TY - CONF T1 - Distributed Task-priority Based Control in Area Coverage & Adaptive Sampling T2 - MTS/IEEE Oceans 2017 Y1 - 2017 A1 - T. Fabbri A1 - E. Simetti A1 - G. Casalino A1 - L. Pallottino A1 - A. Caiti KW - Robotics AB -
The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.
JF - MTS/IEEE Oceans 2017 PB - IEEE CY - Aberdeen, Scotland, June 2017 ER - TY - CONF T1 - Assessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats T2 - International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016 Y1 - 2016 A1 - T. Fabbri A1 - S. Nardi A1 - L. Isgrò A1 - L. Pallottino A1 - A. Caiti AB -A Serious Game (SG) system for the assessment of the potential of the multi-vehicle surveillance is presented. The SG system is applied to the problem of protection of strategic assets from underwater asymmetric threats. The SG platform integrates the active sonar performance evaluator able to estimate the real performance on the basis of the environmental conditions. The final goal is to provide new technology tools to realize a Decision Support System (DDS) to support the design phase of a naval unit. The SG system is developed in the framework of the ProDifCon project supported by the (DLTM) (Italy).
JF - International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016 PB - Springer CY - Rome, Italy, June 15-16, 2016 VL - 9991 of the book series Lecture Notes in Computer Science (LNCS) UR - http://link.springer.com/chapter/10.1007/978-3-319-47605-6_17 ER - TY - JOUR T1 - Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles JF - AUTONOMOUS ROBOTS Y1 - 2016 A1 - B. Allotta A1 - A. Caiti A1 - R. Costanzi A1 - F. Di Corato A1 - D. Fenucci A1 - N. Monni A1 - L. Pugi A1 - A. Ridolfi KW - Robotics AB -A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet ’13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface ’14 workshop, organized by the University of Zagreb.
VL - 40 UR - http://link.springer.com/journal/volumesAndIssues/10514 IS - 7 ER - TY - CONF T1 - A game theoretic approach for antagonistic-task coordination of underwater autonomous robots in asymmetric threats scenarios T2 - OCEANS 2016 Y1 - 2016 A1 - S. Nardi A1 - T. Fabbri A1 - A. Caiti A1 - L. Pallottino KW - Embedded Control KW - Robotics AB -This work proposes a game theoretic approach
to tackle the problem of multi-robot coordination
in critical scenarios where communication is
limited and the robots must accomplish different tasks
simultaneously. An important application falls in underwater
robotic framework where robots are used to
protect a ship against asymmetric threats guaranteeing
simultaneously the coverage of the area around the ship
and the tracking of a possible intruder. The problem is
modelled as a potential game for which novel learning
protocols are introduced. Indeed, a general extension
of pay-off based algorithms is herein proposed where
the main difference with state-of-the-art protocols is
that the trajectory optimization is considered instead
of single action optimization. Moreover, the proposed
T-algorithms, steer the robots toward Nash equilibria
that will be shown to correspond to the accomplishment
of different, possibly antagonistic, goals. Finally, performances
of the algorithms, under different scenarios,
have been evaluated in simulations.
The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors affecting the accuracy of AUVs navigation systems is the algorithm used to estimate the vehicle motion, usually based on kinematic vehicle models and linear estimators. A precise and reliable navigation system is indeed fundamental to AUVs: the Global Positioning System (GPS) signal is not available underwater, thus making it very hard to know the position of the vehicle in real-time. In this paper, the authors present an innovative navigation strategy specifically designed for AUVs, based on the Unscented Kalman Filter (UKF). The new algorithm proves to be effective if applied to this class of vehicles and allows us to achieve a satisfying accuracy improvement compared to standard navigation algorithms. The proposed strategy has been experimentally validated using the navigation data acquired in suitable sea tests performed in Biograd Na Moru (Croatia) in the framework of the FP7 European ARROWS project tests performed during the Breaking the Surface 2014 (BtS 2014) workshop. The vehicles involved are the two Typhoon AUVs, developed and built by the Department of Industrial Engineering of the University of Florence within the THESAURUS Tuscany Region project for exploration and surveillance of underwater archaeological sites. The experiment, described in the paper, was performed to preliminary test the cooperative navigation between these AUVs. The new algorithm has been initially tested offline, and the validation of the proposed strategy provided accurate results in estimating the vehicle dynamic behaviour.
