9 accepted papers
This paper explores the challenge of optimal routing for a mobile robot navigating a dynamic and shared human environment. The primary goal is to minimize the risk of performance degradation during motion, such as delays in completing tasks due to the need for safe or acceptable human-robot encounte…
This letter presents a framework for speed-optimized motion planning in robotic object handling, including dynamic throwing and pick-and-place with obstacle avoidance tasks. An S-curve-based optimization algorithm first computes optimal throwing configurations to ensure accurate object landing. A tw
In this work, we propose a framework for the distributed implementation of Quadratic Programs-based controllers, building upon and rectifying a significant limitation in a previously presented approach. The proposed framework is primarily motivated by the distributed implementation of Control Barrie…
This letter proposes a feedback-feedforward control scheme that combines the benefits of an online active sensing control strategy (the feedforward control component) to maximize the information needed for correctly executing the desired task, with a Lyapunov-based control strategy (the feedback con
This paper proposes an online optimal perception-aware strategy meant to maximize the information collected along the trajectory via the available measurements while simultaneously minimizing the negative effects of actuation/process noise. Indeed, in several robotic applications, the actuation/proc…
We propose a novel shared control and active perception framework combining the skills of a human operator in accomplishing complex tasks with the capabilities of a mobile robot in autonomously maximizing the information acquired by the onboard sensors for improving its state estimation. The human o
The goal of this paper is to increase the estimation performance of an Extended Kalman Filter for a nonlinear differentially flat system by planning trajectories able to maximize the amount of information gathered by onboard sensors in presence of both process and measurement noises. In a previous w…
This paper deals with the problem of active sensing control for nonlinear differentially flat systems. The objective is to improve the estimation accuracy of an observer by determining the inputs of the system that maximise the amount of information gathered by the outputs over a time horizon. In pa…
This paper presents a geometric approach to the problem of designing visual feedback control laws to steer a nonholonomic vehicle, equipped with a fixed monocular camera, through a gate. The originality of our approach is to introduce and exploit the natural geometry induced by the presence of a gat…