1 citations · 2 across the 15 of their papers we have counts for
15 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…
Towards Autonomous Commissioning of Industrial Drives via Multi-Objective Bayesian Optimization
David Petrovic, Gian Antonio Susto, Angelo Cenedese
The commissioning of industrial electric drives still relies heavily on manual tuning of cascaded control loops, requiring expert knowledge and significant time. In this paper, we…
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-…
A Sim-to-Real Vision-based Lane Keeping System for a 1:10-scale Autonomous Vehicle
Antonio Gallina, Matteo Grandin, Angelo Cenedese +1
In recent years, several competitions have highlighted the need to investigate vision-based solutions to address scenarios with functional insufficiencies in perception, world mode…
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…
Integrated Hardware and Software Architecture for Industrial AGV with Manual Override Capability
Pietro Iob, Mauro Schiavo, Angelo Cenedese
This paper presents a study on transforming a traditional human-operated vehicle into a fully autonomous device. By leveraging previous research and state-of-the-art technologies,…
Smart Fleet Solutions: Simulating Electric AGV Performance in Industrial Settings
Tommaso Martone, Pietro Iob, Mauro Schiavo +1
This paper explores the potential benefits and challenges of integrating Electric Vehicles (EVs) and Autonomous Ground Vehicles (AGVs) in industrial settings to improve sustainabil…
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…
A Natural Indirect Adaptive Controller for a Satellite-Mounted Manipulator
Jacopo Giordano, Angelo Cenedese, Andrea Serrani
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can consi…