VL - 113 ER - TY - JOUR T1 - An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles JF - Mechatronics Y1 - 2016 A1 - B. Allotta A1 - A. Caiti A1 - L. Chisci A1 - R. Costanzi A1 - F. Di Corato A1 - D. Fantacci A1 - D. Fenucci A1 - E. Meli A1 - A. Ridolfi KW - Robotics AB -Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the AUV navigation state strongly affects the performance of the overall system. In this paper, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an Unscented Kalman Filter (UKF). The comparison results to be significant as the two strategies of filtering are based on the same process and sensors models. The UKF-based approach, here adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load. UKF has not yet been extensively used in practical underwater applications, even if it turns out to be quite promising. The proposed results rely on the data acquired during a sea mission performed by one of the two Typhoon class vehicles involved in the NATO CommsNet13 experiment (held in September 2013). As ground truth for performance evaluation and comparison, performed offline, position measurements obtained through Ultra-Short BaseLine (USBL) fixes are used. The result analysis leads to identify both the strategies as effective for the purpose of being included in the control loop of an AUV. The UKF approach demonstrates higher performance encouraging its implementation as a more suitable navigation algorithm even if, up to now, it is still not used much in this field.
VL - 39 UR - http://www.sciencedirect.com/science/article/pii/S095741581630037X ER - TY - JOUR T1 - Mobile underwater sensor networks for protection and security: field experience at the UAN11 experiment JF - JOURNAL OF FIELD ROBOTICS Y1 - 2013 A1 - A. Caiti A1 - V. Calabrò A1 - G. Dini A1 - A. Lo Duca A1 - A. Munafò KW - Robotics VL - 30 UR - http://dx.medra.org/10.1002/rob.21447 ER - TY - CHAP T1 - Further Advances in Unmanned Marine Vehicles Y1 - 2012 A1 - A. Caffaz A1 - A. Caiti A1 - V. Calabrò A1 - G. Casalino A1 - A Maguer A1 - A. Munafò A1 - J.R. Potter A1 - H Tay A1 - A. Turetta KW - Robotics PB - IET CY - Londra SN - 9781849194792 ER - TY - JOUR T1 - A geographical information system (GIS)-based simulation tool to assess civilian harbor protection levels JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 2012 A1 - A. Caiti A1 - A. Munafò A1 - G. Vettori KW - Robotics VL - 37 UR - http://dx.medra.org/10.1109/JOE.2011.2174675 ER - TY - CONF T1 - MOOS middleware and node adaptivity in underwater sensor networks: Results from the UAN11 sea trial T2 - Proceedings of Meetings on Acoustics Y1 - 2012 A1 - A. Caiti A1 - V. Calabrò A1 - G. Dini A1 - A. Duca A1 - A. Munafò KW - Robotics JF - Proceedings of Meetings on Acoustics PB - Acoustical Society of America CY - Edinburgh UR - http://dx.medra.org/10.1121/1.4772678 ER - TY - JOUR T1 - Multivariable constrained process control via Lyapunov R-functions JF - JOURNAL OF PROCESS CONTROL Y1 - 2012 A1 - A. Balestrino A1 - A. Caiti A1 - S Grammatico KW - Robotics UR - http://dx.medra.org/10.1016/j.jprocont.2012.07.013 N1 -Available on line since Aug 10 2012 - paper version in press
