@inbook {BSB01, title = {Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {2034}, year = {2001}, pages = {133-146}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and P. Sou{\`e}res and A. Bicchi}, editor = {Di Benedetto, M. D. and A. L. Sangiovanni-Vincentelli} } @conference {PFB01-AIAA, title = {Mixed Integer Programming for Aircraft Conflict Resolution}, booktitle = {AIAA Guidance, Navigation and Control Conference and Exhibit}, year = {2001}, abstract = {

This paper considers the problem of solving conflicts between several aircraft. Considering the case when only aircraft heading changes are allowed, we propose a formulation of the multi-aircraft conflict avoidance problem as a mixed-integer linear program, whose solution may be obtained within seconds with standard optimization software. While such a problem formulation and solution is still unsuitable for operational implementation, it may be used as part of a real or fast-time simulation.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {L. Pallottino and E. Feron and A. Bicchi} } @conference {LMB01, title = {Optimal exploratory paths for a mobile rover}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2001}, pages = {2078-2083}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Lorussi and A. Marigo and A. Bicchi} } @article {SBB01, title = {Optimal feedback control for line tracking with a bounded-curvature vehicle}, journal = {Int. Journal of Control}, volume = {74}, number = {10}, year = {2001}, month = {July}, pages = {1009-1019}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @book {NSBV01, title = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Autonomous Vehicles, Robot Arms}, url = {http://www.springer.com/?SGWID=6-102-0-0-0}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @conference {BBCRS00, title = {Hybrid Tracking Control for Spark-Ignition Engines}, booktitle = {Proc. 39th IEEE Conference on Decision and Control}, volume = {4}, year = {2000}, month = {December}, pages = {3126-31}, address = {Sydney, NSW, Australia}, keywords = {Automotive, Autonomous Vehicles, Hybrid and Embedded Control Systems}, author = {A. Balluchi and A. Bicchi and C. Caterini and C. Rossi and A. L. Sangiovanni-Vincentelli} } @conference {BCP00, title = {Localization Of Vehicles By Sensory Information}, booktitle = {Proc. WAC Int. Symp. on Robotics and Applications}, year = {2000}, month = {June}, pages = {68-73}, keywords = {Autonomous Vehicles, Localization and Mapping, Nonlinear Control Systems, Sensors}, author = {A. Bicchi and F. Conticelli and D Prattichizzo} } @conference {CCB00, title = {Nonholonomic Kinematics and Dynamics of the Sphericle}, booktitle = {Proc. IEEE Int. Symp. Intelligent Robots and Systems}, year = {2000}, pages = {805-810}, address = {Takamatsu, Japan}, keywords = {Autonomous Vehicles, Nonlinear Control Systems, Spherical Vehicles}, author = {C. Camicia and F. Conticelli and A. Bicchi} } @conference {CBB00, title = {Observability and nonlinear observers for mobile robot localization}, booktitle = {IFAC Int. Symp. on Robot Control, SyRoCo 2000}, year = {2000}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Conticelli and A. Bicchi and A. Balestrino} } @conference {PB00, title = {On the optimal conflict resolution for air traffic control}, booktitle = {Proc. IEEE Intelligent Transportation Systems}, year = {2000}, pages = {167-172}, address = {Dearborn, MI}, abstract = {

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with velocity constraints and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a simplified aircraft conflict scenario are provided.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {L. Pallottino and A. Bicchi} } @article {BP00-TITS, title = {On optimal cooperative conflict resolution for air traffic management systems}, journal = {IEEE Trans. Intelligent Transportation Systems}, volume = {1}, number = {4}, year = {2000}, month = {December}, pages = {221-231}, abstract = {

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and L. Pallottino} } @inbook {BP00-WAFR, title = {Optimal planning for coordinated vehicles with bounded curvature}, booktitle = {Algorithmic and Computational Robotics: New Directions}, volume = {1}, year = {2000}, note = {

The Workshop on Algorithmic Foundations of Robotics

}, pages = {167-172}, publisher = {A K Peters, MA}, organization = {A K Peters, MA}, abstract = {

In this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and L. Pallottino}, editor = {B. Donald and K. Lynch and D. Rus} } @conference {BBPS00, title = {Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins{\textquoteright} Vehicles}, booktitle = {Proc. 39th IEEE Conference on Decision and Control}, volume = {1}, year = {2000}, note = {

(invited paper)

