, Embedded Systems and Computer Security, Series: Computer Science, Technology and Applications, Editors: Fedor Komarov and Maksim Bestuzhev, ISBN: 978-1-60741-307-3