ER - TY - JOUR T1 - A new class of Lyapunov functions for the constrained stabilization of linear systems JF - AUTOMATICA Y1 - 2012 A1 - A. Balestrino A1 - A. Caiti A1 - S Grammatico KW - Robotics UR - http://dx.medra.org/10.1016/j.automatica.2012.06.099 N1 -Available on-line since July 18 2012 - Paper version in press
ER - TY - JOUR T1 - Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network JF - SENSORS Y1 - 2012 A1 - A. Caiti A1 - V. Calabrò A1 - G. Dini A1 - A. Lo Duca A1 - A. Munafò KW - Embedded Control KW - Robotics VL - 12 UR - http://dx.medra.org/10.3390/s120201967 ER - TY - CHAP T1 - Advances in PID Control Y1 - 2011 A1 - A. Balestrino A1 - A. Caiti A1 - V. Calabrò A1 - E. Crisostomi A1 - A. Landi KW - Robotics PB - INTECH SN - 9789533072678 ER - TY - JOUR T1 - Autonomous underwater vehicle teams for adaptive ocean sampling: a data-driven approach JF - OCEAN DYNAMICS Y1 - 2011 A1 - A. Munafò A1 - E. Simetti A1 - A. Turetta A1 - G. Casalino A1 - A. Caiti KW - Embedded Control KW - Robotics VL - 61 UR - http://dx.medra.org/10.1007/s10236-011-0464-x ER - TY - CONF T1 - AUVs as mobile nodes in acoustic networks: field experience at the UAN10 experiment T2 - Proceedings of the OCEANS’11 IEEE Santander Conference Y1 - 2011 A1 - A. Caiti A1 - V. Calabrò A1 - G. Dini A1 - A. Lo Duca A1 - A. Munafò KW - Robotics JF - Proceedings of the OCEANS’11 IEEE Santander Conference UR - http://dx.medra.org/10.1109/Oceans-Spain.2011.6003462 ER - TY - JOUR T1 - Logical composition of Lyapunov functions JF - INTERNATIONAL JOURNAL OF CONTROL Y1 - 2011 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics VL - 84 UR - http://dx.medra.org/10.1080/00207179.2011.562549 ER - TY - CHAP T1 - Nonlinear Science and Complexity Y1 - 2011 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics PB - Springer SN - 9789048198832 ER - TY - JOUR T1 - RT2: Real Time Ray Tracing for Underwater range Evaluation JF - INTELLIGENT SERVICE ROBOTICS Y1 - 2011 A1 - G. Casalino A1 - A. Caiti A1 - E. Simetti A1 - A. Turetta KW - Robotics VL - 4 UR - http://dx.medra.org/10.1007/s11370-011-0093-8 ER - TY - CONF T1 - Secure Cooperation of Mobile Sensors in an Underwater Acoustic Network T2 - Proceedings of the 8th European Conference on Wireless Sensor Networks Y1 - 2011 A1 - A. Caiti A1 - G. Dini A1 - A. Lo Duca A1 - A. Munafò KW - Robotics JF - Proceedings of the 8th European Conference on Wireless Sensor Networks ER - TY - CONF T1 - Stabilization of constrained linear systems via smoothed truncated ellipsoids T2 - IFAC World Congress Y1 - 2011 A1 - A. Balestrino A1 - E. Crisostomi A1 - S Grammatico A1 - A. Caiti KW - Robotics JF - IFAC World Congress ER - TY - CONF T1 - A statistical tool for analysing nonlinear properties of dynamical systems T2 - IEEE Mediterranean Conference on Automation and Control Y1 - 2011 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics JF - IEEE Mediterranean Conference on Automation and Control ER - TY - CONF T1 - Adaptive Cooperative Algorithms for AUV Networks T2 - Proc. IEEE Int. Conf. on Communications ICC10, workshop WUnderNet 2010 Y1 - 2010 A1 - A. Caiti A1 - A. Munafò KW - Robotics JF - Proc. IEEE Int. Conf. on Communications ICC10, workshop WUnderNet 2010 ER - TY - CONF T1 - AUV networks for adaptive area coverage with reliable acoustic communication links T2 - Proc. Int. Conf. on Computing and Information technology in the Maritime Industries, COMPIT2010 Y1 - 