34 citations · 98 across the 22 of their papers we have counts for
23 papers
Solving Geodesic Equations with Composite Bernstein Polynomials for Trajectory Planning
Nick Gorman, Gage MacLin, Maxwell Hammond +1
This work presents a trajectory planning method based on composite Bernstein polynomials for autonomous systems navigating complex environments. The method is implemented in a symb…
Real-Time Optimal Control via Transformer Networks and Bernstein Polynomials
Gage MacLin, Venanzio Cichella, Andrew Patterson +1
In this paper, we propose a Transformer-based framework for approximating solutions to infinite-dimensional optimization problems: calculus of variations problems and optimal contr…
Solutions to Differential Algebraic Inequalities with Composite Bernstein Polynomials
Maxwell Hammond, Gage MacLin, Laurent Jay +1
The Bernstein polynomial basis sees significant use owing to its unique properties, particularly in the field of optimal control. However, the basis is known to have a slow rate of…
Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies
Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella +1
This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one…
Quasi-Static Continuum Model of Octopus-Like Soft Robot Arm Under Water Actuated by Twisted and Coiled Artificial Muscles (TCAMs)
Amirreza Fahim Golestaneh, Venanzio Cichella, Caterina Lamuta
The current work is a qualitative study that aims to explore the implementation of Twisted and Coiled Artificial Muscles (TCAMs) for actuating and replicating the bending motion of…
Optimal Control using Composite Bernstein Approximants
Gage MacLin, Venanzio Cichella, Andrew Patterson +2
In this work, we present composite Bernstein polynomials as a direct collocation method for approximating optimal control problems. An analysis of the convergence properties of com…
Scalable Optimal Motion Planning for Multi-Agent Systems by Cosserat Theory of Rods
Amirreza Fahim Golestaneh, Maxwell Hammond, Venanzio Cichella
We address the motion planning problem for large multi-agent systems, utilizing Cosserat rod theory to model the dynamic behavior of vehicle formations. The problem is formulated a…
Autopilot System for Depth and Pitch Control in Underwater Vehicles: Navigating Near-Surface Waves and Disturbances
Vladimir Petrov, Gage MacLin, Venanzio Cichella
This paper introduces a framework for depth and pitch control of underwater vehicles in near-surface wave conditions. By effectively managing tail, sail plane angles and hover tank…
Path Planning for Continuum Rods Using Bernstein Surfaces
Maxwell Hammond, Venanzio Cichella, Amirreza F. Golestaneh +1
This paper presents a method for optimal motion planning of continuum robots by employing Bernstein surfaces to approximate the system's dynamics and impose complex constraints, in…
Bioinspired Soft Robotics: state of the art, challenges, and future directions
Maxwell Hammond, Venanzio Cichella, Caterina Lamuta
Purpose of Review: This review provides an overview of the state of the art in bioinspired soft robotics with by examining advancements in actuation, functionality, modeling, and c…
Modeling, Simulation, and Maneuvering Control of a Generic Submarine
Gage MacLin, Maxwell Hammond, Venanzio Cichella +1
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-l…
Coordinated Path Following of UAVs using Event-Triggered Communication over Time-Varying Networks with Digraph Topologies
Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella +1
In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the appro…
Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense
Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella +1
This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underl…
Reduced Order Model of a Generic Submarine for Maneuvering Near the Surface
J. Ezequiel Martin, Maxwell Hammond, Nicholas Rober +3
A reduced order model of a generic submarine is presented. Computational fluid dynamics (CFD) results are used to create and validate a model that includes depth dependence and the…
On-line Motion Planning Using Bernstein Polynomials for Enhanced Target Localization in Autonomous Vehicles
Camilla Tabasso, Venanzio Cichella
The use of autonomous vehicles for target localization in modern applications has emphasized their superior efficiency, improved safety, and cost advantages over human-operated met…
Nonlinear Programming Solvers for Unconstrained and Constrained Optimization Problems: a Benchmark Analysis
Giovanni Lavezzi, Kidus Guye, Marco Ciarcià
In this paper we propose a set of guidelines to select a solver for the solution of nonlinear programming problems. With this in mind, we present a comparison of the convergence pe…
3D Path Following and L1 Adaptive Control for Underwater Vehicles
Nicholas Rober, Maxwell Hammond, Venanzio Cichella +2
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2)…
Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies
Hyungsoo Kang, Hyung-Jin Yoon, Venanzio Cichella +2
This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communic…
Biologically Inspired Collision Avoidance Without Distance Information
Thiago Marinho, Massi Amrouche, Dusan Stipanovic +2
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance…
Bernstein polynomial-based transcription method for solving optimal trajectory generation problems
Calvin Kielas-Jensen, Venanzio Cichella
This paper presents a method and an open-source implementation, Bernstein/Bézier Optimal Trajectories (BeBOT), for the generation of trajectories for autonomous system operations.…
Proximity Queries for Absolutely Continuous Parametric Curves
Arun Lakshmanan, Andrew Patterson, Venanzio Cichella +1
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment.…
L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree
Hanmin Lee, Venanzio Cichella, Naira Hovakimyan
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1…
Bernstein approximation of optimal control problems
Venanzio Cichella, Isaac Kaminer, Claire Walton +2
Bernstein polynomial approximation to a continuous function has a slower rate of convergence as compared to other approximation methods. "The fact seems to have precluded any numer…