Scientific Papers


  1. A. Antonucci and D. Fontanelli, Towards a Predictive Behavioural Model for Service Robots in Shared Environments, IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), September 2018,  (to appear) Open Access Link
  2. S. Catalano, Development of a pick-up system for a robotic walker, Bachelor Thesis Department of Information Engineering and Computer Science – University of Trento, July 2018 (to appear)
  3. P. Bevilacqua, M.Frego, D. Fontanelli, L. Palopoli, Reactive Planning for Assistive Robots,  IEEE International Conference on Robotics and Automation (ICRA), May 2018, Open Access Link
  4. V. Magnago, P. Bevilacqua, L. Palopoli, R. Passerone D. Fontanelli, D. Macii, Optimal Landmark Placement for Indoor Positioning using Context Information and Multi-sensor Data, IEEE International Instrumentation and Measurement Technology Conference (I2MTC), May 2018, Open Access Link DOI: 10.1109/I2MTC.2018.8409809
  5. V. Magnago, M. Andreetto, S. Divan, D. Fontanelli and L. Palopoli, Ruling the Control Authority of a Service Robot based on Information Precision, IEEE International Conference on Robotics and Automation (ICRA), May 2018, Open Access Link
  6. M. Andreetto, P. Bevilacqua, S. Divan, D. Fontanelli, D. Macii, V. Magnago, L. Palopoli, F. Zenatti, Characterization of sensors for smart walker indoor localization, IV Convegno Nazionale Sensori, February 2018, Open Access Link
  7. M. Andreetto, S. Divan, F. Ferrari, D. Fontanelli, L. Palopoli and F. Zenatti, Simulating passivity for Robotic Walkers via Authority-Sharing, IEEE Robotics and Automation Letters, January 2018, Open Access Link


  1. M. Rodas Britez, M. Marchese, L. Cernuzzi, Towards a Social and Physical Activities Recommendation System for Active Ageing, Iberdiscap 2017 – IX Congreso Iberoamericano de Tecnologías de Apoyo a la Discapacidad, November 2017, Congress memories
  2. V. Magnago, L. Palopoli, R. Passerone D. Fontanelli, D. Macii, A Nearly Optimal Landmark Deployment for Indoor Localisation with Limited Sensing, International Conference on Indoor Positioning and Indoor Navigation (IPIN), September 2017, Open Access Link,  DOI: 10.1109/IPIN.2017.8115883
  3. K. Papoutsakis, C. Panagiotakis and A.A. Argyros, Temporal action co-segmentation in 3D motion capture data and videos, In IEEE Computer Vision and Pattern Recognition (CVPR 2017), July 2017, Open Access Link
  4. D. Michel, A. Qammaz and A.A. Argyros, Markerless 3D human pose estimation and tracking based on RGBD cameras: an experimental evaluation, In International Conference on Pervasive Technologies Related to Assistive Environments (PETRA 2017), June 2017. Open Access Link
  5. McNeill, A., Briggs, P., Pywell, J., & Coventry, L. Functional privacy concerns of older adults about pervasive health-monitoring systems. In Proceedings of PETRA 2017, June 2017. Open Access Link
  6. McNeill, A., Coventry, L., Pywell, J., & Briggs, P. Privacy Considerations when Designing Social Network Systems to Support Successful Ageing. In Proceedings of CHI 2017, May 2017. DOI:
  7. Luca Abeni, Daniele Fontanelli, Luigi Palopoli and Bernardo Villalba Frias. A Markovian model for the computation time of real-time applications. In Proc. IEEE Int. Instrumentation and Measurement Technology Conference (I2MTC), Torin, Italy, May 2017. Open Access Link
  8. Bernardo Villalba Frias, Luigi Palopoli, Luca Abeni and Daniele Fontanelli. Probabilistic Real–Time Guarantees: There is life beyond the i.i.d. assumption. In Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS). Pittsburgh, USA, April 2017. Open Access Link
  9. D. Xu, Y. Yan, E. Ricci, and N. Sebe, Detecting Anomalous Events in Videos by Learning Deep Representations of Appearance and Motion, Computer Vision and Image Understanding, 156:117-127, March 2017, DOI: Open Access Link
  10. F. Farina, D. Fontanelli, A. Garulli, A. Giannitrapani, D. Prattichizzo, Walking Ahead: the Headed Social Force Model, Plos One, 12(1), e0169734, January 2017, DOI: 10.1371/journal.pone.0169734, Open Access Link


