Flavio Roberti

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This paper presents a novel image-based controller for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are considered: an image-based approach and a position-based approach. Both are fully described including stability analysis and experimental results on real robots, discussing limitations(More)
This paper presents the design of a stable non-linear control system for the remote visual tracking of cellular robots. The robot is controlled through visual feedback based on the processing of the image captured by a fixed video camera observing the workspace. The control algorithm is based only on measurements on the image plane of the visual camera(More)
In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by(More)
This paper describes the visual control of a parallel robot called " RoboTenis ". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments; the system is capable to interact with objects which move up to 1m/s. The control strategy is composed by two intertwined control loops: The internal loop is(More)
This paper describes the visual control of a parallel robot called "RoboTenis". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments, thus the system is capable to interact with objects which move up to lm/s. The control strategy is composed by two intertwined control loops: The internal loop is(More)
The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end(More)
In this work a robot cooperation strategy based on omnidirectional vision is presented. Such strategy will be applied to a mobile robot team formed by small and simple robots and a bigger leader robot with more computational power. The leader must control team formation. It has an omnidirectional camera and sees the other robots. Color segmentation and(More)
This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant(More)
article describes a new visual servo control and strategies that are used to carry out dynamic tasks by the Robotenis platform. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information, its main feature is that it has a completely open architecture control, and planned in order to design,(More)