2010 A1 - A. Caiti A1 - A. Munafò KW - Robotics JF - Proc. Int. Conf. on Computing and Information technology in the Maritime Industries, COMPIT2010 ER - TY - CONF T1 - Control-oriented modelling of an hybrid AUV T2 - Proc. IEEE Conf. on Robotics and Automation, ICRA 2010 Y1 - 2010 A1 - A. Caiti A1 - V. Calabrò KW - Robotics JF - Proc. IEEE Conf. on Robotics and Automation, ICRA 2010 UR - http://dx.medra.org/10.1109/ROBOT.2010.5509365 ER - TY - CONF T1 - DCL: a real time portable distributed control telelaboratory T2 - IEEE Mediterranean Conference on Automation and Control Y1 - 2010 A1 - A. Balestrino A1 - A. Caiti A1 - V. Calabrò A1 - E. Crisostomi KW - Robotics JF - IEEE Mediterranean Conference on Automation and Control ER - TY - CONF T1 - Designing behaviours to improve observability for relative localization of AUVs T2 - IEEE Conf. on Robotics and Automation, ICRA 2010 Y1 - 2010 A1 - G. ANTONELLI A1 - A. Caiti A1 - V. Calabrò A1 - S. CHIAVERINI KW - Robotics JF - IEEE Conf. on Robotics and Automation, ICRA 2010 UR - http://dx.medra.org/10.1109/ROBOT.2010.5509292 ER - TY - CONF T1 - Geometric and robust feedback control of an AUV exploring an underwater volcano T2 - Proc. IEEE Autonomous Underwater Vehicles Conference Y1 - 2010 A1 - M. ANDONIAN A1 - M. CHYBA A1 - S Grammatico A1 - A. Caiti KW - Robotics JF - Proc. IEEE Autonomous Underwater Vehicles Conference UR - http://dx.medra.org/10.1109/AUV.2010.5779646 ER - TY - JOUR T1 - The hybrid glider/auv FOLAGA JF - IEEE ROBOTICS AND AUTOMATION MAGAZINE Y1 - 2010 A1 - A. Caffaz A1 - A. Caiti A1 - G. Casalino A1 - A. Turetta KW - Robotics VL - 1 UR - http://dx.medra.org/10.1109/MRA.2010.935791 ER - TY - CHAP T1 - Sensor Systems and Software Y1 - 2010 A1 - A. Caiti A1 - E. Crisostomi A1 - A. Munafò KW - Robotics PB - Springer SN - 9783642115271 ER - TY - CONF T1 - Stabilizability of Linear Differential Inclusions via R-Functions T2 - IFAC Symposium on Nonlinear Control Systems (NOLCOS) Y1 - 2010 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi A1 - S Grammatico KW - Robotics JF - IFAC Symposium on Nonlinear Control Systems (NOLCOS) ER - TY - CONF T1 - Cooperating AUV Teams: Adaptive Area Coverage With Space-Varying Communication Constraints T2 - IEEE Oceans Europe 09 Y1 - 2009 A1 - A. Caiti A1 - G. Casalino A1 - A. Munafò A1 - A. Turetta KW - Robotics JF - IEEE Oceans Europe 09 UR - http://dx.medra.org/10.1109/OCEANSE.2009.5278255 ER - TY - JOUR T1 - Folaga: a low cost autonomous underwater vehicle combining glider and auv capabilities JF - OCEAN ENGINEERING Y1 - 2009 A1 - A. Alvarez A1 - A. Caffaz A1 - A. Caiti A1 - G. Casalino A1 - L. Gualdesi A1 - A. Turetta A1 - R. Viviani KW - Robotics VL - 36 UR - http://dx.medra.org/10.1016/j.oceaneng.2008.08.014 ER - TY - JOUR T1 - Fòlaga: A low cost AUV/glider for coastal environmental sampling JF - UNDERWATER TECHNOLOGY Y1 - 2009 A1 - A. Caffaz A1 - A. Caiti A1 - G. Casalino A1 - L. Gualdesi A1 - A. Turetta KW - Robotics VL - 28 UR - http://dx.medra.org/10.3723/ut.28.151 ER - TY - JOUR T1 - From remote experiments to web-based learning objects: an advanced tele-laboratory for robotics and control systems JF - IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS Y1 - 2009 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics VL - 56 ER - TY - JOUR T1 - Generalised Entropy of Curves for the Analysis and Classification of Dynamical Systems JF - ENTROPY Y1 - 2009 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics VL - 11 ER - TY - CONF T1 - HISS: Harbour Intrusion Simulator System T2 - IEEE Oceans Europe 09 Y1 - 2009 A1 - A. Caiti A1 - A. Munafò A1 - G. Vettori KW - Robotics JF - IEEE Oceans Europe 09 UR - http://dx.medra.org/10.1109/OCEANSE.2009.5278264 ER - TY - CONF T1 - R-composition of Lyapunov functions T2 - 2009 17th Mediterranean Conference on Control and Automation Y1 - 2009 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi A1 - S Grammatico KW - Robotics JF - 2009 17th Mediterranean Conference on Control and Automation UR - http://dx.medra.org/10.1109/MED.2009.5164527 ER - TY - JOUR T1 - Robotics techniques for data acquisition in underwater archeology JF - INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL Y1 - 2009 A1 - G. Conte A1 - S. M. Zanoli A1 - D. Scaradozzi A1 - A. Caiti KW - Robotics VL - 10 ER - TY - CONF T1 - Stability analysis of dynamical systems via R-functions T2 - Proc. European Control Conference Y1 - 2009 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi A1 - S Grammatico KW - Robotics JF - Proc. European Control Conference ER - TY - CONF T1 - System performance trade-off in underwater harbour protection T2 - Proc. Int. Conf. Underwater Acoustic Measurements 09 Y1 - 2009 A1 - A. Caiti A1 - A. Munafò A1 - G. Vettori KW - Robotics JF - Proc. Int. Conf. Underwater Acoustic Measurements 09 ER - TY - JOUR T1 - Underwater vehicle technology in the European research project VENUS JF - UNDERWATER TECHNOLOGY Y1 - 2009 A1 - G. Conte A1 - L. Gambella A1 - D. Scaradozzi A1 - S. M. Zanoli A1 - A. Caiti A1 - V. Calabrò A1 - A. Alcocer A1 - J. Alves A1 - B. Cardeira A1 - R. Cunha A1 - F. Curado A1 - P. Oliveira A1 - A. Oliveira A1 - A. Pascoal A1 - M. Rufino A1 - L. Sebastião A1 - C. Silvestre KW - Robotics VL - 28 UR - http://dx.medra.org/10.3723/ut.28.175 ER - TY - CONF T1 - On the use of the generalised entropy of curves to evaluate chaotic behaviours T2 - International Scientific Conference on Physics and Control Y1 - 2009 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics JF - International Scientific Conference on Physics and Control ER - TY - JOUR T1 - Underwater cartography for archaeology in the VENUS project JF - GEOMATICA Y1 - 2008 A1 - P. Drap A1 - J. SEINTURIER A1 - G. Conte A1 - A. Caiti A1 - D. Scaradozzi A1 - S. M. Zanoli A1 - P. GAMBOGI KW - Bioengineering VL - 62 ER - TY - JOUR T1 - Adaptive on-line planning of environmental sampling missions with a team of cooperating autonomous underwater vehicles JF - INTERNATIONAL JOURNAL OF CONTROL Y1 - 2007 A1 - A. Caiti A1 - A. Munafò A1 - R. Viviani KW - Robotics VL - 80 UR - http://dx.medra.org/10.1080/00207170701230973 ER - TY - JOUR T1 - Working towards autonomous distributed systems JF - SEA TECHNOLOGY Y1 - 2007 A1 - A. Caiti KW - Robotics VL - 48 N1 -Editorial
ER - TY - CONF T1 - Adaptive non Linear Control of Dynamic Mobile Robots with Parameters Uncertainty T2 - Int. IFAC Symp. on Robot Control Y1 - 2006 A1 - D. Fontanelli A1 - R. Viviani A1 - L. Greco A1 - A. Caiti A1 - A. Bicchi KW - Embedded Control KW - Robotics AB -Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.
