01651nas a2200169   4500008004100000245010400041210006900145300001400214520101200228653002101240653001301261100001901274700001701293700001601310700001501326856014001341       2006                        eng d00aProbabilistic verification of a decentralized policy for conflict resolution in multi-agent systems0 aProbabilistic verification of a decentralized policy for conflic  a2448-24533 a<p>In this paper, we consider a decentralized cooperative control policy proposed recently for steering multiple non-holonomic vehicles between assigned start and goal configurations while avoiding collisions. The policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles, if initial configurations satisfy certain conditions. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. In this paper, we introduce a condition on the final vehicle configurations, which we conjecture to be sufficient for guaranteeing liveness. Because of the overwhelming complexity of proving the sufficiency of such condition, we assess the correctness of the conjecture in probability through the analysis of the results of a large number of randomized experiments.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aScordio, V G1 aFrazzoli, E1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/probabilistic-verification-decentralized-policy-conflict-resolution-multi-agent-systems01557nas a2200229   4500008004100000245009900041210006900140260002000209300001200229520078400241653002101025653001301046100001501059700001601074700001601090700001701106700001701123700001601140700001801156700001601174856013701190       2004                        eng d00aOn The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles0 aProblem of Simultaneous Localization Map Building and Servoing o  bSpringer Verlag  a223-2393 a<p>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.</p>
10aEmbedded Control10aRobotics1 aBicchi, A.1 aLorussi, F.1 aMurrieri, P1 aScordio, V G1 aSiciliano, B1 aDe Luca, A.1 aMelchiorri, C1 aCasalino, G  uhttps://www.centropiaggio.unipi.it/publications/problem-simultaneous-localization-map-building-and-servoing-autonomous-vehicles.html