2 citations · 4 across the 6 of their papers we have counts for
3 papers · 1 filter
Global Path Planner with Multi-Model Switching
Pietro Gori, Francesco Iotti, Eduard Zelenay +5
This work enhances global path planning via a pure-pursuit controller with multi-model kinematic switching that sustains plan fidelity across diverse terrains. The system includes…
Continuous-Time Constrained Linear Quadratic Regulator for Switched Linear Systems
Pietro Gori, Michele Pierallini, Franco Angelini +1
Switched systems, characterized by a family of subsystems governed by a switching rule, widely apply to complex real-world scenarios. However, their inherent switching dynamics pos…
Contact-Guided Exploration for Non-Prehensile Locomanipulation with Multi-Critic RL
Simone Tolomei, Mayank Mittal, Franco Angelini +3
Non-prehensile manipulation offers versatile skills for moving and rearranging heavy or bulky objects, particularly when combined with a mobile manipulation platform. However, both…