8 citations · 20 across the 16 of their papers we have counts for
18 papers
Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
Massimiliano Bertoni, Alberto Piccina, Gianni Lunardi +4
Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a me…
Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs
Alberto Piccina, Massimiliano Bertoni, Angelo Cenedese +1
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset fo…
Dynamic Control Allocation for Dual-Tilt UAV Platforms
Marcello Sorge, Federico Ciresola, Giulia Michieletto +1
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilt…
RotorSuite: A MATLAB/Simulink Toolbox for Tilt Multi-Rotor UAV Modeling
Nicola Cigarini, Giulia Michieletto, Angelo Cenedese
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard cop…
Multi Agent Switching Mode Controller for Sound Source localization
Marcello Sorge, Nicola Cigarini, Riccardo Lorigiola +4
Source seeking is an important topic in robotic research, especially considering sound-based sensors since they allow the agents to locate a target even in critical conditions wher…
Trajectory control of a suspended load with non-stopping flying carriers
Sofia Girardello, Giulia Michieletto, Angelo Cenedese +2
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-…
Bearing-based Target Localisation in Search and Rescue Scenarios
Giulia Michieletto, Nicola Mimmo, Roberto Naldi +1
This paper deals with the target localisation problem in search and rescue scenarios in which the technology is based on electromagnetic transceivers. The noise floor and the shape…
Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles
Marco Perin, Massimiliano Bertoni, Nicolas Viezzer +2
Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful s…
An Active-Sensing Approach for Bearing-based Target Localization
Beniamino Pozzan, Giulia Michieletto, Mehran Mesbahi +1
Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of c…
Trajectory Tracking for Tilted Hexarotors with Concurrent Attitude Regulation
Marco Perin, Massimiliano Bertoni, Giulia Michieletto +2
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focu…
Tag-based Visual Odometry Estimation for Indoor UAVs Localization
Massimiliano Bertoni, Simone Montecchio, Giulia Michieletto +2
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant…
Distributed Dual Quaternion Based Localization of Visual Sensor Networks
Luca Varotto, Marco Fabris, Giulia Michieletto +1
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1],…
On the Distributed Estimation from Relative Measurements: a Graph-Based Convergence Analysis
Marco Fabris, Giulia Michieletto, Angelo Cenedese
For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approa…
Visual Sensor Network Stimulation Model Identification via Gaussian Mixture Model and Deep Embedded Features
Luca Varotto, Marco Fabris, Giulia Michieletto +1
Visual sensor networks (VSNs) constitute a fundamental class of distributed sensing systems, with unique complexity and appealing performance features, which correspondingly bring…
A General Regularized Distributed Solution for System State Estimation from Relative Measurements
Marco Fabris, Giulia Michieletto, Angelo Cenedese
This work presents a novel general regularized distributed solution for the state estimation problem in networked systems. Resting on the graph-based representation of sensor netwo…
A Proximal Point Approach for Distributed System State Estimation
Marco Fabris, Giulia Michieletto, Angelo Cenedese
System state estimation constitutes a key problem in several applications involving multi-agent system architectures. This rests upon the estimation of the state of each agent in t…
Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction
Giulia Michieletto, Angelo Cenedese, Luca Zaccarian +1
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotatio…
A Unified Dissertation on Bearing Rigidity Theory
Giulia Michieletto, Angelo Cenedese, Daniel Zelazo
This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-u…