#### Filter Results:

- Full text PDF available (6)

#### Publication Year

2009

2015

- This year (0)
- Last 5 years (6)
- Last 10 years (11)

#### Publication Type

#### Co-author

#### Journals and Conferences

#### Key Phrases

Learn More

- Claudio Altafini, Gabriele Lini
- IEEE Trans. Automat. Contr.
- 2015

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)

- Fabio Ghilardelli, Gabriele Lini, Aurelio Piazzi
- IEEE Transactions on Automation Science and…
- 2014

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 η<sup>4</sup>-spline. Using this spline, generation and shaping of smooth feasible paths is made possible as well as the transfer between… (More)

- Luca Consolini, Gabriele Lini
- ACC
- 2012

- Gabriele Lini, Luca Consolini, Aurelio Piazzi
- 2009 17th Mediterranean Conference on Control and…
- 2009

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)

- Gabriele Lini, Aurelio Piazzi, Luca Consolini
- CDC-ECE
- 2011

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)

- Gabriele Lini, Aurelio Piazzi
- CDC
- 2010

The article presents the time-optimal trajectory planning of an automatic guided vehicle (AGV) on a given feasible path while respecting velocity, acceleration and jerk constraints. A theoretical result shows the connection for the AGV between the geometric continuity of its paths and the smoothness of its control inputs (linear velocity and steering angle… (More)

- Mauro Argenti, Luca Consolini, Gabriele Lini, Aurelio Piazzi
- 2010 IEEE International Conference on Robotics…
- 2010

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)

- Luca Consolini, Gabriele Lini, Aurelio Piazzi
- CDC
- 2010

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)

- Luca Consolini, Gabriele Lini
- IEEE Transactions on Neural Networks and Learning…
- 2014

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)