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— 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)
— 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)
In this paper a new behavior-based approach 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(More)