%0 Journal Article %J Int. Jour. of Robotics Research %D 2004 %T A Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback %A P. Murrieri %A D. Fontanelli %A A. Bicchi %K Embedded Control %K Robotics %X

In this paper we consider the mobile robot parking problem, i.e. the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

%B Int. Jour. of Robotics Research %V 23 %P 437-448 %8 April-May %G eng %0 Book Section %B Advances in Control of Articulated and Mobile Robots %D 2004 %T On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles %A A. Bicchi %A F. Lorussi %A P. Murrieri %A V. G. Scordio %E B. Siciliano %E A. De Luca %E C. Melchiorri %E G. Casalino %K Embedded Control %K Robotics %X

In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.

%B Advances in Control of Articulated and Mobile Robots %S STAR - Springer Tracts in Advanced Robotics %I Springer Verlag %P 223-239 %G eng %0 Conference Paper %B Proceedings of Multiagent Robotic Systems Trends and Industrial Application - Robocup 2003 Conference %D 2003 %T Cooperative Simultaneous Localization and Map Building for Servoing %A A. Danesi %A D. Fontanelli %A P. Murrieri %A V. G. Scordio %A A. Bicchi %K Embedded Control %K Robotics %B Proceedings of Multiagent Robotic Systems Trends and Industrial Application - Robocup 2003 Conference %C Padova %8 July %G eng %0 Conference Paper %B Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics %D 2002 %T Controllo Ibrido di Veicoli su Ruote con Retroazione Visiva %A P. Murrieri %A D. Fontanelli %A A. Bicchi %K Embedded Control %K Robotics %B Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics %C ENEA, Frascati %P 197-199 %8 October %G eng %0 Book Section %B Experimental Robotics VIII %D 2002 %T Visual-servoed parking with limited view angle %A P. Murrieri %A D. Fontanelli %A A. Bicchi %E B. Siciliano %E P. Dario %K Embedded Control %K Robotics %X

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

%B Experimental Robotics VIII %S Springer Tracts in Advanced Robotics (STAR) %I Springer Verlag %V 5 %P 254-263 %G eng