59 citations · 154 across the 15 of their papers we have counts for
6 papers · 1 filter
Control of a Hexapod Robot Considering Terrain Interaction
Marco Zangrandi, Stefano Arrigoni, Francesco Braghin
Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability d…
Two algorithms for vehicular obstacle detection in sparse pointcloud
Simone Mentasti, Matteo Matteucci, Stefano Arrigoni +1
One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud i…
Design of a prototypical platform for autonomous and connected vehicles
Stefano Arrigoni, Simone Mentasti, Federico Cheli +2
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed a…
NMPC trajectory planner for urban autonomous driving
Francesco Micheli, Mattia Bersani, Stefano Arrigoni +2
This paper presents a trajectory planner for autonomous driving based on a Nonlinear Model Predictive Control (NMPC) algorithm that accounts for Pacejka's nonlinear lateral tyre dy…
Development and Simulation-based Testing of a 5G-Connected Intersection AEB System
Michael Khayyat, Stefano Arrigoni, Federico Cheli
In Europe, 20% of road crashes occur at intersections. In recent years, evolving communication technologies are making V2V and V2I faster and more reliable; with such advancements,…
MPC path-planner for autonomous driving solved by genetic algorithm technique
Stefano Arrigoni, Francesco Braghin, Federico Cheli
Autonomous vehicle's technology is expected to be disruptive for automotive industry in next years. This paper proposes a novel real-time trajectory planner based on a Nonlinear Mo…