Gabriele Lini

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For communities of agents which are not necessarily cooperating, distributed processes of opinion forming are naturally represented by signed graphs, with positive edges representing friendly and cooperative interactions and negative edges the corresponding antagonistic counterpart. Unlike for nonnegative graphs, the outcome of a dynamical system evolving(More)
Generation of high-quality drive paths is a significant issue for automated wheeled vehicles. To achieve this aim for a truck and trailer vehicle, the paper proposes the use of a parameterized curve primitive, the &#x03B7;<sup>4</sup>-spline. Using this spline, generation and shaping of smooth feasible paths is made possible as well as the transfer between(More)
This paper proposes a method for minimum-time velocity planning with velocity, acceleration and jerk constraints and generic initial and final boundary conditions for the velocity and the acceleration. This minimum-time planning problem is relevant in the context of robotic autonomous navigation, where the iterative steering supervisor periodically replans(More)
This paper proposes a multi-optimization approach to the autonomous parking of car-like vehicles. It uses a polynomial curve primitive — the η-spline — to build up intrinsically feasible path maneuvers over which to minimize with a weighted sum method the total length of parking paths and the moduli of the maximum path curvature and curvature derivative.(More)
The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedaback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain(More)
In this paper we present a methodology for the design of a feedforward control law to be applied to a closed-loop PID-based control system for a multi-input multi-output process in order to achieve a minimum-time rest-to-rest transition of the system from an equilibrium point to another subject to constraints on both the control and process variables. In(More)
The paper considers the output tracking problem for nonlinear systems whose performance output is also a flat output of the system itself. A desired output signal is sought on the actual performance output by using a feedforward inverse input that is periodically updated with discrete-time feedback of the sampled state of the system. The proposed method is(More)
It is assumed that a central pattern generator possesses an exponentially stable limit cycle, which originates a periodic output signal. We propose a method based on a Gauss-Newton iteration to determine the values of the neural coupling parameters that allows to approximate a given reference output signal. We present two applications. The first is a ring(More)