Gianluca Antonelli

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Many 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)
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)
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)
For a mobile robot, odometry calibration consists of the identification of a set of kinematic parameters that allow reconstructing the vehicle's absolute position and orientation starting from the wheels' encoder measurements. This paper develops a systematic method for odometry calibration of differential-drive mobile robots. As a first step, the kinematic(More)
This paper presents a six-degrees-of-freedom controller for autonomous underwater vehicles. The control algorithm is adaptive in the dynamic parameters that are poorly known and time-varying in the underwater environment. Moreover, the proposed control law adopts quaternions to represent attitude errors, and thus avoids representation singularities that(More)
In this paper anewbehavior-basedapproach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach(More)
This paper proposes a multiple robot control algorithm to approach the problem of patrolling an open or closed line. The algorithm is fully decentralized, i.e., no communication occurs between robots or with a central station. Robots behave according only to their sensing and computing capabilities to ensure high scalability and robustness towards robots'(More)