Marco Tranzatto

Hi, my name is Marco and I am a co-founder at Gravis Robotics .

Prior to joining this exciting adventure at Gravis, I worked as Robotics Software Engineer at the Robotic Systems Lab (RSL) of ETH Zürich, focusing on the software development and field deployment of ANYmal, an autonomous four-legged robot that we use at RSL for various type of applications (search and rescue, industrial inspection, etc.). From 2018 until 2021 I was part of Team CERBERUS, that in September 2021 won the Darpa Subterranean (SubT) Challenge and a $2,000,000 prize reward that comes along (in the form of a very, very, big Check)!

Before joining RSL, I worked for one year for the Autonomous Systems Lab (ASL) of ETH Zürich, where I was part of the MBZIRC 2017 Team which scored 2nd place in the Grand Challenge. I also spent six months as Robotics Engineer in Aerotain, where I developed a ROS-based simulation for Skye, an indoor blimp. Before that, I worked with a 10 person team developing an unmanned airship with acrobatic capabilities during the summer "Zeppaloon" project with Kongsberg Maritime.

I sometimes tweet about robotics related stuff on my Twitter account.

[mtranzatto@gravisrobotics.com | Github]

Awards

Winner of the the DARPA Subterranean Challenge 2021   [link | video]

Team CERBERUS won the DARPA SubT Challenge and a $2,000,000 prize reward that comes along! Team CERBERUS deployed a diverse set of robots with the prime systems being four ANYmal C legged systems. In the Prize Round of the Final Event, the team deployed four legged robots simultaneously and won the competition by scoring a total of 23 points.

Second place in Challenge III and in the Grand Challenge MBIRC 2017   [link]

The ETH Team "Electronic Treasure Hunters" competed in the first edition of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), which took place in Abu Dhabi, United Arab Emirates, from 16 to 18 March 2017. The team scored second place for the Grand Challenge that performs Challenges 1,2 and 3 simultaneously, and second place for the Challenge 3 (collaborative UAVs searching, locating, pick and place a set of static and moving objects).

Winner final regatta of World Robotic Sailing Championship (WRSC) 2015   [link]

The IfA Autonomous Sailing Team won the World Robotic Sailing Competition 2015. The competition took place on Åland Islands, Finland, from 1 to 4 September 2015. The team scored best among all teams and in all tasks (station keeping, area scanning, triangular course, fleet race).

Publications

M. Tranzatto, T. Miki, M. Dharmadhikari, L. Bernreiter, M. Kulkarni, F. Mascarich, O. Andersson, S. Khattak, M. Hutter, R. Siegwart, K. Alexis, “CERBERUS in the DARPA Subterranean Challenge”. In: Science Robotics (2022).

M. Tranzatto, M.Dharmadhikari, L. Bernreiter, M. Camurri, S. Khattak, F. Mascarich, P. Pfreundschuh, D. Wisth, S. Zimmermann, M. Kulkarni, V. Reijgwart, B. Casseau, T. Homberger, P. De Petris, L. Ott, W. Tubby, G. Waibel, H. Nguyen, C. Cadena, R. Buchanan, L. Wellhausen, N. Khedekar, O. Andersson , L. Zhang , T. Miki , T. Dang, M. Mattamala, M. Montenegro, K. Meyer, X. Wu, A. Briod, M. Mueller, M. Fallon , R. Siegwart, M. Hutter, K. Alexis, “Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned”. In: Field Robotics (2022) (submitted).

M. Tranzatto, F. Mascarich, L. Bernreiter, C. Godinho, M. Camurri, S. Khattak, T. Dang, V. Reijgwart, J. Loeje, D. Wisth, S. Zimmermann, H. Nguyen, M. Fehr, L. Solanka, R. Buchanan, M. Bjelonic, N. Khedekar, M. Valceschini, F. Jenelten, M. Dharmadhikari, T. Homberger, P. De Petris, L. Wellhausen, M. Kulkarni, T. Miki, S. Hirsch, M. Montenegro, C. Papachristos, F. Tresoldi, J. Carius, G. Valsecchi, J. Lee, K. Meyer, X. Wu, J. Nieto, A. Smith, M. Hutter, R. Siegwart, M. Mueller, M. Fallon, K. Alexis, “CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge”. In: Field Robotics (2022).
[pdf | video]

