Researcher

ISSIA CNR – Genova

(+39) 010 6475641
enrica.zereik

SHORT BIO

Enrica Zereik received her Master degree in Computer Engineering in 2006 at the University of Genoa, with a thesis focused on the design and implementation of a decentralized and self-organizing coordination and control architecture for a robotic hand-arm system. Since the same year she worked as a PhD student at the University of Genoa focusing her research activity on space robotics, closely working with Thales Alenia Space – Italy on different space robotics projects also involving the European Space Agency.
In 2010 she received her PhD Degree in Electronic and Computer Engineering, Robotics and Telecommunications, discussing a thesis about the development and control of a robot prototype able both to cooperate with astronauts and to autonomously work alone on a planet surface, preparing the site for the human arrival. These work included research topics such as computer vision and force-based manipulation, visual odometry for mobile robot localization, environment perception and data fusion, coordination and control of complex robotic structures.
She continued her research on space robotics at the University of Genoa as a postdoc, carrying on the collaboration with Thales Alenia Space – Italy. In the meantime, she broadened her research interests focusing also on underwater intervention robotics and contributing to Italian and European projects; in particular her research activity involved underwater manipulation based on visual feedback, coordination and control algorithms for unmanned marine vehicles.
In 2012 she joined the Italian National Research Council, focusing her research activity on underwater manipulation, computer vision, advanced algorithms for navigation guidance and control of marine vehicles, evaluation indices and metrics for the experimental assessment of marine platforms’ performance, coordination and control algorithms for multi-robot systems.
She is co-author of more than thirty international journal and conference publications and has active roles in the framework of different Italian and European Projects.

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. E. ZEREIK

    “Space Robotics Supporting Exploration Missions: Vision, Force Control and Coordination Strategies”. Series: Space Science, Exploration and Policies. Nova Science Publishers, April 2013. ISBN: 978-1-62417-894-8.

  4. G. Casalino, E. Zereik, E. Simetti, A. Turetta, S. Torelli and A. Sperindé

    Planetary Rover Navigation: Improving Visual Odometry via Additional Images and Multi-sensor Fusion”, Progress in Flight Dynamics, GNC and Avionics, vol. 6, pp. 97–120. EDP Sciences, 2013. doi: 10.1051/eucass/201306097

  5. A. Merlo, A. Biggio, G. Casalino and E. Zereik

    "Test Bench for Robotics and Autonomy: Overview and Test Results”, Journal of Mechanics Engineering and Automation, vol. 3, pp. 378–386, June 2013

  6. E. Zereik, D. Ducco, F. Frassinelli and G. Casalino

    “A Study on Planetary Visual Odometry Optimization: Time Constraints and Reliability”, Journal of Computer Technology and Application, vol. 2, pp. 378–388, May 2011

  7. E. Simetti, E. Zereik, A. Sperindé, S. Torelli, D. Ducco, F. Frassinelli, A. Turetta and G. Casalino

    “A new software architecture for developing and testing algorithms for space exploration missions”, Intelligent Service Robotics, vol. 4, pp. 135–146, 2011

  8. E. Zereik, A. Sorbara, A. Merlo, E. Simetti, G. Casalino and F. Didot

    “Space robotics supporting exploration missions: vision, force control and coordination strategy for crew assistants”. Intelligent Service Robotics, vol. 4, pp. 39–60, 2011

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. 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

  6. 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

  7. 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

  8. 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

  9. 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)

  10. 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

  11. 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

  12. F. Ferreira, G. Veruggio, M. Caccia, E. Zereik, and G. Bruzzone

    (2013) “A real-time mosaicking algorithm using binary features for ROVs”, 21st IEEE Mediterranean Conference on Control & Automation (MED), 2013, pp. 1267–1273, 2013

  13. 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

  14. 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

  15. G. Casalino, E. Zereik, E. Simetti, S. Torelli, A. Sperindé and A. Turetta

    (2012) “Agility for Underwater Floating Manipulation: Task & Subsystem Priority Based Control Strategy”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012, pp. 1772–1779, Algarve, Portugal, 2012

