Filippo Arrichiello

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In this paper the application of a behavior-based control approach, namely the null-space-based behavioral control, to coordinate a fleet of autonomous surface vessels is presented. The NSB can be considered as a centralized guidance system aimed at driving the fleet in complex environments while simultaneously performing multiple tasks, i.e., obstacle(More)
In this paper, a distributed controller–observer schema for tracking control of the centroid and of the relative formation of a multi-robot system with first-order dynamics is presented. Each robot of the team uses a distributed observer to estimate the overall system state and a motion control strategy for tracking control of timevarying centroid and(More)
The paper studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors, linear/angular velocity sensors, and communication devices with range measurement. The conditions that ensure observability of the linearized model and locally weak observability of the nonlinear system are(More)
In this paper anewbehavior-basedapproach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach(More)
The problem of escorting a moving target with a team of mobile robots was solved in this article by resorting to a formation control algorithm that can be cast in the framework of the NSB control approach. The overall mission, therefore, is decomposed into properly defined elementary tasks that are hierarchically arranged, so that the higher-priority tasks(More)
Flocking is the way in which populations of animals like birds, fishes, and insects move together. In such cases, the global behavior of the team emerges as a consequence of local interactions among the neighboring members. This paper approaches the problem of letting a group of robots flock by resorting to a behavior-based control architecture, namely(More)
This paper presents an adaptive trajectory tracking control strategy for quadrotor micro aerial vehicles (MAVs). The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of geometric center coincident with the Center of Mass(More)
1 Dipartimento di Ingegneria Elettrica e dell’Informazione, Università degli Studi di Cassino e del Lazio Meridionale, Via G. Di Biasio 43, 03043 Cassino (FR), Italy; E-Mail: antonelli@unicas.it 2 Faculty of Engineering, University of Porto (FEUP) Rua Dr. Roberto Frias, s/n 4200-465 Porto, Portugal; E-Mail: pedro@isr.ist.utl.pt 3 Laboratory of Robotics and(More)
In this technical note a decentralized controller-observer scheme for a multi-agent system is presented. The key idea is to develop, for each agent, an observer of the collective system's state and a motion controller. The observer is updated using only information from the agent itself and from its neighbors; the motion controller is designed in order to(More)
In this paper, we present a distributed fault detection and isolation (FDI) strategy for a team of networked robots that builds on a distributed controller-observer schema. Remarkably different from other works in literature, the proposed FDI approach makes each robot of the team able to detect and isolate faults occurring on other robots, even if they are(More)