00605nas a2200145   4500008004100000245009800041210006900139260001200208490003700220100001800257700001900275700001100294700001500305856013900320       2019                        eng d00aExact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach0 aExact Task Execution in Highly UnderActuated Soft Limbs An Opera  c04/20190 vVolume: 4 , Issue: 3 , July 20191 aDella Santina1 aPallottino, L.1 aRus, D1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/exact-task-execution-highly-under-actuated-soft-limbs-operational-space-based-approach01778nas a2200169   4500008004100000245009200041210006900133300001600202490000700218520116900225653002101394653001301415100001501428700001801443700001901461856012801480       2015                        eng d00aEpsilon-Optimal Synthesis for Unicycle-like Vehicles with Limited Field-Of-View Sensors0 aEpsilonOptimal Synthesis for Unicyclelike Vehicles with Limited   a1404 - 14180 v313 a<p class="p1" style="text-align: justify;">In this paper we study the minimum length paths covered by the center of a unicycle equipped with a limited Field–Of–View (FOV) camera, which must keep a given landmark in sight. Previous works on this subject have provided the optimal synthesis for the cases in which the FOV is only limited in the horizontal directions (i.e. left and right bounds) or in the vertical directions (i.e. upper and lower bounds). In this paper we show how to merge previous results and hence obtaining, for a realistic image plane modeled as a rectangle, a finite alphabet of extremal arcs and the overall synthesis. As shown, this objective can not be straightforwardly achieved from previous results but needs further analysis and developments. Moreover, there are initial configurations such that there exists no optimal path. Nonetheless, we are always able to provide an e–optimal path whose length approximates arbitrarily well any other shorter path. As final results, we provide a partition of the motion plane in regions such that the optimal or e–optimal path from each point in thatregion is univocally determined.</p>
10aEmbedded Control10aRobotics1 aSalaris, P1 aCristofaro, A1 aPallottino, L.  uhttps://www.centropiaggio.unipi.it/publications/epsilon-optimal-synthesis-unicycle-vehicles-limited-field-view-sensors.html01828nas a2200193   4500008004100000022001400041245008300055210007100138300001600209490000700225520116900232653002101401653001301422100001601435700001901451700001901470700001501489856013001504       2015                        eng d  a0018-928600aEpsilon–optimal synthesis for vehicles with vertically bounded Field-Of-View0 aEpsilon–optimal synthesis for vehicles with vertically bounded F  a1204 - 12180 v603 a<p>This paper presents a contribution to the problem of obtaining an optimal synthesis for shortest paths for a unicycle guided by an on–board limited Field Of–View (FOV) sensor, which must keep a given landmark in sight. Previous works on this subject have provided an optimal synthesis for the case in which the FOV is limited in the horizontal directions (H– FOV, i.e. left and right boundaries). In this paper we study the complementary case in which the FOV is limited only in the vertical direction (V–FOV, i.e. upper and lower boundaries). With respect to the H–FOV case, the vertical limitation is all but a simple extension. Indeed, not only the geometry of extremal arcs is different, but also a more complex structure of the synthesis is revealed by analysis. We will indeed show that there exist initial configurations for which the optimal path does not exist. In such cases, we provide an e–optimal path whose length approximates arbitrarily well any other shorter path. Finally, we provide a partition of the motion plane in regions such that the optimal or e–optimal path from each point in that region is univocally determined.</p>
10aEmbedded Control10aRobotics1 aSalaris, P.1 aCristofaro, A.1 aPallottino, L.1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/epsilon%E2%80%93optimal-synthesis-vehicles-vertically-bounded-field-view.html