JF - Int. IFAC Symp. on Robot Control CY - Bologna, Italy ER - TY - JOUR T1 - Efficient Numerical Approximation of Maximum Entropy Estimates JF - INTERNATIONAL JOURNAL OF CONTROL Y1 - 2006 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics VL - 79 UR - http://dx.medra.org/10.1080/00207170600818373 ER - TY - JOUR T1 - GIS tools application for risk assessment of toxic waste buried in seafloor sediments JF - CHEMISTRY IN ECOLOGY Y1 - 2006 A1 - A. Caiti A1 - R. Minciardi A1 - M. Palmese A1 - M. Robba A1 - R. Sacile A1 - A. Trucco KW - Robotics UR - http://dx.medra.org/10.1080/02757540600670828 ER - TY - JOUR T1 - Innovative technologies in underwater archaeology: field experience, open problems, research lines JF - CHEMISTRY IN ECOLOGY Y1 - 2006 A1 - A. Caiti A1 - G. Casalino A1 - G. Conte A1 - S. M. Zanoli KW - Robotics UR - http://dx.medra.org/10.1080/02757540600572321 ER - TY - ABST T1 - Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty Y1 - 2005 A1 - A. Bicchi A1 - A. Caiti A1 - D. Fontanelli A1 - L. Greco A1 - R. Viviani KW - Embedded Control KW - Robotics AB -Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.
PB - Dipartimento di Sistemi Elettrici e Automazione, Università di Pisa ER - TY - CONF T1 - From tele-laboratory to e-learning in automation curricula at the university of Pisa T2 - Proc. IFAC World Congress Y1 - 2005 A1 - A. Balestrino A1 - A. Bicchi A1 - A. Caiti A1 - V. Calabrò A1 - T. Cecchini A1 - A. Coppelli A1 - L. Pallottino A1 - G. Tonietti KW - Robotics AB -The design and development of computational infrastructures supporting existing tele-laboratory experiences in the field of automation and robotics are described. The goal of the activity is to provide a proper e-learning environment in which remote laboratory experiences are integrated in a coherent way. The addition of e-learning features, as self-assessment and progress monitoring tools, asynchronous tutor interaction, authentication, evaluation and follow-up features, has led also to the modification of the original tele-laboratory set-up.
JF - Proc. IFAC World Congress ER - TY - JOUR T1 - Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 2005 A1 - A. Caiti A1 - A. Garulli A1 - F. Livide A1 - D Prattichizzo KW - Robotics VL - 30 ER - TY - JOUR T1 - On-line Robotic Experiments for Tele-Education at the University of Pisa JF - Int. Journal of Robotic Systems Y1 - 2005 A1 - A. Bicchi A1 - A. Caiti A1 - L. Pallottino A1 - G. Tonietti KW - Robotics AB -In this paper we describe work being done at our department to make the Robotics Laboratory accessible to student and colleagues, to execute and watch real-time experiments at any time and from anywhere. We describe few different installations, and highlight the underlying philosophy, wich is aimed at enlarging the lab in all the dimensions of space, time, and available resources, through the use of Internet technologies.
