A5040398924- Robotic Path Planning Algorithms
- Control and Dynamics of Mobile Robots
- Robotics and Sensor-Based Localization
- Robotic Locomotion and Control
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Robotic Mechanisms and Dynamics
- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- Distributed Control Multi-Agent Systems
- Advanced Vision and Imaging
- Vehicle Dynamics and Control Systems
- Conservation Techniques and Studies
- Dynamics and Control of Mechanical Systems
- Cultural Heritage Materials Analysis
- Optimization and Search Problems
- Aerospace Engineering and Energy Systems
- Adventure Sports and Sensation Seeking
- Building materials and conservation
- Formal Methods in Verification
- Tactile and Sensory Interactions
- Adaptive Control of Nonlinear Systems
- Human Motion and Animation
- Model Reduction and Neural Networks
- Robotics and Automated Systems
Sapienza University of Rome
2015-2024
Gestione Sistemi per l’Informatica (Italy)
2008
Istituto di Analisi dei Sistemi ed Informatica Antonio Ruberti
2002
Centre National de la Recherche Scientifique
1998
Laboratoire d'Analyse et d'Architecture des Systèmes
1998
The subject of the paper is motion control problem wheeled mobile robots (WMRs) in environments without obstacles. With reference to popular unicycle kinematics, it shown that dynamic feedback linearization an efficient design tool leading a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. implementation this approach on laboratory prototype SuperMARIO, two-wheel differentially driven robot, described detail. To assess quality proposed controller,...
An algorithmic solution method is presented for the problem of autonomous robot motion in completely unknown environments. Our approach based on alternate execution two fundamental processes: map building and navigation. In former, range measures are collected through exteroceptive sensors processed order to build a local representation surrounding area. This then integrated global so far reconstructed by filtering out insufficient or conflicting information. navigation phase, an A*-based...
Minimally invasive surgery assisted by robots is characterized the restriction of feasible motions manipulator link constrained to move through entry port patient's body. In particular, only allowed translate along its axis and rotate about point. This requires constraining motion with respect a point known as Remote Center Motion (RCM). The achievement any surgical task inside body must take into account this constraint. paper we provide new, general characterization RCM constraint useful...
An essential component of an autonomous mobile robot is the exteroceptive sensory system. Sensing capabilities should be integrated with a method for extracting representation environment from uncertain sensor data and appropriate planning algorithm. In this article, fuzzy logic concepts are used to introduce tool useful perception as well collision-free motions. particular, map defined set unsafe points, whose membership function quantifies possibility each point belong obstacle. The...
We present a decentralized cooperative exploration strategy for team of mobile robots equipped with range finders. A roadmap the explored area, associate safe region, is built in form sensor-based random graph (SRG). This expanded by using randomized local planner that automatically realizes tradeoff between information gain and navigation cost. The nodes SRG represent view configurations have been visited at least one robot, are connected arcs paths. These paths actually traveled or added...
In this work we present a V-REP simulator for the da Vinci Research Kit (dVRK). The contains full robot kinematic model and integrated sensors. A operating system (ROS) interface has been created easy use development of common software components. Moreover, several scenes have implemented to illustrate performance potentiality developed simulator. Both example are available community as an open source software.
Abstract Technical design features for improving the way a passive elastic filament produces propulsive thrust can be understood by analyzing deformation of sperm‐templated microrobots with segmented magnetization. Magnetic nanoparticles are electrostatically self‐assembled on bovine sperm cells nonuniform surface charge, producing different categories microrobots. Depending amount and location each cellular segment, magnetoelastic viscous forces determine wave pattern category during...
The problem of sensor-based robot motion planning in unknown environments is addressed. proposed solution approach prescribes the repeated sequence two fundamental processes: perception and navigation. In former, collects data from its sensors, builds local maps integrates them with global so far reconstructed, using fuzzy logic operators. During navigation process, a planner based on A* algorithm proposes path current position to goal. moves along this until one termination conditions...