  1. Michela Cozza, Antonella De Angeli, Linda Tonolli. Ubiquitous technologies for older people. December, 2016. DOI: 10.1007/s00779-017-1003-7 ,
    Open Access Link
  2. Marco Andreetto, Stefano Divan, Daniele Fontanelli, and Luigi Palopoli, Hybrid Feedback Path Following for Robotic Walkers via Bang-Bang Control Actions. In Proc. IEEE Int. Conf. on Decision and Control (CDC), December 2016, DOI: 10.1109/CDC.2016.7799011, Open Access Link
  3. Marco Frego, Paolo Bevilacqua, Enrico Bertolazzi, Francesco Biral, Daniele Fontanelli, and Luigi Palopoli, Trajectory Planning for Car–like Vehicles: a Modular Approach, In IEEE 55th Conference on Decision and Control (CDC), December 2016, DOI: 10.1109/CDC.2016.7798270
  4. F. Farina, D. Fontanelli, A. Garulli, A. Giannitrapani, D. Prattichizzo, When Helbing Meets Laumond: The Headed Social Force Model., 2016 IEEE 55th Conference on Decision and Control (CDC), December 2016, DOI: 10.1109/CDC.2016.7798802, Open Access Link
  5. M. Aggravi, G. Salvietti, D. Prattichizzo, Haptic wrist guidance using vibrations for Human-Robot teams., 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), November 2016. DOI: 10.1109/ROMAN.2016.7745098, Open Access Link
  6. P. Nazemzadeh; D. Fontanelli; D. Macii, Optimal Placement of Landmarks for Indoor Localization using Sensors with a Limited Range., Indoor Positioning and Indoor Navigation (IPIN), 2016 International Conference on, November 2016 DOI: 10.1109/IPIN.2016.7743631, Open Access Link
  7. F. Moro, A. De Angeli, D. Fontanelli, R. Passerone, D. Prattichizzo, L. Rizzon, S. Scheggi, S. Targher, L. Palopoli, Sensory stimulation for human guidance in robot walkers: a comparison between haptic and acoustic solutions., 2016 IEEE International Smart Cities Conference (ISC2), October 2016, DOI: 10.1109/ISC2.2016.7580811, Open Access Link
  8. S. Scheggi, M. Aggravi, D. Prattichizzo, Cooperative Navigation for Mixed Human–Robot Teams Using Haptic Feedback., IEEE Transactions on Human-Machine Systems, October 2016, DOI: 10.1109/THMS.2016.2608936, Open Access Link
  9. Fabiano Zenatti, Daniele Fontanelli, Luigi Palopoli, David Macii, and Payam Nazemzadeh, Optimal Placement of Passive Sensors for Robot Localisation. In Proc. IEEE/RSJ International Conference on Intelligent Robots and System,  October 2016. DOI: 10.1109/IROS.2016.7759675, Open Link Access
  10. Marco Andreetto, Stefano Divan, Daniele Fontanelli and Luigi Palopoli, Passive Robotic Walker Path Following with Bang-Bang Hybrid Control Paradigm, In Proc. IEEE/RSJ International Conference on Intelligent Robots and System , October 2016. DOI:, Open Access Link
  11. Paolo Bevilacqua, Marco Frego, Enrico Bertolazzi, Daniele Fontanelli, Luigi Palopoli, and Francesco Biral, Path Planning maximising Human Comfort for Assistive Robots. In IEEE Conference on Control Applications (CCA), September 2016, DOI: 10.1109/CCA.2016.7588006, Open Access Link
  12. G. Karvounas, I. Oikonomidis and A.A. Argyros, Localizing periodicity in time series and videos, In British Machine Vision Conference (BMVC 2016), September 2016. DOI: Open Access Link
  13. D. Kosmopoulos, K. Papoutsakis and A.A. Argyros, A framework for online segmentation and classification of modeled actions performed in the context of unmodeled ones, IEEE Transactions on Circuits and Systems for Video Technology (TCSVT), IEEE, July 2016, DOI: 10.1109/TCSVT.2016.2589678
  14. L. Coventry, P. Briggs and A. McNeill, Mobile Technology for Older Adults: Protector, Motivator or Threat? 2016 HCI International Conference, June 2016. DOI: 10.1007/978-3-319-39943-0_41.
  15. Y. Yan, E. Ricci, R. Subramanian, G. Liu, O. Lanz, and N. Sebe, A Multi-task Learning Framework for Head Pose Estimation under Target Motion, IEEE Transactions on Pattern Analysis and Machine Intelligence, June 2016, DOI: 10.1109/TPAMI.2015.2477843, Open Access Link
  16. P. Panteleris and A.A. Argyros, Monitoring and interpreting human motion to support clinical applications of a smart walker, In Workshop on Human Motion Analysis for Healthcare Applications (HMAHA 2016), May 2016. DOI: 10.1007/978-3-319-33464-6 Open Access Link
  17. McNeill, A. & Coventry, L. “Even in a group I’ll not tell them all”: Understanding privacy concerns of older adults for designing online social networks. In Markus Garschall, Theo Hamm, Dominik Hornung, Claudia Müller, Katja Neureiter, Marén Schorch, Lex van Velsen (Eds.), International Reports on Socio-Informatics (IRSI), Proceedings of the COOP 2016 – Symposium on challenges and experiences in designing for an ageing society. Reflecting on concepts of age(ing) and communication practices. May 2016.  Open Access Link
  18. Antonella De Angeli, Michela Cozza, Mladjan Jovanovic, Linda Tonolli, Mark Mushiba, Andrew McNeill, Lynne Coventry. Understanding Motivations in Designing for Older Adults, May 2016 Proceedings of the COOP 2016 – Symposium on challenges and experiences in designing for an ageing society. Reflecting on concepts of age(ing) and communication practices. May 2016.  Open Access Link
  19. Daniele Fontanelli, David Macii, Payam Nazemzadeh, and Luigi Palopoli, Collaborative Localization of Robotic Wheeled Walkers using Interlaced Extended Kalman Filters. In Proc. IEEE Int. Instrumentation and Measurement Technology Conference (I2MTC), May 2016, DOI: 10.1109/I2MTC.2016.7520443, Open Access Link
  20. L. Abeni, D. Fontanelli, L. Palopoli, B. Villalba Frías, Probabilistic analysis of bufferless pipelines of real-time tasks., ACM Symposium on Applied Computing, April 2016. DOI:, Open Access Link
  21. F. Chinello, C. Pacchierotti, N. G. Tsagarakis and D. Prattichizzo, Design of a Wearable Skin Stretch Cutaneous Device for the Upper Limb, Proc. IEEE Haptics Symposium (HAPTICS), April 2016. DOI: , Open Access Link
  22. F. Moro, D. Fontanelli, R. Passerone, D. Prattichizzo, L. Rizzon, S. Scheggi, S. Targher, A. De Angeli and L. Palopoli, Follow, listen, feel and go: alternative guidance system for a walking assistance device, Technical Report, January 2016.  Open Access Link


