Research

Overview

The research activities in the project are structured into the mail work-packages Cooperative World Modeling, Cooperative Mission Execution, and Cooperative Skills. The project also includes work on a Simulator as well as joined experiments in the form of Demonstrators.

The list of publications below gives a possibility to have a more detailed look into the related work.

 

Publications

G. Antonelli, F. Arrichiello, and S. Chiaverini.
Swarm of robots flocking via the null-space-based behavioral control.
In Proceedings 2009 International Conference on Automation and Logistics, pages 1940–1945, Shenyang, China, Aug. 2009.

G. Antonelli, F. Arrichiello, and S. Chiaverini.
Flocking for multi-robot systems via the null-spacebased behavioral control.
Swarm Intelligence, 4(1):37–56, March 2010.

G. Antonelli, F. Arrichiello, and S. Chiaverini.
The nsb control: a behavior-based approach for multi-robot systems.
Paladyn Journal of Behavioral Robotics, 1(1):48–56, 2010.

G. Antonelli, F. Arrichiello, S. Chiaverini, and G. Sukhatme.
Observability analysis of relative localization for auvs based on ranging and depth measurements.
In Proceedings 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010.

G. Antonelli, A. Caiti, V. Calabr`o, and S. Chiaverini.
Designing behaviors to improve observability for relative localization of auvs.
In Proceedings 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010.

G. Antonelli, S. Chiaverini, and A. Marino.
Decentralized deployment with obstacle avoidance for auvs.
In 18th IFAC World Congress, Milan, I, August 2011.

G. Antonelli and A. Marino.
Smooth 3-dimensional path generation with guaranteed maximum distance from via-points.
In The 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, I, September 2010.

F. Arrichiello, Heidarsson, S. Chiaverini, and G. Sukhatme.
Cooperative caging using autonomous aquatic surface vehicles.
In Proceedings 2010 IEEE International Conference on Robotics and Automation, pages 4763–4769, Anchorage, AK, May 2010.

M. Burger, G. Notarstefano, F. Allgower, and F. Bullo.
A distributed simplex algorithm and the multi-agent assignment problem.
In American Control Conference, San Francisco, CA, June 2011.

A. Caffaz, A. Caiti, G. Casalino, and A. Turetta.
The hybrid glider AUV-FOLAGA. IEEE Robotics and Automation Magazine (RAM).
Special Issues on Marine Robotics, 17(1):31–44, March 2010.

A. Caiti and V. Calabro’.
Control-oriented modelling of a hybrid auv.
In Proceedings 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010.

A. Caiti, G. Casalino, Munaf`o, and A. Turetta.
Cooperating AUV teams: Adaptive area coverage with space-varying communication constraints.
In Proceedings IEEE Conference Oceans’09, 2009.

G. Casalino, A. Caiti, A. Turetta, and E. Simetti.
Real-time ray-tracing for underwater distance evaluation with application to distributed localization of AUV teams.
In The 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, I, September 2010.

G. Casalino, A. Turetta, and E. Simetti.
Real time path planning and obstacle avoidance for security related USVs operating in harbor fields.
In Proceedings 8th International Conference on Computer and IT Applications in the Maritime Industries, COMPIT’09, Budapest, Hungary, May 2009.

G. Casalino, A. Turetta, E. Simetti, and A. Caiti.
RT2: A real-time ray-tracing method for acoustic distance evaluations among cooperating AUVs.
In Proceedings IEEE Conference Oceans’10, May 2010.

A. Zizzari G. Indiveri.
Kinematics motion control of an underactuated vehicle: A 3d solution with bounded control effort.
In Second IFAC Workshop Navigation, Guidance and Control of Underwater Vehicles, Lakeside Hotel, Ireland, April 2008.

A. Munafo’, E. Simetti, A. Turetta, A. Caiti, and G. Casalino.
Autonomous underwater vehicle teams for ocean sampling: a data-driven approach.
Int. J. Ocean Dynamics, submitted, 2011.

G. Notarstefano, M. Egerstedt, and M. Haque.
Containment in leader-follower networks with switching communication topologies.
Automatica, 2011.

G. Notarstefano and G. Parlangeli.
Reachability and observability of simple grid and torus graphs.
In 18th IFAC World Congress, Milan, I, August 2011.

G. Parlangeli.
Further considerations on the intrusion detection in an average consensus networked system: Multinode design for acyclic graphs.
In Control & Automation (MED), 2010 18th Mediterranean Conference on, pages 93–98, 2010.

G. Parlangeli and G. Notarstefano.
Graph reduction based observability conditions for network systems running average consensus algorithms. In Control & Automation (MED), 2010 18th Mediterranean Conference on, pages 689–694, 2010.

G. Parlangeli and G. Notarstefano.
On the observability of path and cycle graphs.
In IEEE Conf. on Decision and Control, Atlanta, GA, USA, 2010.

