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Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles

TitleVision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. IEEE Int. Conf. on Robotics and Automation
Pagination2771-2776
Publication Languageeng
AuthorsConticelli, F, Prattichizzo, D, Guidi, F, Bicchi, A
Conference LocationSan Francisco, CA, USA
KeywordsAutonomous Vehicles, Nonlinear Control Systems, Sensors and Observers, visual servoing

On the optimal conflict resolution for air traffic control

TitleOn the optimal conflict resolution for air traffic control
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. IEEE Intelligent Transportation Systems
Pagination167-172
Publication Languageeng
AuthorsPallottino, L, Bicchi, A
Conference LocationDearborn, MI
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Navigation and Planning
AbstractIn this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with velocity constraints and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a simplified aircraft conflict scenario are provided.

Shortest paths for teams of vehicles

TitleShortest paths for teams of vehicles
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. WAC Int. Symp. on Robotics and Applications
Pagination124-129
Date PublishedJune
Publication Languageeng
AuthorsPallottino, L, Parlangeli, G, Bicchi, A
KeywordsEmbedded Control, Robotics
Abstract

In this paper we consider the problem of planning motions of a team of vehicles that move in a planar environment. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. When manipulating a common object cooperatively, further constraints apply. For such systems, we consider the problem of planning optimal paths in the absence of obstacles.

Monitoring Body Kinematics and Gesture Through Sensing Fabrics

TitleMonitoring Body Kinematics and Gesture Through Sensing Fabrics
Publication TypeConference Paper
Year of Publication2000
Conference Name1st Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine AND Biology
Pagination587-592
Date PublishedOctober
Publication Languageeng
AuthorsDe Rossi, D, Lorussi, F, Mazzoldi, A, Orsini, P, Scilingo, EP
Conference LocationLyon, France
KeywordsBiomechanics, Smart Textiles

A magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues

TitleA magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. IEEE-EMBS Conference on Microtechnologies in Medicine and Biology
Pagination229-233
Date PublishedOctober
Publication Languageeng
AuthorsScilingo, EP, Bicchi, A, De Rossi, D, Scotto, A
Conference LocationLyon, France
KeywordsHaptic Displays, Haptics, Tools for Minimally Invasive Surgery

Hybrid Tracking Control for Spark-Ignition Engines

TitleHybrid Tracking Control for Spark-Ignition Engines
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. 39th IEEE Conference on Decision and Control
Edited Volume4
Pagination3126-31
Date PublishedDecember
Publication Languageeng
AuthorsBalluchi, A, Bicchi, A, Caterini, C, Rossi, C, Sangiovanni-Vincentelli, AL
Conference LocationSydney, NSW, Australia
KeywordsAutomotive, Autonomous Vehicles, Hybrid and Embedded Control Systems

Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins' Vehicles

TitleStability and Robustness of Optimal Synthesis for Route Tracking by Dubins' Vehicles
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. 39th IEEE Conference on Decision and Control
Edited Volume1
Pagination581-6
Date PublishedDecember
Publication Languageeng
AuthorsBalluchi, A, Bicchi, A, Piccoli, B, Souères, P
Conference LocationSydney, Australia
KeywordsAutonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems
Notes

(invited paper)

Haptic discrimination of softness in teleoperation: the role of the contact area spread rate

TitleHaptic discrimination of softness in teleoperation: the role of the contact area spread rate
Publication TypeJournal Article
Year of Publication2000
AuthorsBicchi, A, De Rossi, D, Scilingo, EP
JournalIEEE Trans. on Robotics and Automation
Volume16
Pagination496-504
Date PublishedOctober
KeywordsHaptic Sensing, Haptics, Tactile Flow
Abstract

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today's haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen as the contact force increases. Devices for implementing such a perceptual channel are described, and a pratical application to a mini-invasive surgery tool is presented. Psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

Optimal planning for coordinated vehicles with bounded curvature

TitleOptimal planning for coordinated vehicles with bounded curvature
Publication TypeBook Chapter
Year of Publication2000
AuthorsBicchi, A, Pallottino, L
EditorDonald, B, Lynch, K, Rus, D
Book TitleAlgorithmic and Computational Robotics: New Directions
Volume1
Pagination167-172
PublisherA K Peters, MA
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Navigation and Planning
AbstractIn this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.
NotesThe Workshop on Algorithmic Foundations of Robotics

Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy

TitleObserver Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy
Publication TypeBook Chapter
Year of Publication2000
AuthorsConticelli, F, Bicchi, A
EditorIsidori, A, Lamnabhi-Lagarrigue, FF, Respondek, W
Book TitleNonlinear Control in the Year 2000
Series TitleLNCIS
Volume258
Pagination315-330
PublisherSpringer-Verlag
CityBerlin Heidelberg, Germany
KeywordsLocalization and Mapping, Nonlinear Control Systems

On optimal cooperative conflict resolution for air traffic management systems

TitleOn optimal cooperative conflict resolution for air traffic management systems
Publication TypeJournal Article
Year of Publication2000
AuthorsBicchi, A, Pallottino, L
JournalIEEE Trans. Intelligent Transportation Systems
Volume1
Pagination221-231
Date PublishedDecember
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems
AbstractIn this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.