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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - CONF T1 - Generalized Fibonacci Dynamical Systems T2 - Int. Conf. On Fibonacci Numbers and their applications Y1 - 2008 A1 - A. Balestrino A1 - A. Fagiolini A1 - G. Zini KW - Robotics JF - Int. Conf. On Fibonacci Numbers and their applications ER - TY - CONF T1 - Higher order method for non linear equations resolution: application to mobile robot control T2 - Proc. European Control Conference Y1 - 2007 A1 - A. Balestrino A1 - L. Pallottino KW - Autonomous Vehicles KW - Navigation and Planning AB -In this paper a novel higher order method for the resolution of non linear equations is proposed. The particular application to the mobile robot navigation in an environment with obstacles is considered. The proposed method is based on the {\em embedded-relaxed} approach in which the dimension of the resolution space is augmented and a different and faster direction toward the root is computed. The method is proved to converge with higher order for the augmented resolution space of dimension 2 and 3. Finally, the method is applied to the problem of mobile robot navigation between obstacles considered as repulsive potentials.

JF - Proc. European Control Conference 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 - 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 - 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 - CONF T1 - Breaking the Lab's Walls: Tele-Laboratories at the University of Pisa T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 2001 A1 - A. Bicchi A1 - A. Coppelli A1 - F. Quarto A1 - L. Rizzo A1 - F. Turchi A1 - A. Balestrino KW - Telelab JF - Proc. IEEE Int. Conf. on Robotics and Automation CY - Seoul, Korea ER - TY - CONF T1 - Observability and nonlinear observers for mobile robot localization T2 - IFAC Int. Symp. on Robot Control, SyRoCo 2000 Y1 - 2000 A1 - F. Conticelli A1 - A. Bicchi A1 - A. Balestrino KW - Autonomous Vehicles KW - Localization and Mapping KW - Sensors and Observers JF - IFAC Int. Symp. on Robot Control, SyRoCo 2000 ER - TY - CONF T1 - On the observability of mobile vehicles localization T2 - Proc. IEEE Mediterranean Conf. On Control And Systems Y1 - 1998 A1 - A. Bicchi A1 - D Prattichizzo A1 - A. Marigo A1 - A. Balestrino KW - Autonomous Vehicles KW - Localization and Mapping KW - Sensors and Observers AB -In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non–observable, while results obtained from differential–geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

JF - Proc. IEEE Mediterranean Conf. On Control And Systems ER - TY - CONF T1 - Path Tracking Control for Dubin's Cars T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1996 A1 - A. Balluchi A1 - A. Bicchi A1 - A. Balestrino A1 - G. Casalino KW - Autonomous Vehicles KW - Embedded Control KW - Nonlinear Control Systems JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - JOUR T1 - Closed loop steering of unicycle like vehicles via Lyapunov techniques JF - IEEE Robotics and Automation Magazine Y1 - 1995 A1 - G. Casalino A1 - M. Aicardi A1 - A. Bicchi A1 - A. Balestrino KW - Autonomous Vehicles KW - Nonlinear Control Systems VL - 2 ER - TY - CONF T1 - Nonholonomic, Bounded Curvature Path Planning In Cluttered Environments T2 - IEEE/INRIA Conf. on Emerging Technologies and Factory Automation Y1 - 1995 A1 - C. Santilli A1 - A. Bicchi A1 - G. Casalino A1 - A. Balestrino KW - Autonomous Vehicles KW - Navigation and Planning JF - IEEE/INRIA Conf. on Emerging Technologies and Factory Automation ER - TY - CONF T1 - Quasi-Block Diagonal Dominance Condition for Robust Decentralized Tracking Control T2 - Proc. European Control Conference Y1 - 1995 A1 - A. Balluchi A1 - A. Bicchi A1 - A. Balestrino KW - Embedded Control KW - Nonlinear Control Systems JF - Proc. European Control Conference CY - Rome ER - TY - CONF T1 - Closed loop control of unicycle-like vehicles via Lyapunov techniques T2 - Proc. Int. Workshop on Variable Structure and Lyapunov Techniques Y1 - 1994 A1 - G. Casalino A1 - M. Aicardi A1 - A. Bicchi A1 - A. Balestrino KW - Autonomous Vehicles KW - Nonlinear Control Systems JF - Proc. Int. Workshop on Variable Structure and Lyapunov Techniques CY - Benevento ER - TY - CONF T1 - Closed loop smooth steering of unicycle-like vehicles T2 - Proc. Int. Conf. Decision and Control Y1 - 1994 A1 - M. Aicardi A1 - G. Casalino A1 - A. Balestrino A1 - A. Bicchi KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Int. Conf. Decision and Control ER - TY - CONF T1 - Closed-Loop Steering and Path Following for Unicycle-like Vehicles: a Simple Liapunov Function Based Approach T2 - Proc. IFAC Int. Symposium on Robot Control Y1 - 1994 A1 - G. Casalino A1 - M. Aicardi A1 - A. Bicchi A1 - A. Balestrino KW - Autonomous Vehicles KW - Nonlinear Control Systems JF - Proc. IFAC Int. Symposium on Robot Control PB - Elsevier Science, Oxford, UK CY - Capri ER - TY - CONF T1 - A Diagonal Dominance Condition for Robust Decentralized Variable Structure Control T2 - Proc. Conf. on Decision and Control Y1 - 1994 A1 - A. Bicchi A1 - A. Balluchi A1 - A. Balestrino KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Conf. on Decision and Control ER - TY - CONF T1 - Time-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form T2 - Proc. Int. Workshop on Variable Structure and Lyapunov Techniques Y1 - 1994 A1 - A. Bicchi A1 - A. Balluchi A1 - A. Balestrino KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Int. Workshop on Variable Structure and Lyapunov Techniques CY - Benevento ER - TY - CONF T1 - Efficient Parallel Algorithm for Optimal Block Decomposition of Transfer Function Matrices for Decentralized Control of Large-Scale Systems T2 - Proc. Conference on Decision and Control Y1 - 1993 A1 - A. Balluchi A1 - A. Balestrino A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Conference on Decision and Control ER - TY - CONF T1 - A variable structure approach to force/motion control of robot manipulators T2 - Proc. Int. Conf. FAST - BIAS Y1 - 1993 A1 - A. Balestrino A1 - A. Bicchi A1 - A. Landi A1 - D Prattichizzo KW - Robotics JF - Proc. Int. Conf. FAST - BIAS CY - Milan, Italy, November 23-25 1993 ER - TY - CONF T1 - Trajectory Planning of Industrial Robots in a Structured Environment T2 - Int. Conf. on CAD/CAM, Robotics and Factories of the Future Y1 - 1992 A1 - A. Balestrino A1 - A. Bicchi A1 - A. Landi KW - Embedded Control KW - Robotics JF - Int. Conf. on CAD/CAM, Robotics and Factories of the Future CY - Metz, France ER - TY - CONF T1 - Adaptive Surface Following and Reconstruction Using Intrinsic Tactile Sensing T2 - Proc. IEEE Int. Works. on Sensorial Integration for Industrial Robots Y1 - 1989 A1 - A. Balestrino A1 - A. Bicchi KW - Haptics KW - Robotics JF - Proc. IEEE Int. Works. on Sensorial Integration for Industrial Robots CY - Zaragoza, Spain ER -