G. Parlangeli and G. Notarstefano.
On the reachability and observability of path and cycle graphs.
IEEE Transactions on Automatic Control.Submitted, 2011.

G. Parlangeli, L. Ostuni, L. Mancarella, and G. Indiveri.
A motion planning algorithm for smooth paths of bounded curvature and curvature derivative.
In 17th Mediterranean Conference on Control and Automation, pages 73–78, Thessaloniki, GR, June 2009.

P. Pedone, A. A. Zizzari, and G. Indiveri.
Path following for the dynamic model of a marine surface vessel without closed-loop control of the surge speed.
In Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS 2010, pages 278–283, Rostock-Warnemunde, Germany, September 2010.

E. Simetti, G. Casalino, A. Turetta, M. Cresta, and M. Cresta.
Towards the use of a team of USVs for civilian harbour protection: USV interception of detected menaces. In The 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, I, September 2010.

E. Simetti, A. Turetta, G. Casalino, and M. Cresta.
Towards the use of a team of usvs for civilian harbour protection: the problem of intercepting detected menaces.
In Proceedings IEEE Conference Oceans’10, May 2010.

E. Simetti, A. Turetta, G. Casalino, E. Storti, and M. Cresta.
Toward the use of a team of ASV’s for civilian harbour protection: Real-time path planning with avoidance of multiple moving obstacles.
In Proceedings 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, pages
70–75, St. Louis, MO, USA, Oct. 2009.

A. Zizzari, G. Indiveri, M. Bibuli, G. Bruzzone, and M. Caccia.
Path following guidance control with bounded control effort: Application to the charlie unmanned surface vehicle.
In Proceedings 6th IFAC Conference on Manoeuvring and Control of Marine Craft, Guaruj´a (SP), Brazil, Sept. 2009.

A.A. Zizzari, P. Pedone, and G. Indiveri.
A path following controller for the dynamic model of a marine surface vessel.
In Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010, IAV 2010, Lecce, I, September 2010.

Francisco C. Teixeira, A. Pedro Aguiar and António M. Pascoal.
Nonlinear adaptive control of an underwater towed vehicle
Ocean Engineering, Vol. 37, No. 13, pp. 1193-1220, Sep. 2010.

J. Almeida, C. Silvestre, A. Pascoal,
Cooperative control of multiple surface vessels with discrete-time periodic communications,
accepted for publication in the International Journal of Robust and Nonlinear Control, 2010.

Sérgio S. Rodrigues, Naveena Crasta, A. Pedro Aguiar, and Fátima S. Leite.
State estimation for systems on SE(3) with implicit outputs: An application to
visual servoing,
Proc. of NOLCOS’10 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, Sep. 2010.

Alessandro Saccon, John Hauser, and A. Pedro Aguiar.
Exploration of Kinematic Optimal Control on the Lie Group SO(3),
Proc. of NOLCOS’10 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, Sep. 2010.

Andreas J. Häusler, Reza Ghabcheloo, António M. Pascoal, and A. Pedro Aguiar.
Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints,
Proc. of IAV 2010 - 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, Sep. 2010.

M. Bayat and A. Pedro Aguiar.
SLAM for an AUV using vision and an acoustic beacon,
Proc. of IAV 2010 - 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, Sep. 2010.

Sérgio Carvalhosa, A. Pedro Aguiar, and A. Pascoal.
Cooperative Motion Control of Multiple Autonomous Marine Vehicles: Collision Avoidance in Dynamic Environments,
Proc. of IAV 2010 - 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, Sep. 2010.

Vahid Hassani, Antonio M. Pascoal, A. Pedro Aguiar, and Michael Athans.
A Multiple Model Adaptive Wave Filter for Dynamic Ship Positioning,
Proc. of CAMS 2010 - 8th IFAC Conference on Control Applications in Marine Systems, Rostock, Germany, Sep. 2010.

Alessandro Saccon, John Hauser, and A. Pedro Aguiar.
Optimal Control on Non-Compact Lie Groups: A Projection Operator Approach,
Proc. CDC’10 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia USA, Dec. 2010.

Omid Namaki-Shoushtari, A. Pedro Aguiar, and Ali Khaki Sedigh.
A Switched Based Control Strategy for Target Tracking of Autonomous Robotic Vehicles using Range-only Measurements,
To appear in the Proc. of the 18th IFAC World Congress, Milano, Italy, Aug. 2011.

Alessandro Saccon, John Hauser, and A. Pedro Aguiar.
Optimal Control on Lie Groups: Implementations Details of the Projection Operator Approach,
To appear in the Proc. of the 18th IFAC World Congress, Milano, Italy, Aug. 2011.

