Stefano Iannitti

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We consider the trajecto ry tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain. A dynamic model is presented accounting for the effects of wheel skidding. A model-based nonlinear controller is designed, following the dynamic feedback linearization paradigm. A n operational nonholonomic constraint is added(More)
We consider planning and control problems for underactuated manipulators, a special instance of mechanical systems having fewer input commands than degrees of freedom. This class includes robots with passive joints, elastic joints, or flexible links. Structural control properties are investigated, showing that manipulators with passive joints in the absence(More)
We study the problem of computing an exact motion plan for the snakeboard, an underactuated system subject to nonholonomic constraints, by exploiting its kinematic controllability properties and its decoupling vector fields. Decoupling vector fields allow us to plan motions for the underactuated dynamic system as if it were kinematic, and rest-to-rest paths(More)
We study the problem of computing an exact motion plan for the snakeboard by exploiting its kinematic controllability properties and its decoupling vectorjelds. Decoupling vector fields allow ns to treat the underactuated dynamic system as a kinematic one, and rest-to-rest paths a m the concatenation of integral CUNW of the decoupling vector fields. These(More)
W e consider the controllability problem, i.e., the existence of a suitable control input that achieves a desired reconfigumtion, for underactuated mechanical systems. Since there is no general analytic tool for investigating this natural controllability property in nonlinear systems, one possibility is to study small-time local controllability (STLC), a(More)
We consider the problem of trajectory planning and control for an XYnR̄ planar robot with the first two joints (rotational or prismatic) actuated and n rotational passive joints, moving both in the presence and the absence of gravity. Under the assumption that each passive link is attached at the center of percussion of the previous passive link, dynamics(More)
Cryptography is the most suitable technique to protect the access to subscribed value-added services for mobile applications provided through satellite broadcasting (e.g. localization and mobile TV). However, if a temporary loss of signal is experienced by receivers, not only the data streaming is compromised, but also the key management-related messages.(More)
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