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Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached in this paper. Starting from the classical applications in position control of manipulators, the kinematic-based approaches have lately been applied to, e.g., visual servoing and quadruped or multirobot coordination control. A common approach(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)
In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle(More)
Differential-drive mobile robots are usually equipped with video-cameras for navigation purposes. In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the following quantities: the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame 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)