Moreno, D., Pascoal, A. M., Alcocer, A., Aranda, J.,
Optimal Sensor Placement for Underwater Target Positioning with Noisy
Range Measurements,
in Proc. CAMS 2010 Conference, Rostock, Germany, Sept. 2010.

João Almeida, Carlos Silvestre, and António M. Pascoal.
Self-triggered state feedback control of linear plants under bounded disturbances,
In Proc. 9th IEEE Conference on Decision and Control, Atlanta, Dec. 2010.

D. Moreno, A. Pascoal, J. Aranda.
Optimal Sensor Placement for Underwater Positioning with Uncertainty in the Target Position,
To appear in Proc. 2011 International Conference on Robotics and Automation - ICRA 2011, Shanghai, China, May 9-13, 2011.

V. Hassani, J. Hespanha, M. Athans, and A. Pascoal.
Stability Analysis of Robust Multiple Model Adaptive Control,
To appear in Proc. 18th World Congress, Milan, Italy, August 28-September 2, 2011.

João Almeida, Carlos Silvestre, António Pascoal.
Self-triggered observer-based control of linear plants,
To appear in Proc. 18th World Congress, Milan, Italy, August 28-September 2, 2011.

D. Moreno, A. Pascoal, J. Aranda.
Optimal Sensor Placement for Multiple Underwater Target Localization with Acoustic Range Measurements,
To appear in Proc. 18th World Congress, Milan, Italy, August 28-September 2, 2011.

Heiko Buelow and Andreas Birk
Spectral Registration of Noisy Sonar Data for Underwater 3D Mapping
Autonomous Robots, 30 (3), pp. 307-331,Springer, 2011

Kaustubh Pathak, Andreas Birk, Narunas Vaskevicius, and Jann Poppinga,
Fast Registration Based on Noisy Planes with Unknown Correspondences for 3D Mapping
IEEE Transactions on Robotics, 26 (3), pp. 424 – 441, 2010

Heiko Buelow and Andreas Birk
Spectral Registration of Volume Data for 6-DOF Spatial Transformations plus Scale
International Conference on Robotics and Automation (ICRA), Shanghai, IEEE Press, 2011

Kaustubh Pathak, Andreas Birk and Narunas Vaskevicius
Plane-Based Registration of Sonar Data for Underwater 3D Mapping
International Conference on Intelligent Robots and Systems (IROS), Taipei, pp. 4880 – 4885, IEEE Press, 2010

Max Pfingsthorn, Andreas Birk and Heiko Buelow
An Efficient Strategy for Data Exchange in Multi-Robot Mapping under Underwater Communication Constraints
International Conference on Intelligent Robots and Systems (IROS), Taipei, pp. 4886 – 4893, IEEE Press, 2010

Max Pfingsthorn, Andreas Birk, Soeren Schwertfeger, Heiko Buelow, and Kaustubh Pathak
Maximum Likelihood Mapping with Spectral Image Registration
International Conference on Robotics and Automation (ICRA), IEEE Press, 2010

Anuj Sehgal, Daniel Cernea, and Andreas Birk
Modeling Underwater Acoustic Communications for Multi-Robot Missions in a Robotics Simulator
IEEE Oceans, Sydney, 2010

Soeren Schwertfeger, Heiko Buelow, and Andreas Birk
On the effects of Sampling Resolution in Improved Fourier Mellin based Registration for Underwater Mapping
7th Symposium on Intelligent Autonomous Vehicles (IAV), Lecce, IFAC, 2010

Heiko Buelow, Max Pfingsthorn, and Andreas Birk
Using Robust Spectral Registration for Scan Matching of Sonar Range Data
7th Symposium on Intelligent Autonomous Vehicles (IAV), Lecce, IFAC, 2010

Andreas Birk, Gianluca Antonelli, Antonio Pascoal, and Andrea Caffaz
Cognitive Cooperative Control for Autonomous Underwater Vehicles: An overview of achievements in the first project year
9th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Gubbio, Italy, 2010

Anuj Sehgal, Daniel Cernea, and Andreas Birk
Simulating Underwater Acoustic Communications in a High Fidelity Robotics Simulator
7th Symposium on Intelligent Autonomous Vehicles (IAV), Lecce, IFAC, 2010

G. Indiveri, G. Antonelli, A. Caiti, G. Casalino, A. Birk, A. Pascoal, and A. Caffaz
The CO3-AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) Project: overview and current progresses
7th Symposium on Intelligent Autonomous Vehicles (IAV), Lecce, IFAC, 2010

J. Almeida, C. Silvestre, A. Pascoal
Cooperative Control of Multiple Surface Vessels in the Presence of Ocean Currents and Parametric Model Uncertainy
International Journal of Robust and Nonlinear Control, 2009

Sérgio Pequito, A. Pedro Aguiar and Diogo A. Gomes
The Entropy Penalized Minimum Energy Estimator
Proc. of CDC’09 - 48th IEEE Conference on Decision and Control, Shanghai, China, Dec. 2009.

