Carlo Masone

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—In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g., exploration, coverage, and surveillance. First, we introduce and thoroughly(More)
— We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel(More)
— This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I [1], we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific(More)
— This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthro-pomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior(More)
— This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired(More)
— A new framework for semi-autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human(More)
— This paper describes the mechanical and control design of the new 7-DOF CyberMotion Simulator, a redundant industrial manipulator arm consisting of a standard 6-DOF anthropomorphic manipulator plus an actuated cabin attached to the end-effector. Contrarily to Stewart platforms, an industrial manipulator offers several advantages when used as motion(More)
— In this paper we present a robust quadrotor controller for tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using the recently proposed gain adaptation law [1], [2], which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties. The controller(More)
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