We present a method for sensor-based exploration of unknown environments by mobile robot. The is based on the randomized incremental generation data structure called random tree (SRT), which represents roadmap explored area with an associated safe region. Different strategies may be obtained instantiating general different perception techniques. Two such techniques are discussed: first, conservative and particularly suited to noisy sensors, results in strategy SRT-Ball. second technique more...
This paper shows how to compute the nonholonomic distance between a pointwise car-like robot and polygonal obstacles. Geometric constructions shortest paths from configuration (given orientation position in plane of robot) (i.e., with unspecified final orientation) are first presented. The geometric structure reachable set (set points by given length /spl Lscr/) is then used straight-line segments. Obstacle defined as such paths. algorithms developed for robots that can move both forward...
We present a framework for the stabilization of nonholonomic systems that do not possess special properties such as flatness or exact nilpotentizability. Our approach makes use two tools: an iterative control scheme and nilpotent approximation system dynamics. The latter is used to compute approximate steering which, repeatedly applied system, guarantees asymptotic stability with exponential convergence any desired set point, under appropriate conditions. For illustration, we apply proposed...
We present a control-based approach for visual navigation of humanoid robots in office-like environments. In particular, the objective is to follow maze corridors, walking as close possible their center maximize motion safety. Our control algorithm inspired by technique originally designed unicycle and extended here cope with presence turns junctions. The feedback signals computed are transformed inputs that suited locomotion system humanoid, producing natural, human-like behavior....
Nilpotent approximations are a useful tool for analyzing and controlling systems whose tangent linearization does not preserve controllability, such as nonholonomic mechanisms. However, conventional homogeneous exhibit drawback: in the neighborhood of singular points (where system growth vector is constant) fields approximate dynamics do vary continuously with approximation point. The geometric counterpart this situation that sub-Riemannian distance estimate provided by classical Ball-Box...
We consider the problem of repeatable motion planning for redundant robotic systems performing cyclic tasks in presence obstacles. For this open problem, we present a control-based randomized planner, which produces closed collision-free paths configuration space and guarantees continuous satisfaction task constraints. The proposed algorithm, relies on bidirectional search loop closure task-constrained space, is shown to be probabilistically complete. A modified version planner also devised...
We consider the problem of planning collision-free motions for a redundant robot whose end-effector must travel along given path. Although collision avoidance is one main reasons introducing kinematic redundancy in manipulators, methods so far proposed this particular are neither efficient nor complete. In paper, we introduce some algorithms that may be considered as an extension probabilistic techniques to at hand. All based on same simple mechanism generating random samples configuration...
We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of collection data structures called sensor-based random trees, each representing roadmap an explored area with associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to improve efficiency avoid conflicts. Simulations in various environments presented show performance proposed technique.
In this paper, we characterize the time-optimal trajectories leading a Dubins car in collision with obstacles its workspace. Due to constant velocity constraint characterizing model, these form sufficient set of shortest paths between any robot configuration and environment. Based on paths, define give algorithm for computing distance function that takes into account nonholonomic constraints captures nonsymmetric nature system. The developments presented here assume are polygons although...
We consider the problem of planning collision-free motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approaches solution are based on idea sampling and inverting constraint build a roadmap task-constrained configurations which then connected by simple local paths; hence, tracking is not enforced during motion between samples. Here, we present control-based randomized approach relying generation scheme that guarantees continued...
We consider the problem of planning motion redundant robotic systems subject to geometric task constraints in presence obstacles moving along known trajectories. Building on our previous results task-constrained planning, we propose a control-based planner that works directly configuration space extended with time dimension. The generated trajectories are collision-free and satisfy constraint arbitrary accuracy. Bounds achievable generalized velocities may also be taken into account....
This letter considers the problem of collision-free navigation omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve task. Three different visual servoing control schemes, compatible class considered robot kinematics sensor equipment, are analyzed their robustness properties respect actuation inaccuracies discussed. Then, controller proposed formal guarantee convergence bisector...