A5030334035- Underwater Vehicles and Communication Systems
- Robotic Path Planning Algorithms
- Adaptive Control of Nonlinear Systems
- Robotic Mechanisms and Dynamics
- Distributed Control Multi-Agent Systems
- Robot Manipulation and Learning
- Control and Dynamics of Mobile Robots
- Robotics and Sensor-Based Localization
- Modular Robots and Swarm Intelligence
- Teleoperation and Haptic Systems
- Maritime Navigation and Safety
- Fault Detection and Control Systems
- Target Tracking and Data Fusion in Sensor Networks
- Dynamics and Control of Mechanical Systems
- Soft Robotics and Applications
- Underwater Acoustics Research
- Iterative Learning Control Systems
- Advanced Vision and Imaging
- Advanced Control Systems Optimization
- Robotic Locomotion and Control
- Piezoelectric Actuators and Control
- Indoor and Outdoor Localization Technologies
- Control and Stability of Dynamical Systems
- Space Satellite Systems and Control
- Robotics and Automated Systems
Università degli studi di Cassino e del Lazio Meridionale
2015-2024
Gorgias Press (United States)
2021
Robotics Research (United States)
2021
Institute of Electrical and Electronics Engineers
2021
Nagoya University
2020
Shandong University
2020
Shangri-la Institute
2020
University of Science and Technology Beijing
2020
University of Science and Technology of China
2020
Kiel University
2020
Control problems such as multirobot control, distributed intelligence, swarm decision, cognition, congestion control in networks, collective motion biology, oscillator synchronization physics, parallelization optimization theory, estimation, cooperative equilibria economics, social interaction modeling, and game theory may be analyzed under the of interconnected dynamic systems. Those topics have several overlapping research communities; for that reason they are characterized by different...
This article summarizes new aerial robotic manipulation technologies and methods-aerial manipulators with dual arms multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection maintenance (I&M).
Remotely operated vehicles (ROVs) revolutionized the subsea industry when they were introduced in 1960s. They more powerful and inherently safer, could go deeper than divers. However, require a tether support ship, which makes their use complex expensive. Autonomous marine (AMVs) have long been seen as game changer exploration exploitation of environment. Repeated access to remote hazardous places for data gathering intervention, enabled by autonomy, is key adoption. While historically focus...
This paper presents a six-degrees-of-freedom controller for autonomous underwater vehicles. The control algorithm is adaptive in the dynamic parameters that are poorly known and time-varying environment. Moreover, proposed law adopts quaternions to represent attitude errors, thus avoids representation singularities occur when using instead Euler angles description of orientation. has been successfully implemented experimentally validated on omnidirectional intelligent navigator (ODIN), an...
One important problem in autonomous robot navigation is the effective following of an unknown path traced environment compliance with kinematic limits vehicle, i.e., bounded linear and angular velocities accelerations. In this case, motion planning must be implemented real-time robust respect to geometric characteristics path, namely curvature sharpness. To achieve good tracking capability, paper proposes a approach based on fuzzy-logic set rules which emulates human driving behavior. The...
Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached in this paper. Starting from the classical applications position manipulators, kinematic-based approaches have lately been applied to, e.g., visual servoing and quadruped or multirobot coordination control. A common approach consists definition several tasks properly combined priority. In paper, by resorting to a Lyapunov-based stability discussion prioritized inverse kinematics...
In this paper, an approach to control the motion of a platoon autonomous vehicles is presented. The proposed technique based on definition suitable task functions that are handled in framework singularity-robust task-priority inverse kinematics. algorithm implemented by two-stage architecture such intervehicle communication not required. effectiveness investigated means numerical simulation case studies
In this paper, a distributed controller–observer schema for tracking control of the centroid and relative formation multi-robot system with first-order dynamics is presented. Each robot team uses observer to estimate overall state motion strategy time-varying formation. Proof convergence different kinds connection topologies, as well cases unsaturated saturated inputs particular, solution proven work in case strongly connected non-switching topologies balanced switching topologies. order...