VL - 22 N1 -Special Issue on Internet & Online Robots for Telemanipulation
ER - TY - JOUR T1 - Risk assessment of seafloor waste: acoustical imaging of buried waste JF - JOURNAL OF COMPUTATIONAL ACOUSTICS Y1 - 2005 A1 - A. Caiti A1 - M. Palmese A1 - A. Trucco KW - Robotics VL - 13 UR - http://dx.medra.org/10.1142/S0218396X05002694 ER - TY - JOUR T1 - Evolutionary path planning for autonomous underwater vehicles in a variable ocean JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 2004 A1 - A. Alvarez A1 - A. Caiti A1 - R. Onken KW - Robotics VL - 29 ER - TY - CONF T1 - A Robotic Set-Up with Remote Access for ``Pick and Place'' Operations Under Uncertainty Conditions T2 - E-learning and Virtual and Remote Laboratories Y1 - 2004 A1 - A. Balestrino A1 - A. Bicchi A1 - A. Caiti A1 - T. Cecchini A1 - L. Pallottino A1 - A. Pisani A1 - G. Tonietti ED - P. Borza ED - L. Gomes ED - G. Scutaru KW - Robotics AB -The work describes on-going work at the University of Pisa on the field of tele-laboratories and distance learning. In particular, the group is working at the evolution of existing tele-laboratory experiments in the field of robotics and control into learning units of a self-consistent didactic project. The pick-and-place system described has been designed to provide the set-up for robot arm motion planning with specific objectives and evaluation tools.
JF - E-learning and Virtual and Remote Laboratories T3 - Proc. VIRTUAL-LAB 2004 ER - TY - JOUR T1 - Set-membership acoustic tracking of autonomous underwater vehicles JF - ACTA ACUSTICA UNITED WITH ACUSTICA Y1 - 2002 A1 - A. Caiti A1 - A. Garulli A1 - F. Livide A1 - D Prattichizzo KW - Robotics VL - 88 ER - TY - JOUR T1 - Seafloor properties determination from acoustic backscattering at normal incidence with a parametric source JF - JOURNAL OF COMPUTATIONAL ACOUSTICS Y1 - 2000 A1 - A. Caiti VL - 8 ER - TY - CONF T1 - Optimal Design of Dynamic Multiaxis Force/Torque Sensors T2 - Proc. IEEE Int. Conference on Decision and Control Y1 - 1999 A1 - A. Bicchi A1 - A. Caiti A1 - D Prattichizzo KW - Sensors AB - The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part JF - Proc. IEEE Int. Conference on Decision and Control ER - TY - JOUR T1 - Parametric sonars for seafloor characterization JF - MEASUREMENT SCIENCE & TECHNOLOGY Y1 - 1999 A1 - A. Caiti A1 - O. Bergem A1 - J. Dybedal VL - 10 UR - http://dx.medra.org/10.1088/0957-0233/10/12/301 ER - TY - CONF T1 - Dynamic force/torque sensors: theory and experiments T2 - Proc. Int. Conference on Advanced Robotics Y1 - 1997 A1 - A. Bicchi A1 - A. Caiti A1 - D Prattichizzo KW - Sensors AB -Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results
JF - Proc. Int. Conference on Advanced Robotics CY - Monterey, CA, USA ER - TY - CONF T1 - Optimal Design of Dynamic Force/Torque Sensors T2 - Proceeding Int. Conf. Computer Integrated Systems Y1 - 1997 A1 - A. Bicchi A1 - A. Caiti A1 - D Prattichizzo KW - Robotics JF - Proceeding Int. Conf. Computer Integrated Systems CY - Belfort, France ER - TY - JOUR T1 - Acoustic estimation of seafloor parameters: A radial basis functions approach JF - THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA