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eess.SY2019
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno +2
Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more chal…
eess.SY2013★ 103 cited
Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for differe…