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Hi there 👋

I'm Giacomo and I am an Aerospace Engineer with a passion for robotics 🤖!

Right now I am doing a PhD at Polytechnic of Turin in collaboration with Thales Alenia Space Italy. My main research interests concern advanced rover mobility systems for planetary exploration and astronaut support, with a special focus on the development of localization systems for robotic agents.

I'm currently working on:

  • a state estimation framework of a 4-wheel-steering wheeled rover for lunar exploration.
  • a detection system of wheeled rovers mechanical odometry errors in harsh environments.
  • a VR/AR Unity-based environment for astronaut training and cooperation with robots.

Giacomo Franchini's Projects

fuse icon fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

geometry2 icon geometry2

A set of ROS packages for keeping track of coordinate transforms.

kiss-icp icon kiss-icp

A LiDAR odometry pipeline that just works

pic4isaac icon pic4isaac

Integration of Omniverse IsaacSim in pic4ser works

rclcpp icon rclcpp

rclcpp (ROS Client Library for C++)

reinforcement-learning icon reinforcement-learning

Implementation of Reinforcement Learning Algorithms. Python, OpenAI Gym, Tensorflow. Exercises and Solutions to accompany Sutton's Book and David Silver's course.

robotics-nav2-slam-example icon robotics-nav2-slam-example

An example project which contains the Unity components necessary to complete Navigation2's SLAM tutorial with a Turtlebot3, using a custom Unity environment in place of Gazebo.

ros-tcp-endpoint icon ros-tcp-endpoint

ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts

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