@conference {4179, title = {Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, pages = {7196-7202}, doi = {10.1109/IROS45743.2020.9340703}, author = {C. Gabellieri and Y. S. Sarkisov and A. Coelho and L. Pallottino and K. Kondak and M. J. Kim} } @article {2791, title = {Controllability analysis of a pair of 3D Dubins vehicles in formation}, journal = {Robotics and Autonomous Systems}, volume = {83}, year = {2016}, month = {09/2016}, pages = {94 - 105}, abstract = {

In this paper we consider the controllability problem for a system consisting of a pair of Dubins vehicles moving in a 3D space (i.e.\ pair of 3D{\textendash}Dubins vehicles) while maintaining constant distance. Necessary and sufficient conditions for the existence of a limited control effort to steer the system between any two configurations are provided. The proposed controllability analysis and the developed motion planning algorithm are a step toward the solution of planning problems for example in case the robots are physically constrained to a payload to be deployed. Moreover, results obtained in this paper are relevant in order to solve formation control problems for multiple robots as aerial or underwater vehicles, which move in 3D spaces. Simulation results highlight the sufficiency of the obtained conditions showing that even from critical configurations an admissible control can be determined.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2016.05.015}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015301202}, author = {H. Marino and Salaris, P. and L. Pallottino} } @conference {2429, title = {Coordination of unmanned marine vehicles for asymmetric threats protection}, booktitle = {MTS/IEEE Oceans 2015}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = {May 18-21, Genoa, Italy}, abstract = {

A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such as open sea, bay, and harbours. Performance of the approach is evaluated in terms of a security index that will allow us to obtain a tool for team sizing. The tool provides the minimum number of marine vehicles to be used in the system, given a desired security level to be guaranteed and the maximum threat velocity.

}, keywords = {Robotics}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7271413/}, author = {S. Nardi and C. Della Santina and D. Meucci and L. Pallottino} } @conference {PS11, title = {On constrained optimal control problems in robotics}, booktitle = {Automatica.it 2011}, year = {2011}, month = {September 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {L. Pallottino and P Salaris} } @conference {WPB-ICRA10, title = {Controllability for Pairs of Vehicles Maintaining Constant Distance}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {342 - 349}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {H. Wang and L. Pallottino and A. Bicchi} } @conference {WPB_cdc10, title = {Controllability Properties for Aircraft Formations}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {2047 - 2054}, keywords = {Embedded Control, Robotics}, author = {H. Wang and L. Pallottino and A. Bicchi} } @conference {BDSP:ECC07, title = {A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems}, booktitle = {Proc. European Control Conference (ECC)}, year = {2007}, month = {July}, pages = {4285-4292}, abstract = {

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

}, keywords = {Embedded Control, Robotics}, author = {P. Alriksson and J. Nordh and K -E Arz{\'e}n and A. Bicchi and A. Danesi and R. Schiavi and L. Pallottino} } @article {PFB02-TITS, title = {Conflict Resolution Problems for Air Traffic Management Systems Solved with Mixed Integer Programming}, journal = {IEEE Trans. Intelligent Transportation Systems}, volume = {3}, number = {1}, year = {2002}, month = {March}, pages = {3-11}, abstract = {

This paper considers the problem of solving conflicts arising among several aircraft that are assumed to move in a shared airspace. Aircraft can not get closer to each other than a given safety distance in order to avoid possible conflicts between different airplanes. For such system of multiple aircraft, we consider the path planning problem among given waypoints avoiding all possible conflicts. In particular we are interested in optimal paths, i.e. we want to minimize the total flight time. We propose two different formulations of the multi-aircraft conflict avoidance problem as a mixed-integer linear program: in the first case only velocity changes are admissible maneuvers, in the second one only heading angle changes are allowed. Due to the linear formulation of the two problems, solutions may be obtained quickly with standard optimization software, allowing our approach to be implemented in real time.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and E. Feron and A. Bicchi} }