Pietro Leoni — accepted AI-conference papers

2022

Design of an Autonomous Latching System for Surface Vessels

David Fernández-Gutiérrez, Niklas Hagemann, Wei Wang, Rens Doornbusch, Joshua Jordan, Jonathan Schiphorst +4

ICRA 2022poster

Autonomous latching is essential for autonomous surface vessels (ASV) to reach full independence from human intervention. As part of the ASV Roboat project, a new solution for self-latching maneuvers has been developed and is presented here. We propose a system that has the key requirements of full…

Cited by 6 Source ↗Scholar ↗

2020

Roboat II: A Novel Autonomous Surface Vessel for Urban Environments

Wei Wang, Tixiao Shan, Pietro Leoni, David Fernández-Gutiérrez, Drew Meyers, Carlo Ratti +1

IROS 2020poster

This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and path planning. Roboat II is designed to maximize the internal s…

Cited by 78 Source ↗Scholar ↗

2018

Design, Modeling, and Nonlinear Model Predictive Tracking Control of a Novel Autonomous Surface Vehicle

Wei Wang, Luis A. Mateos, Shinkyu Park, Pietro Leoni, Banti Gheneti, Fabio Duarte +2

ICRA 2018poster

In this paper, we present the design, modeling, and real-time nonlinear model predictive control (NMPC) of an autonomous robotic boat. The robot is easy to manufacture, highly maneuverable, and capable of accurate trajectory tracking in both indoor and outdoor environments. In particular, a cross ty…

Cited by 114 Source ↗Scholar ↗