20 citations · 21 across the 7 of their papers we have counts for
9 papers
Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control
Antonio Rapuano, Simone Orelli, Barbara Bazzana +2
Hybrid force/motion control requires knowledge of the interaction force and of a task frame defining the force- and motion-controlled directions. These quantities are usually obtai…
Emergent Underactuation in Fully Actuated Multirotors by Minimizing a Homogeneous Allocation Cost
Antonio Franchi, Barbara Bazzana
Full actuation is commonly valued for independent position and attitude tracking. This work establishes a complementary principle: when only a position trajectory is prescribed, mi…
CAVEAT: Recurrent Multimodal Diffusion Planning for Mapless Aerial Exploration
Steven Visch, Nicolò Botteghi, Antonio Franchi +1
Can exploratory UAV waypoint sequences be generated from multimodal onboard observations and a fixed-dimensional recurrent internal state without maintaining a persistent global ma…
Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, in…
Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
Ruben Veenstra, Barbara Bazzana, Sander Smits +1
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial…
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable v…
Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion
Bishoy Gerges, Barbara Bazzana, Nicolò Botteghi +2
In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models…
How-to Augmented Lagrangian on Factor Graphs
Barbara Bazzana, Henrik Andreasson, Giorgio Grisetti
Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (S…
Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti
Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) a…