Learn More
— A wide number of robotic applications makes use of priority-based kinematic control algorithms for redundant systems. Starting from the classical applications in position control of manipulators, the kinematic-based approaches were lately applied to, e.g., visual servoing or multi-robot coordination control. The basic approach consists in the definition(More)
M any aerospace engineers with an expertise in flight control system design, if tasked with designing a guidance system for an underwater vehicle, would dismiss the problem as easily solvable. To aerospace engineers, underwater vehicles are thought to be nothing more than powered blimps, which have been flying since 1852, when Henri Giffard built the first(More)
— The papers studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors and communication devices with range measurement. The conditions that ensure observability of the linearized model and locally weak observability of the non-linear system are derived. An Extended Kalman(More)
I n recent years, multirobot systems have been the object of widespread research interest in the scientific community, given their application in different fields of robotics such as service, military, or educational robotics. The interest in using multiro-bot systems is due to their unique characteristics such as increasing the redundancy and the(More)
The paper presents an overview on the use of a behavior-based approach, namely the Null-Space-based Behavioral (NSB) approach, to control multi-robot systems in a wide application domain. The NSB approach has been recently developed to control the motion of generic robotic systems; it uses a projection mechanism to combine the multiple, prioritized,(More)