  16. G. Casalino, E. Zereik, E. Simetti, S. Torelli, A. Sperindé and A. Turetta

    (2012) “A task & subsystem priority based control strategy for underwater floating manipulators”, IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV) 2012, Porto, Portugal, 2012

  17. G. Casalino, E. Zereik, E. Simetti, S. Torelli, A. Sperindé and A. Turetta

    (2012) “Development and implementation of algorithms for advanced rover guidance navigation and control”, 63rd International Astronautical Congress 2012, Naples, Italy, 2012

  18. G. Casalino, E. Zereik, E. Simetti, S. Torelli, A. Sperindé and A. Turetta

    (2012) “A Task Priority and Dynamic Programming Based Approach to Agile Underwater Floating Manipulation”, 9th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC) 2012, Genoa, Italy, 2012

  19. E. Zereik, A. Biggio, A. Merlo and G. Casalino

    (2011) “Effective perception capability for a planetary exploration rover via stereo vision and data fusion”, European Conference for Aero-Space Sciences (EUCASS) 2011, St. Petersburg, Russia, 2011

  20. G. Casalino, E. Zereik, E. Simetti, A. Turetta, S. Torelli and A. Sperindé

    (2011) “Improving visual odometry performances via additional image processing and multi-sensor integration”, Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA) 2011, Noordwijk, The Netherlands, 2011

  21. A. Merlo, A. Biggio, G. Casalino and E. Zereik

    (2011) “Test bench for robotics and autonomy overview and test results”, Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA) 2011, Noordwijk, The Netherlands, 2011

  22. E. Zereik, A. Biggio, A. Merlo and G. Casalino

    (2011) “Vision-based perception and sensor data integration for a planetary exploration rover”, Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA) 2011, Noordwijk, The Netherlands, 2011

  23. G. Casalino, E. Zereik, E. Simetti, A. Turetta, S. Torelli and A. Sperindé

    (2011) “Planetary Rover Navigation via Visual Odometry: Performance Improvement Using Additional Image Processing and Multi-sensor Integration”, European Conference for Aerospace Sciences (EUCASS) 2011, St. Petersburg, Russia, 2011

  24. E. Zereik, A. Sorbara, A. Merlo, G. Casalino and F. Didot

    (2010) “Eva Crew Assistant Supporting Astronauts in Space Missions: Autonomy and Cooperation”, International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2010, Sapporo, Japan, 2010

  25. E. Zereik, D. Ducco, F. Frassinelli and G. Casalino

    (2010) “A study on planetary visual odometry optimization: Time constraints and reliability”, International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2010, Sapporo, Japan, 2010

  26. E. Zereik, A. Sorbara, A. Merlo, G. Casalino and F. Didot

    (2010) “Robotic Crew Assistant for Exploration Missions: Vision, Force and Coordination Strategies”, IEEE ICRA 2010 Planetary Rovers Workshop, Anchorage, Alaska, USA, 2010

  27. E. Zereik, E. Simetti, A. Sperindé, S. Torelli, F. Frassinelli, D. Ducco and G. Casalino

    (2010) “Rover navigation and visual odometry: a new framework for exploration activities”, IEEE ICRA 2010 Planetary Rovers Workshop, Anchorage, Alaska, USA, 2010

  28. E. Zereik, G. Casalino, A. Sorbara and F. Didot

    (2009) “Autonomous dual-arm mobile manipulator crew assistant for surface operations: force/vision-guided grasping”, 4th IEEE International Conference on Recent Advances in Space Technologies (RAST) 2009, pp. 710–715, Istanbul, Turkey, 2009

  29. E. Zereik, A. Sorbara, A. Turetta and G. Casalino

    (2007) “Dual arm mobile manipulator with force-vision feedback”, Convegno Nazionale SIDRA (Poster Session), Genoa, Italy, 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. G. Casalino, E. Simetti, A. Turetta, E. Zereik

    (2010) “Distributed Self-Organizing Control and Coordination of Cooperative Mobile Manipulator Systems”, in F. Basile, P. Chiacchio: “Control Themes in Hyperflexible Robotic Workcells”, pp. 87–100, CUES