3 papers
cs.RO2026
Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments
Mohamed Abdelwahab, Ruggero Carli, Damiano Varagnolo +1
This paper addresses autonomous intervention with an underwater vehicle--manipulator system (UVMS) in confined, cluttered, and partially known environments, where poor maneuverabil…
cs.RO2025
A Robust Controller based on Gaussian Processes for Robotic Manipulators with Unknown Uncertainty
Giulio Giacomuzzo, Mohamed Abdelwahab, Marco Calì +2
In this paper, we propose a novel learning-based robust feedback linearization strategy to ensure precise trajectory tracking for an important family of Lagrangian systems. We assu…
cs.RO2024
Adaptive Robust Controller for handling Unknown Uncertainty of Robotic Manipulators
Mohamed Abdelwahab, Giulio Giacomuzzo, Alberto Dalla Libera +1
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art tec…