Suche senden
Hochladen
3. produktpräsentation 01.04.2011 kiba_zingst_jpg
•
Als PPT, PDF herunterladen
•
0 gefällt mir
•
178 views
T
Tino Stockmar
Folgen
Melden
Teilen
Melden
Teilen
1 von 8
Jetzt herunterladen
Empfohlen
F. Arrichiello and G. Antonelli and A.P. Aguiar and A. Pascoal, Observability metrics for the relative localization of AUVs based on range and depth measurements: theory and experiments, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Franscisco, CA, pp. 3166--3171, 2011.
IROS 2011 talk 1 (Filippo's file)
IROS 2011 talk 1 (Filippo's file)
Gianluca Antonelli
Introduction to modeling and control of underwater vehicle-manipulator systems.
TRIDENT school 2012
TRIDENT school 2012
Gianluca Antonelli
IROS 2013 talk
IROS 2013 talk
Gianluca Antonelli
G. Antonelli and F. Arrichiello and F. Caccavale and A. Marino, A decentralized controller-observer scheme for weighted centroid tracking, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Franscisco, CA, pp. 2778--2783, 2011.
IROS 2011 talk 2 (Filippo's file)
IROS 2011 talk 2 (Filippo's file)
Gianluca Antonelli
A. Marino and G. Antonelli and A.P. Aguiar and A. Pascoal, Multi-robot harbor patrolling: a probabilistic approach, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, PT, pp. , 2012.
IROS 2012 talk
IROS 2012 talk
Gianluca Antonelli
Inverse kinematics is an active research domain in robotics since several years due to its importance in several robotics application. Among the various approaches, differential inverse kinematics is widely used due to the possibility to real-time implementation. Redundant robotic systems exhibit more degrees of freedom than those strictly required to execute a given end-effector task, in such a case, multiple tasks can be handled simultaneously in, e.g., a task-priority architecture. This paper addresses the systematic extension of the multiple tasks singularity robust solution, also known as Null-space Based Behavioral control, to the case of set-based control tasks, i.e., tasks for which a range, rather than a specific value, is assigned. This is the case for several tasks such as, for example, mechanical joint limits of robotic arm as well as obstacle avoidance for any kind of robots. Numerical validation are provided to support the solution proposed.
IROS 2014 talk
IROS 2014 talk
Gianluca Antonelli
In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
ICRA 2013 talk 1
ICRA 2013 talk 1
Gianluca Antonelli
Computers assignment
Computers assignment
irut1
Empfohlen
F. Arrichiello and G. Antonelli and A.P. Aguiar and A. Pascoal, Observability metrics for the relative localization of AUVs based on range and depth measurements: theory and experiments, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Franscisco, CA, pp. 3166--3171, 2011.
IROS 2011 talk 1 (Filippo's file)
IROS 2011 talk 1 (Filippo's file)
Gianluca Antonelli
Introduction to modeling and control of underwater vehicle-manipulator systems.
TRIDENT school 2012
TRIDENT school 2012
Gianluca Antonelli
IROS 2013 talk
IROS 2013 talk
Gianluca Antonelli
G. Antonelli and F. Arrichiello and F. Caccavale and A. Marino, A decentralized controller-observer scheme for weighted centroid tracking, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Franscisco, CA, pp. 2778--2783, 2011.
IROS 2011 talk 2 (Filippo's file)
IROS 2011 talk 2 (Filippo's file)
Gianluca Antonelli
A. Marino and G. Antonelli and A.P. Aguiar and A. Pascoal, Multi-robot harbor patrolling: a probabilistic approach, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, PT, pp. , 2012.
IROS 2012 talk
IROS 2012 talk
Gianluca Antonelli
Inverse kinematics is an active research domain in robotics since several years due to its importance in several robotics application. Among the various approaches, differential inverse kinematics is widely used due to the possibility to real-time implementation. Redundant robotic systems exhibit more degrees of freedom than those strictly required to execute a given end-effector task, in such a case, multiple tasks can be handled simultaneously in, e.g., a task-priority architecture. This paper addresses the systematic extension of the multiple tasks singularity robust solution, also known as Null-space Based Behavioral control, to the case of set-based control tasks, i.e., tasks for which a range, rather than a specific value, is assigned. This is the case for several tasks such as, for example, mechanical joint limits of robotic arm as well as obstacle avoidance for any kind of robots. Numerical validation are provided to support the solution proposed.
IROS 2014 talk
IROS 2014 talk
Gianluca Antonelli
In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
ICRA 2013 talk 1
ICRA 2013 talk 1
Gianluca Antonelli
Computers assignment
Computers assignment
irut1
Survey
Survey
eboc101R
La importancia de la lectura en la educación preescolar.docx
La importancia de la lectura en la educación preescolar.docx
besos3006
Citologija uvodhemijskisastavsept2011-111002155646-phpapp01
Citologija uvodhemijskisastavsept2011-111002155646-phpapp01
Svetlana Palikruseva
G. Antonelli and S. Chiaverini and A. Marino, A coordination strategy for multi-robot sampling of dynamic fields, Proceedings 2012 IEEE International Conference on Robotics and Automation, St Paul, MN, pp. 1113--1118, 2012.