}, month = {December}, pages = {581-6}, address = {Sydney, Australia}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi and B. Piccoli and P. Sou{\`e}res} } @conference {CPGB00, title = {Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, pages = {2771-2776}, address = {San Francisco, CA, USA}, keywords = {Autonomous Vehicles, Nonlinear Control Systems, Sensors and Observers, visual servoing}, author = {F. Conticelli and D Prattichizzo and F. Guidi and A. Bicchi} } @conference {BMPPPTS98, title = {Decentralized Air Traffic Management Systems: Performance and Fault Tolerance}, booktitle = {Proc. IFAC Workshop on Motion Control}, year = {1998}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and A. Marigo and G. Pappas and M. Pardini and G. Parlangeli and C. Tomlin and S. Sastry} } @conference {PMBV98-CCA, title = {Geometric Disturbance Decoupling Control of Vehicles with Active Suspensions}, booktitle = {Proc. IEEE Conf. on Control Applications}, year = {1998}, pages = {253-257}, keywords = {Automotive, Autonomous Vehicles}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BPMB98, title = {On the observability of mobile vehicles localization}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, abstract = {

In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non{\textendash}observable, while results obtained from differential{\textendash}geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {A. Bicchi and D Prattichizzo and A. Marigo and A. Balestrino} } @conference {PCPB97, title = {Interactive Benchmark for Planning Algorithms on the Web}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, pages = {399-404}, keywords = {Autonomous Vehicles, Navigation and Planning, Telelab}, author = {S. Piccinocchi and M. Ceccarelli and F. Piloni and A. Bicchi} } @conference {BBPG97, title = {Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and D Prattichizzo and A. Gorelli} } @conference {BBBC96, title = {Path Tracking Control for Dubin{\textquoteright}s Cars}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, keywords = {Autonomous Vehicles, Embedded Control, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi and A. Balestrino and G. Casalino} } @article {BCS96, title = {Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among Obstacles}, journal = {Journal of Intelligent and Robotic Systems}, volume = {16}, year = {1996}, pages = {387-405}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and G. Casalino and C. Santilli} } @conference {BBCP96, title = {Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy}, booktitle = {Proc. IFAC World Congress}, year = {1996}, keywords = {Autonomous Vehicles, Legged Vehicles}, author = {A. Balluchi and A. Bicchi and G. Casalino and D Prattichizzo} } @article {CABB95, title = {Closed loop steering of unicycle like vehicles via Lyapunov techniques}, journal = {IEEE Robotics and Automation Magazine}, volume = {2}, number = {1}, year = {1995}, month = {March}, pages = {27-35}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {G. Casalino and M. Aicardi and A. Bicchi and A. Balestrino} } @conference {SBCB95, title = {Nonholonomic, Bounded Curvature Path Planning In Cluttered Environments}, booktitle = {IEEE/INRIA Conf. on Emerging Technologies and Factory Automation}, year = {1995}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {C. Santilli and A. Bicchi and G. Casalino and A. Balestrino} } @conference {BCS95, title = {Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among obstacles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {1349-1354}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and G. Casalino and C. Santilli} } @conference {CABB94-VSLT, title = {Closed loop control of unicycle-like vehicles via Lyapunov techniques}, booktitle = {Proc. Int. Workshop on Variable Structure and Lyapunov Techniques}, year = {1994}, address = {Benevento}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {G. Casalino and M. Aicardi and A. Bicchi and A. Balestrino} } @conference {ACBB94, title = {Closed loop smooth steering of unicycle-like vehicles}, booktitle = {Proc. Int. Conf. Decision and Control}, year = {1994}, pages = {2455-2460}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {M. Aicardi and G. Casalino and A. Balestrino and A. Bicchi} } @conference {CABB94-SYROCO, title = {Closed-Loop Steering and Path Following for Unicycle-like Vehicles: a Simple Liapunov Function Based Approach}, booktitle = {Proc. IFAC Int. Symposium on Robot Control}, year = {1994}, publisher = {Elsevier Science, Oxford, UK}, organization = {Elsevier Science, Oxford, UK}, address = {Capri}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {G. Casalino and M. Aicardi and A. Bicchi and A. Balestrino} } @conference {BBB94-VSLT, title = {Time-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form}, booktitle = {Proc. Int. Workshop on Variable Structure and Lyapunov Techniques}, year = {1994}, address = {Benevento}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and A. Balestrino} }