01a Articolo in rivista

Force, orientation and position control in redundant manipulators in prioritized scheme with null space compliance
Hierarchical tracking task control in redundant manipulators with compliance control in the null-space
Repeatable Motion Planning for Redundant Robots over Cyclic Tasks

We consider the problem of repeatable motion planning for redundant robotic systems performing cyclic tasks in the presence of obstacles. For this open problem, we present a control-based randomized planner, which produces closed collision-free paths in configuration space and guarantees continuous...
Vision-based maze navigation for humanoid robots

We present a vision-based approach for navigation of humanoid robots in networks of corridors connected through curves and junctions. The objective of the humanoid is to follow the corridors, walking as close as possible to their center to maximize motion safety, and to turn at curves and junctions...
Humanoid odometric localization integrating kinematic, inertial and visual information

We present a method for odometric localization of humanoid robots using standard sensing equipment, i.e., a monocular camera, an inertial measurement unit (IMU), joint encoders and foot pressure sensors. Data from all these sources are integrated using the prediction-correction paradigm of the...
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance
Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements
Output feedback image-based visual servoing control of an underactuated unmanned aerial vehicle
AN ADAPTIVE SCHEME FOR IMAGE-BASED VISUAL SERVOING OF AN UNDERACTUATED UAV
Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots