34 citations · 98 across the 22 of their papers we have counts for
4 papers · 1 filter
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…