01788nas a2200193 4500008003900000245011800039210006900157260004400226300001400270490006900284520107100353653002101424653001301445100001901458700001701477700001501494700001901509856006601528 2016 d00aAPRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design0 aAPRICOT Aerospace PRototypIng COntrol Toolbox A Modeling and Sim aRome, Italy, June 15-16, 2016bSpringer a139 - 1570 v9991 of the book series Lecture Notes in Computer Science (LNCS)3 a

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

10aEmbedded Control10aRobotics1 aFerrarelli, A.1 aCaporale, D.1 aSettimi, A1 aPallottino, L. uhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_1101788nas a2200181 4500008003900000020002300039245007300062210007100135260004300206520121200249653001301461100001501474700001701489700001601506700001601522700001901538856004901557 2016 d a978-1-5090-4718-5 00aMotion Primitive Based Random Planning for Loco–Manipulation Tasks0 aMotion Primitive Based Random Planning for Loco–Manipulation Tas aCancun, Mexico, 15-17 Nov. 2016 bIEEE3 a

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco–manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole–body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco–manipulation tasks.

10aRobotics1 aSettimi, A1 aCaporale, D.1 aKryczka, P.1 aFerrati, M.1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7803402/