Vahid Hassani, A. Pedro Aguiar, Antonio M. Pascoal, and Michael Athans
Further Results on Plant Parameter Identification using Continuous-Time Multiple-Model Adaptive Estimators
Proc. of CDC’09 - 48th IEEE Conference on Decision and Control, Shanghai, China, Dec. 2009.

João Saúde and A. Pedro Aguiar
Single Beacon Acoustic Navigation for an AUV in the Presence of Unknown Ocean Currents
Proc. of MCMC’09 - 8th Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil, Sep. 2009.

M. Bayat, F. Vanni and A. Pedro Aguiar
Online Mission Planning for Cooperative Target Tracking of Marine Vehicles
Proc. of MCMC’09 - 8th Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil, Sep. 2009.

Francisco C. Teixeira, A. Pedro Aguiar, and António M. Pascoal
Nonlinear adaptive depth tracking and attitude control of an underwater towed vehicle
Proc. of MCMC’09 - 8th Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil, Sep. 2009.

P. Maurya, A. Pedro Aguiar, and António M. Pascoal
Marine Vehicle Path Following Using Inner-Outer Loop Control,”
Proc. of MCMC’09 - 8th
Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil, Sep.2009.

Andreas J. Häusler, Reza Ghabcheloo, António M. Pascoal, A. Pedro Aguiar, Isaac I. Kaminer, and Vladimir N. Dobrokhodov
Temporally and Spatially Deconflicted Path Planning for Multiple Autonomous Marine Vehicles
Proc. of MCMC’09 - 8th Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil, Sep. 2009.

A. Aguiar, J. Almeida, M. Bayat, B. Cardeira, R. Cunha, A. Häusler, P. Maurya, A. Oliveira, A. Pascoal, A. Pereira, M. Rufino, L. Sebastião, C. Silvestre, and F. Vanni
Cooperative Control of Multiple Marine Vehicles: Theoretical Challenges and Practical Issues
Proc. of MCMC’09 - 8th Conference on Manoeuvring and Control of Marine Craft, Guarujá (SP), Brazil, Sep. 2009.

A Vahid Hassani, A. Pedro Aguiar, António M. Pascoal, and Michael Athans
A Performance Based Model-Set Design Strategy for Multiple Model Adaptive Estimation
Proc. of ECC'09 – European Control Conference, Budapest, Hungary, Aug. 2009.

R. Ghabcheloo, I. Kaminer, A. Pedro Aguiar, A. M. Pascoal
A General Framework for Multiple Vehicle Time-Coordinated Path Following Control
Proc. of ACC'09 – American Control Conference, St. Louis, Missouri, Jun. 2009.

Andreas J. Häusler, Reza Ghabcheloo, Isaac Kaminer, António M. Pascoal, and A. Pedro Aguiar
Path Planning for Multiple Marine Vehicles
Proc. of OCEANS’09 – IEEE, Bremen, Germany, May 2009.

Casalino, Turetta, Simetti
A Three-Layered Architecture for Real Time Path Planning and Obstacle Avoidance for Surveillance USVs Operating in Harbour Fields.
OCEANS 09

Caiti, Casalino, Munaf`o, Turetta.
Cooperating AUV Teams: Adaptive Area Coverage With Space-Varying Communication Constraints.
OCEANS 09

Casalino, Turetta, Simetti.
Real Time Path Planning and Obstacle Avoidance for Security Related USVs Operating in Harbor Fields.
COMPIT 09

Parlangeli, Ostuni, Mancarella, Indiveri.
A Motion Planning Algorithm for Smooth Paths of Bounded Curvature and Curvature Derivative.
MED 2009

Antonelli, Arrichiello, Chiaverini.
Swarm of Robots Flocking via the Null-Space-based Behavioral Control.
ICAL 2009

Zizzari, Indiveri, Bibuli, Bruzzone, Caccia.
Path Following Guidance Control with Bounded Control Effort: Application to the Charlie Unmanned Surface Vehicle.
MCMC 2009

Simetti, Turetta, Casalino, Storti, Cresta.
Toward the Use of a Team of ASV’s for Civilian harbour Protection: Real-Time path planning with avoidance of multiple moving obstacles.
IROS 2009

Heiko Buelow, Andreas Birk and Vikram Unnithan
Online Generation of an Underwater Photo Map with Improved Fourier Mellin based Registration
International OCEANS Conference, Bremen, Germany, IEEE Press, 2009

Andreas Birk, Gianluca Antonelli, Antonio Pascoal, and Andrea Caffaz
Cognitive Cooperative Control for Autonomous Underwater Vehicles
Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Budapest, Hungary, 2009