Y1 - 1996 A1 - A. Caiti A1 - S. M. Jesus VL - 100 UR - http://dx.medra.org/10.1142/S0218396X96000088 ER - TY - JOUR T1 - Estimating geoacoustic bottom properties from towed array data JF - JOURNAL OF COMPUTATIONAL ACOUSTICS Y1 - 1996 A1 - S. M. Jesus A1 - A. Caiti VL - 4 UR - http://dx.medra.org/10.1142/S0218396X96000088 ER - TY - JOUR T1 - Geoacoustic seafloor exploration with a towed array in a shallow water area of the Strait of Sicily JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 1996 A1 - A. Caiti A1 - S. M. Jesus A1 - A. Kristensen VL - 21 UR - http://dx.medra.org/10.1109/48.544046 ER - TY - JOUR T1 - A multiquadrics-based algorithm for the acceleration of simulated annealing optimization procedures JF - IEEE TRANSACTIONS ON MAGNETICS Y1 - 1996 A1 - P. Alotto A1 - A. Caiti A1 - G. Molinari A1 - M. Repetto VL - 32 UR - http://dx.medra.org/10.1109/20.497458 ER - TY - JOUR T1 - BEAMFORMING ON SEISMIC INTERFACE WAVES WITH AN ARRAY OF GEOPHONES ON THE SHALLOW SEA-FLOOR JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 1995 A1 - J. A. Tencate A1 - T. G. Muir A1 - A. Caiti A1 - A. Kristensen A1 - J. F. Manning A1 - J. A. Shooter A1 - R. A. Koch A1 - E. Michelozzi VL - 20 UR - http://dx.medra.org/10.1109/48.468245 ER - TY - JOUR T1 - STABILIZATION OF SPECTRAL METHODS FOR THE ANALYSIS OF SINGULAR SYSTEMS USING PIECEWISE-CONSTANT BASIS FUNCTIONS JF - CIRCUITS SYSTEMS AND SIGNAL PROCESSING Y1 - 1995 A1 - A. Caiti A1 - G. Cannata VL - 14 UR - http://dx.medra.org/10.1007/BF01189015 ER - TY - JOUR T1 - TOWARDS THE REALIZATION OF AN ARTIFICIAL TACTILE SYSTEM - FINE-FORM DISCRIMINATION BY A TENSORIAL TACTILE SENSOR ARRAY AND NEURAL INVERSION ALGORITHMS JF - IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS Y1 - 1995 A1 - A. Caiti A1 - G. Canepa A1 - D. De Rossi A1 - F. Germagnoli A1 - G. Magenes A1 - T. Parisini VL - 25 UR - http://dx.medra.org/10.1109/21.384256 ER - TY - JOUR T1 - ESTIMATION OF SHEAR-WAVE VELOCITY IN SHALLOW MARINE-SEDIMENTS JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 1994 A1 - A. Caiti A1 - T. Akal A1 - R. D. Stoll VL - 19 UR - http://dx.medra.org/10.1109/48.289451 ER - TY - JOUR T1 - MAPPING OCEAN SEDIMENTS BY RBF NETWORKS JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 1994 A1 - A. Caiti A1 - T. Parisini VL - 19 UR - http://dx.medra.org/ 10.1109/48.338393 ER - TY - JOUR T1 - SPECTRAL METHODS FOR THE SOLUTION OF LINEAR DESCRIPTOR SYSTEMS USING FOURIER FUNCTIONS JF - CIRCUITS SYSTEMS AND SIGNAL PROCESSING Y1 - 1994 A1 - A. Caiti A1 - G. Cannata VL - 13 UR - http://dx.medra.org/10.1007/BF01188108 ER - TY - JOUR T1 - COMMENTS ON THE PROPERTIES OF THE OPERATIONAL MATRICES OF INTEGRATION AND DIFFERENTIATION FOR FOURIER TRIGONOMETRIC FUNCTIONS JF - IEEE TRANSACTIONS ON AUTOMATIC CONTROL Y1 - 1993 A1 - A. Caiti A1 - G. Cannata VL - 38 UR - http://dx.medra.org/10.1109/9.250546 ER - TY - JOUR T1 - Skin-like tactile sensor arrays for contact stress field extraction JF - MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS Y1 - 1993 A1 - D. De Rossi A1 - G. Canepa A1 - G. Magenes A1 - F. Germagnoli A1 - A. Caiti A1 - T. Parisini VL - 1 ER -