@conference {3562, title = {A Study on Force-Based Collaboration in Flying Swarms}, booktitle = {Proc. of Swarm Intelligence}, year = {2018}, pages = {3{\textendash}15}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-00533-7}, author = {C. Gabellieri and M. Tognon and L. Pallottino and A. Franchi} } @conference {2338, title = {Sample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands pacman walkman

}, pages = {2522 - 2527}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139537}, author = {M. Bonilla and E. Farnioli and L. Pallottino and A. Bicchi} } @conference {1759, title = {Shortest paths for wheeled robots with limited Field-Of-View: introducing the vertical constraint}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {5143 - 5149}, address = {Florence, Italy}, keywords = {Robotics}, author = {P Salaris and A. Cristofaro and L. Pallottino and A. Bicchi} } @conference {1757, title = {A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {3665 - 3670}, address = {Florence, Italy}, keywords = {Robotics}, author = {A Settimi and L. Pallottino} } @article {1236, title = {Shortest Paths for Finned, Winged, Legged and Wheeled Vehicles with Side-Looking Sensors}, journal = {International Journal of Robotics Research}, volume = {31}, year = {2012}, pages = {997-1017}, keywords = {Robotics}, doi = {10.1177/0278364912446005}, author = {P Salaris and L. Pallottino and A. Bicchi} } @conference {SPB11, title = {Shortest Paths With Side Sensor}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {4875 - 4882}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and A. Bicchi} } @article {SPFB10, title = {Shortest Paths for a Robot with Nonholonomic and Field-of-View Constraints}, journal = {IEEE Trans. on Robotics}, volume = {26}, number = {2}, year = {2010}, pages = {269 - 281}, keywords = {Embedded Control, Robotics}, author = {P Salaris and D. Fontanelli and L. Pallottino and A. Bicchi} } @conference {PSFB-CDC09, title = {Shortest Paths for Non-holonomic Vehicles with Limited Field of View Camera}, booktitle = {Proc. IEEE International Conference on Decision and Control}, year = {2009}, month = {December, 16 - 1}, pages = {8434 - 8439}, address = {Shangai, China}, abstract = {

This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a pinhole camera rigidly fixed with limited Field-Of-View (FOV). We preliminarily provide an alphabet of optimal control words and then we demonstrate how to obtain the partition induced by shortest path in the vehicle plane. The word univocally associated to a region encodes the shortest path from any starting point in that region to the goal point of the mobile robot without violating the FOV constraints.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and P Salaris and D. Fontanelli and A. Bicchi} } @conference {DFPSSDB06, title = {A scalable platform for safe and secure decentralized traffic management of multiagent mobile systems}, booktitle = {ACM Workshop on Real-World Wireless Sensor Networks}, year = {2006}, abstract = {

In this paper we describe the application of wireless sensor networking techniques to address the realization of a safe and secure decentralized traffic management system. We consider systems of many heterogeneous autonomous vehicles moving in a shared environment. Each vehicle is assumed to have different and possibly unspecified tasks, but they cooperate to avoid collisions. We are interested in designing a scalable architecture capable of accommodating a very large and dynamically changing number of vehicles, guaranteeing their safety (i.e., collision avoidance), the achievement of their goals, and security against potential adversaries. By properly distributing and revoking cryptographic keys we are able to protect communications from an external adversary as well as to detect non-cooperative, possibly malicious vehicles and trigger suitable countermeasures. In our architecture, scalability is obtained by decentralization, i.e. each vehicle is regarded as an autonomous agent capable of processing information concerning its own state and the state of only a fixed, small number of {\textquoteleft}{\textquoteleft}neighboring{\textquoteright}{\textquoteright} agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and A. Fagiolini and I. Savino and L. Pallottino and R. Schiavi and G. Dini and A. Bicchi} } @conference {PBP02, title = {Safety of a decentralized scheme for Free-Flight ATMS using Mixed Integer Linear Programming}, booktitle = {American Control Conference}, year = {2002}, month = {May}, pages = {742-747}, abstract = {

In this paper we consider policies for free-flight management of air traffic. We consider instantaneous and bounded heading angle deviation as conflict avoidance maneuvers. The corresponding model, resulting in a Mixed Integer Linear Programming (MILP) problem allow to solve both conflict detection and conflict resolution problems. The developed algorithm proved successful in a centralized implementation with a large number of cooperating aircraft. However, the application of such algorithm to a Free Flight environment, where cooperation can only be expected from neighboring aircraft, poses many challenges. We consider a model of the decentralized conflict resolution strategy that is based on a hybrid system, and sufficient conditions under which a 3-aircraft Free Flight MILP-based scheme guarantees safety of flight are provided.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and A. Bicchi and S. Pancanti} } @conference {PPB00, title = {Shortest paths for teams of vehicles}, booktitle = {Proc. WAC Int. Symp. on Robotics and Applications}, year = {2000}, month = {June}, pages = {124-129}, abstract = {

In this paper we consider the problem of planning motions of a team of vehicles that move in a planar environment. 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. When manipulating a common object cooperatively, further constraints apply. For such systems, we consider the problem of planning optimal paths in the absence of obstacles.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and G. Parlangeli and A. Bicchi} }