Claudio Paliotta

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A distributed control strategy for leader-follower synchronization of agents with generic linear dynamics affected by constant unknown disturbances is presented. In particular, we consider a group of N + 1 agents, where we have a leader and N followers. The leader's behavior is independent of the followers'. Furthermore, the leader will influence the(More)
In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point to a final point. The Bump-Surface concept is used for the representation of the environment while the formation of the vehicles is(More)
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential reference frame. The update law for the path variable is chosen such that the motion of the path-tangential frame ensures(More)
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