M. Kulkarni, M. Dharmadhikari, M. Tranzatto, S. Zimmermann, V. Reijgwart, P. De Petris, H. Nguyen, N. Khedekar, C. Papachristos, L. Ott, R. Siegwart, M. Hutter, K. Alexis, “Graph-based subterranean exploration path planning using aerial and legged robots”. In: IEEE International Conference on Robotics and Automation (ICRA) (2022).
[pdf | video]

P. Arm, G. Waibel, G. Ligeza, V. Bickel, M. Tranzatto, S. Zimmermann, T. Homberger, L. Horvath, H. Umbers, F. Kehl, H. Kolvenbach, M. Hutter, “Results and Lessons Learned from the First Field Trial of the ESA-ESRIC Space Resources Challenge of Team GLIMPSE”. In: 16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2022) (accepted).

T. Dang, M. Tranzatto, S. Khattak, F. Mascarich, K. Alexis, M. Hutter, “Graph-based subterranean exploration path planning using aerial and legged robots”. In: Journal of Field Robotics (2020).
[pdf | video]

R. Bähnemann, M. Pantic, M. Popović, D. Schindler, M. Tranzatto, M. Kamel, M. Grimm, J. Widauer, R. Siegwart, J. Nieto, “The ETH‐MAV team in the MBZ international robotics challenge”. In: Journal of Field Robotics (2019)
[pdf | video]

C. D. Bellicoso, M. Bjelonic, L. Wellhausen, K. Holtmann, F. Günther, M. Tranzatto, P. Fankhauser, M. Hutter, “Advances in real‐world applications for legged robots”. In: Journal of Field Robotics (2018).
[pdf | video]

J. Wirz, M. Tranzatto, A. Liniger, M. Colombino, H. Hesse, S. Grammatico, “AEOLUS, the ETH autonomous model sailboat”. In: World Robotic Sailing championship and International Robotic Sailing Conference (2015).
[pdf]

M. Tranzatto, A. Liniger, S. Grammatico, A. Landi, “The debut of Aeolus, the autonomous model sailboat of ETH Zurich”. In: IEEE Oceans Conference (2015.)
[pdf]

Selected Projects

Robotic Systems Lab (RSL) - ETH Zurich

DARPA Subterranean (SubT) Challenge   RSL's Technical Lead   [Final | Urban | STiX]

Techincal team leader of the RSL group competing as part of Team CERBERUS in the Darpa Subterranean (SubT) Challenge.

Youtube playlist about ANYmal and RSL Team at the DARPA SubT Challenge.

Advanced Robotic Capabilities for Hazardous Environments (ARCHE)   Robotics Engineer  [video]

Worked on a path follower module customized for the quadrupedal robot ANYmal.

Autonomous Systems Lab (ASL) - ETH Zurich

ERL Emergency Service Robot   Robotics Engineer  

Worked on multi-domain robotics applications to enable ground and air vehicles working together in a simulated search and rescue mission.

Mohamed Bin Zayed International Robotics Challenge (MBZIRC)   Robotics Engineer  [video]

Worked on software and hardware for the rotary wing aerial vehicles of ASL, focusing on MBZIRC Challenge 1. Visual-inertial odometry of MAVs was strengthened using RTK GPS (see open sourced ROS driver).

AEROTAIN AG

Hardware In the Loop simulator for Skye   Robotics Engineer

Implemented a Hardware In the Loop simulator (HIL) for a scaled unmanned airship used for entertainment applications. Gazebo and ROS were used in this project.

Kongsberg Maritime

Zeppaloon   Summer Intern  [video]

Development of real-time applications for a scaled unmanned airship: the Zeppaloon. Implemented on-board applications, running on a RaspberryPi, where ROS was used as middleware. Worked on a "smart" azimuth thruster with varying pitch and capabilities of sending data about its status.

University of Pisa

Master Thesis  [video]

Designed and implemented navigation and control methodologies on an autonomous model sailboat, and tested them on several lake trials. Coded on the onboard embedded controller (Pixhawk) and performed data analysis and filtering.

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