  1. D. Fontanelli, A. Giannitrapani, L. Palopoli and D. Prattichizzo, A passive guidance system for a robotic walking assistant using brakes, IEEE 54th Annual Conference on Decision and Control (CDC) 2015:829-834, December 2015. DOI: 10.1109/CDC.2015.7402332, Open Acces Link
  2. S. Tulyakov, R. Vieriu, E. Sangineto and N. Sebe, FaceCept3D: Real Time 3D Face Tracking and Analysis, The IEEE International Conference on Computer Vision (ICCV) Workshops, December 2015. DOI:, Open Access Link
  3. S. Wakolbinger, J. Birchbauer and S. Küberl Gait Analysis on the move: The Infinite Gait Walkway, ET International Conference on Technologies for Active and Assisted Living — TechAAL 2015, November 2015. DOI: 10.5281/zenodo.45591, Open Access Link
  4. X. Alameda-Pineda, J. Staiano, R. Subramanian, L. Batrinca, E. Ricci, B. Lepri, O. Lanz, N. Sebe, SALSA: A Novel Dataset for Multimodal Group Behavior Analysis., IEEE Transactions on Pattern Analysis and Machine Intelligence, October 2015. DOI: 10.1109/TPAMI.2015.2496269, Open Access Link
  5. M. Aggravi, S. Scheggi and D. Prattichizzo, Evaluation of a predictive approach in steering the human locomotion via haptic feedback. IROS 2015: 597-602, October 2015. DOI: 10.1109/IROS.2015.7353433,   Open Access Link
  6. X. Alameda-Pineda, Y. Yan, E. Ricci, O. Lanz and N. Sebe, Analyzing Free-standing Conversational Groups: A Multimodal Approach, MM ’15 Proceedings of the 23rd ACM international conference on Multimedia, 5-14, October 2015. DOI: 10.1145/2733373.2806238
  7. A. Colombo, D. Fontanelli, A. Legay, L. Palopoli and S. Sedwards, Efficient customisable dynamic motion planning for assistive robots in complex human environments. JAISE 7, September 2015. DOI: 10.3233/AIS-150338, Open Access Link
  8. Luca Rizzon, Federico Moro, Roberto Passerone, David Macii, Daniele Fontanelli, Payam Nazemzadeh, Michele Corrà, Luigi Palopoli, and Domenico Prattichizzo, c-Walker: A Cyber-Physical System for Ambient Assisted Living. In Applications in Electronics Pervading Industry, Environment and Society – Springer, August 2015,DOI: 10.1007/978-3-319-20227-3_10, Open Access Link
  9. A. McNeill and L. Coventry, An Appraisal-Based Approach to the Stigma of Walker-UseHuman Aspects of IT for the Aged Population. Design for AgingVolume 9193 of the series Lecture Notes in Computer Science, 250-261, July 2015. DOI: 10.1007/978-3-319-20892-3_25 Open Access Link
  10. L. Palopoli, D. Fontanelli, L. Abeni and Bernardo Villalba Frías, An Analytical Solution for Probabilistic Guarantees of Reservation Based Soft Real-Time Systems, IEEE Transactions on Parallel and Distributed Systems  (Volume: 27, Issue: 3), 640 – 653, March 2015. DOI: 10.1109/TPDS.2015.2416732, Open Access Link,

