6 accepted papers
As with all actuated mechanical systems, the development of a control scheme for robotic systems must take actuator saturation into account. Furthermore, in order to properly control a robotic arm, other types of mechanical limitations must also be considered (e.g. limited operating range of the joi…
In this work, we propose a global planning strategy specifically designed for precision agriculture settings, where field activities may have different requirements ranging from a full orchard inspection to sparse targeted per-plant interventions. This global planning strategy is formulated as a nov…
In this letter, inspired by the needs of the European H2020 Project PANTHEON <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> , we propose a full navigation stack purposely designed for the autonomous navigation of Ackermann steering vehicles in
This paper describes recent developments of a robotic hummingbird project, aimed at achieving precision stationary hovering. To this end, the early version of our flapping mechanism is modified which, besides being more efficient, reduces significantly the asymmetry of the wing trajectory of the pre…
In this work we consider a swarm of agents shaped as bars with a certain orientation in the state space. Members of the swarm have to reach an aggregate state, while guaranteeing the collision avoidance and possibly achieving an angular consensus. By relying on a segment-to-segment distance definiti…
Robotic manipulators that are intended to interact with humans in their operating region are systems that need formal safety guarantees. Current solutions cannot handle both input and state constraints, have difficulties handling nonconvex constraints, or are computationally too expensive. To tackle…