In this paper, the experimental validation of a behavior-based technique for multirobot systems (MRSs), namely, Null-Space-based Behavioral (NSB) control, is presented. The NSB strategy, inherited from singularity-robust task-priority inverse kinematics industrial manipulators, has been recently proposed execution different formation-control missions with MRSs. focusing on details, approach achieved by performing missions, in presence static and dynamic obstacles, team grounded mobile robots...
This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how Tilt-Hex, tilted-propeller hexarotor is able to control full pose (position orientation independently) using geometric exert full-wrench (force torque with rigidly attached end-effector an admittance paradigm. An outer loop governs desired behavior inner based on ensures tracking. The interaction forces are estimated by...
This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight costs reduced compared with state-of-the-art approaches. By exploiting its tilted propeller actuation, the robot is able control full 6D pose (position orientation independently) exert full-wrench (force torque rigidly attached end-effector. Interaction achieved by means of an admittance scheme which outer loop governs desired behavior (i.e., interaction...
This paper presents an adaptive trajectory tracking control strategy for quadrotor micro aerial vehicles (MAVs). The proposed approach, while maintaining the common assumption of orientation dynamics faster than translational one, removes absence external disturbances and geometric center coincident with Center Mass (CoM). In particular, law is made respect to presence forces moments (e.g., due wind) uncertainty parameters dynamic model, such as position CoM. A stability analysis presented...
Inverse kinematics algorithms are commonly used in robotic systems to transform tasks joint references, and several methods exist ensure the achievement of simultaneously. The multiple task-priority inverse framework allows be considered a prioritized order by projecting task velocities through nullspaces higher priority tasks. This paper extends this handle setbased tasks, i.e. with range valid values, addition equality which have specific desired value. Examples set-based limit obstacle...
For a mobile robot, odometry calibration consists of the identification set kinematic parameters that allow reconstructing vehicle's absolute position and orientation starting from wheels' encoder measurements. This paper develops systematic method for differential-drive robots. As first step, equations are written so as to underline linearity in suitable unknown parameters; thus, least-squares can be applied estimate them. A major advantage adopted formulation is it provides quantitative...
In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed a comparison study among several controllers. At steady state, vehicle needs to compensate for two dynamic effects, ocean current and restoring forces; appropriateness adaptive/integral action designed with respect persistent effects discussed. Moreover, each controller, an proportional derivative (PD) plus gravity compensation-like version derived eventually modified so as...
In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing end-effector interaction forces environment. The proposed has a multi-level architecture, in detail outer loop composed by trajectory generator and filter that modifies to achieve complaint behaviour space; middle used generate joint space variables through inverse kinematic algorithm; finally inner aimed at ensuring motion tracking. architecture been experimentally tested.
This paper proposes an approach to the design of control laws for underwater vehicles that takes into account hydrodynamic effects affecting tracking performance. To this aim, a suitable adaptive action based on appropriate kinematic transformations between earth-fixed frame and vehicle-fixed is developed. The proposed law adopts quaternions represent attitude errors, thus avoiding representation singularities occur when using instead Euler angles. stability designed demonstrated by means...
An underwater vehicle-manipulator system (UVMS) usually has more degrees of freedom than those required to attain given end-effector postures. Therefore, the UVMS is a redundant and kinematic control algorithms can be applied aimed at achieving additional objectives such as energy savings or increase manipulability. This paper presents task-priority inverse kinematics approach redundancy resolution for UVMS. Three case studies are developed demonstrate effectiveness technique in different...
A new approach to the fault-accommodating allocation of thruster forces an autonomous underwater vehicle (AUV) is investigated in this paper. This paper presents a framework that exploits excess number thrusters accommodate faults during operation. First, redundancy resolution scheme presented considers presence along with any and determines reference produce desired motion. then extended incorporate dynamic state feedback technique generate are within saturation limit each thruster. Results...