Public Deliverables (approved by the EC)

WP1: User Centric Design

  • D1.1, Lynne Coventry, Andrew McNeill, Jake Pywell, Privacy Report, download
  • D1.3, Antonella De Angeli, Maria Paola Paladino, Lynne Coventry, Stefano Targher, Andrew McNeill, Motivation and persuasion report, download
  • D1.5, Andrew McNeill, Lynne Coventry, Longitudinal Tracking – Diary Study, download
  • D1.6, Andrew McNeill, Lynne Coventry, Ignacio Peinado, Cristina Sandoval, Maria Julia Silla, User Requirements, downloads

WP2: Modelling

WP3: Perception of Users and Environment

  • Johannes Scheiblauer, Pashalis Padeleris, Sergey Tulyakov, David Macii, Daniele Fontanelli, Josef Alois Birchbauer, User perception and platform localization:  First results on holistic user awareness and FriWalk localization, download

WP4: Conception of Social Activities

  • D4.5, Ivo Ramos, Cesar Mediavilla, Maurizio Marchese, Marcelo Rodas, User communities creations based on user’s profile matching (static profile): social network creation and evolution in older adults communities, download

WP5: Execution Support of Social Activities

  • D5.1 Sean Sedwards, Thomas Given-Wilson, Axel Legay, User reactive planning, download

WP6: Design of Robotic Personal Devices

WP7: Cloud Infrastructure and Integration

  • D7.1 Gian Piero Fici, Luigi Palopoli, Carlos Rivera, Ivo Ramos, Software interfaces, download

WP8: Experimental Validation

WP9: Exploitation and Dissemination

  • D9.1 Cristina Sandoval, Josef Alois Birchbauer, Marco Aggravi, Lynne Coventry, Sean Sedwards, Ignacio Peinado, Stefano Targher, César Mediavilla and Antonis Argyros, First annual dissemination report, download part1 | part2
  • D9.7 Luigi Palopoli, Website, download

WP10: Management

  • D10.1 Maria Julia Silla, Project presentation brochure, download
  • D10.3 Luigi Palopoli, Data management plan, download