Giovedì 23 febbraio
Università di Cassino e del Lazio Meridionale
Cooperative control of networked robotic systems
Networked robots have been object of widespread research in the latest years due to their broad application domain, flexibility, potential robustness to faults and capacity to accomplish complex tasks alternatively impossible for a single unit. Despite their clear advantages, networked robots pose challenging problems due to the interaction among control, communication and perception. This talk is about cooperative control strategies for networked multi-robot systems to achieve specific missions as connectivity maintenance and formation control. In particular, a specific focus will be provided on a recently developed observer-based decentralized fault detection and isolation strategy for networked multi-robot systems, and on its experimental validation with mobile robots. The talk will then focus on networked robot issues when operating in the marine environment, illustrating the main challenges that will be addressed in the ongoing H2020 European Project WiMUST.
Filippo Arrichiello is an Associate Professor in Control Engineering at the University of Cassino and Southern Lazio, Italy. He received the Laurea Degree in Mechanical Engineer form the University of Naples in 2003 and the PhD in Electrical and Information Engineering from the University of Cassino in 2007. From March to September 2005 he joined, as a visiting PhD student, the Centre of Excellence Centre of Ships and Ocean Structures of the Norwegian University of Science and Technology, Trondheim, Norway. Between 2008 and 2011 he spent seven months as a Visiting Researcher at the Robotic Embedded Systems Laboratory of the University of Southern California, Los Angeles, USA. His research activity focuses on industrial and mobile robotics with specific interest on multi-robot systems and marine robotics. He is author of more than 60 papers published in international journals and conferences proceedings in the field of robotics. He has been the Principal Investigator of a National Research Project 'FIRB-Futuro in Ricerca' on Networked Cooperative Teams of Autonomous Robots (NECTAR) 2010-14; he is actually involved in different H2020 European Projects. He is IEEE Senior Member and, actually, he is Editor of the IEEE RAS Conference Editorial Board for the IEEE International Conference on Robotics and Automation.