ICRA 2012 talk
ICRA 2012 talk
Gianluca Antonelli
A short introduction to state estimate, deterministic and stochastic cases
State estimate
State estimate
Gianluca Antonelli
02hemijskisastavivogsveta 100916121631-phpapp01
02hemijskisastavivogsveta 100916121631-phpapp01
Svetlana Palikruseva
5s
5s
Diella Fadiella
Coverage of a given area by means of coordinated autonomous robots is a mission required in several applications such as, for example, patrolling, monitoring or environmental sampling. From a mathematical perspective, this can often be modeled as the need to estimate a scalar field, eventually time varying as in the security applications. In this paper, the problem is addressed for the challenging underwater scenario, where localization and communication pose additional constraints. The solution exploits the appealing properties of the Voronoi partition of a convex set within a probabilistic framework. In addition, the algorithm is totally distributed and characterized by a strong engineering perspective allowing the handling of asynchronous communication or possible loss or adjunct of vehicles. Beyond the test in dozen of numerical case studies, the algorithm has been validated by a challenging underwater test in 3 dimension involving two Autonomous Underwater Vehicles (AUVs). The experiments were run in the La Spezia harbor, in Italy, in February 2012 as demo of the European project \co3auvs.
ICRA 2013 talk 2
ICRA 2013 talk 2
Gianluca Antonelli
The paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles. The proposed approach, while keeping the typical assumption of an orientation dynamics faster than the translational one, removes that of absence of external disturbances and of perfect symmetry of the vehicle. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of dynamic parameters as the position of the center of mass of the vehicle. A stability analysis as well as numerical simulations are provided to support the control design.
AIM 2013 talk
AIM 2013 talk
Gianluca Antonelli
La importancia de la lectura en la educación preescolar.docx
La importancia de la lectura en la educación preescolar.docx
besos3006
Introduction to the 2015 SIDRA School on Underwater Robotics (http://www.automatica.it/dottorato_scuole.htm)
2015 SIDRA School on Underwater Robotics. Introduction
2015 SIDRA School on Underwater Robotics. Introduction
Gianluca Antonelli
Weitere ähnliche Inhalte
Andere mochten auch
Survey
Survey
eboc101R
La importancia de la lectura en la educación preescolar.docx
La importancia de la lectura en la educación preescolar.docx
besos3006
Citologija uvodhemijskisastavsept2011-111002155646-phpapp01
Citologija uvodhemijskisastavsept2011-111002155646-phpapp01
Svetlana Palikruseva
G. Antonelli and S. Chiaverini and A. Marino, A coordination strategy for multi-robot sampling of dynamic fields, Proceedings 2012 IEEE International Conference on Robotics and Automation, St Paul, MN, pp. 1113--1118, 2012.
ICRA 2012 talk
ICRA 2012 talk
Gianluca Antonelli
A short introduction to state estimate, deterministic and stochastic cases
State estimate
State estimate
Gianluca Antonelli
02hemijskisastavivogsveta 100916121631-phpapp01
02hemijskisastavivogsveta 100916121631-phpapp01
Svetlana Palikruseva
5s
5s
Diella Fadiella
Coverage of a given area by means of coordinated autonomous robots is a mission required in several applications such as, for example, patrolling, monitoring or environmental sampling. From a mathematical perspective, this can often be modeled as the need to estimate a scalar field, eventually time varying as in the security applications. In this paper, the problem is addressed for the challenging underwater scenario, where localization and communication pose additional constraints. The solution exploits the appealing properties of the Voronoi partition of a convex set within a probabilistic framework. In addition, the algorithm is totally distributed and characterized by a strong engineering perspective allowing the handling of asynchronous communication or possible loss or adjunct of vehicles. Beyond the test in dozen of numerical case studies, the algorithm has been validated by a challenging underwater test in 3 dimension involving two Autonomous Underwater Vehicles (AUVs). The experiments were run in the La Spezia harbor, in Italy, in February 2012 as demo of the European project \co3auvs.
ICRA 2013 talk 2
ICRA 2013 talk 2
Gianluca Antonelli
The paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles. The proposed approach, while keeping the typical assumption of an orientation dynamics faster than the translational one, removes that of absence of external disturbances and of perfect symmetry of the vehicle. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of dynamic parameters as the position of the center of mass of the vehicle. A stability analysis as well as numerical simulations are provided to support the control design.
AIM 2013 talk
AIM 2013 talk
Gianluca Antonelli
La importancia de la lectura en la educación preescolar.docx
La importancia de la lectura en la educación preescolar.docx
besos3006
Introduction to the 2015 SIDRA School on Underwater Robotics (http://www.automatica.it/dottorato_scuole.htm)
2015 SIDRA School on Underwater Robotics. Introduction
2015 SIDRA School on Underwater Robotics. Introduction
Gianluca Antonelli
Andere mochten auch
(11)
Survey
Survey
La importancia de la lectura en la educación preescolar.docx
La importancia de la lectura en la educación preescolar.docx
Citologija uvodhemijskisastavsept2011-111002155646-phpapp01
Citologija uvodhemijskisastavsept2011-111002155646-phpapp01
ICRA 2012 talk
ICRA 2012 talk
State estimate
State estimate
02hemijskisastavivogsveta 100916121631-phpapp01
02hemijskisastavivogsveta 100916121631-phpapp01
5s
5s
ICRA 2013 talk 2
ICRA 2013 talk 2
AIM 2013 talk
AIM 2013 talk
La importancia de la lectura en la educación preescolar.docx
La importancia de la lectura en la educación preescolar.docx
2015 SIDRA School on Underwater Robotics. Introduction
2015 SIDRA School on Underwater Robotics. Introduction
3. produktpräsentation 01.04.2011 kiba_zingst_jpg
1.
2.
3.
4.
5.
6.
7.
8.
Jetzt herunterladen