@conference {3748, title = {An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test}, booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR)}, year = {2019}, doi = {10.1109/ICORR.2019.8779550}, author = {C. M. Kanzler and M. G. Catalano and C. Piazza and A. Bicchi and R. Gassert and O. Lambercy} } @conference {3796, title = {Optimal Active Sensing with Process and Measurement Noise}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, month = {May}, pages = {2118-2125}, abstract = {

The goal of this paper is to increase the estimation performance of an Extended Kalman Filter for a nonlinear differentially flat system by planning trajectories able to maximize the amount of information gathered by onboard sensors in presence of both process and measurement noises. In a previous work, we presented an online gradient descent method for planning optimal trajectories along which the smallest eigenvalue of the Observability Gramian (OG) is maximized. As the smallest eigenvalue of the OG is inversely proportional to the maximum estimation uncertainty, its maximization reduces the maximum estimation uncertainty of any estimation algorithm employed during motion. However, the OG does not consider the process noise that, instead, in several applications is far from being negligible. For this reason, this paper proposes a novel solution able to cope with non-negligible process noise: this is achieved by minimizing the largest eigenvalue of the a posteriori covariance matrix obtained by solving the Continuous Riccati Equation as a measure of the total available information. This minimization is expected to maximize the information gathered by the outputs while, at the same time, limiting as much as possible the negative effects of the process noise. We apply our method to a unicycle robot. The comparison between the novel method and the one of our previous work (which did not consider process noise) shows significant improvements in the obtained estimation accuracy.

}, keywords = {continuous Riccati equation, covariance matrices, eigenvalues and eigenfunctions, Estimation, estimation algorithm, gradient methods, inversely proportional, Kalman Filter, Kalman filters, largest eigenvalue, maximum estimation uncertainty, measurement noise, mobile robots, noise measurement, nonlinear differentially flat system, nonlinear filters, nonnegligible process noise, observability, observability gramian, OG, onboard sensors, online gradient descent method, optimal active sensing, optimal trajectories, optimisation, path planning, posteriori covariance matrix, Riccati equations, Robot sensing systems, Trajectory, trajectory control, unicycle robot}, doi = {10.1109/ICRA.2018.8460476}, url = {https://ieeexplore.ieee.org/document/8460476}, author = {M. Cognetti and P Salaris and P. Robuffo Giordano} } @conference {3157, title = {Online Model Based Estimation of Complete Joint Stiffness of Human Arm}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @article {3138, title = {Online Model Based Estimation of Complete Joint Stiffness of Human Arm}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2017}, month = {01/2018}, pages = {84 - 91}, abstract = {

The endpoint stiffness of the human arm has been long recognized as a key component ensuring the quasi-static stability of the arm physical interactions with the external world. Similarly, the understanding of the joint stiffness behavior can provide complementary insights, e.g., on the underlying stiffness regulation principles across different joints including the nullspace stiffness profiles. Traditionally, the experimental modeling and estimation of the human arm joint stiffness is achieved by the transformation of the identified arm endpoint stiffness to the joint coordinates. Due to the underlying kinematic redundancy, the obtained joint stiffness matrix is rank-deficient which implies that the information in the joint stiffness matrix is incomplete. While in robotics applications this issue can be addressed by designing a desired nullspace stiffness behavior through appropriate projections, the use of a similar technique in the identification of human joint stiffness profile is meaningless. Hence, the first objective of this work is to address this issue by developing a novel technique to identify the complete and physiologically meaningful joint stiffness of human arm. Second, we present a model-based online estimation technique to estimate the seven-dimensional complete joint stiffness in various arm poses and activation levels of the two dominant arm muscles that correspond to the geometric and volume modifications of the joint stiffness profile, respectively.

}, keywords = {Haptics, Robotics}, doi = {10.1109/LRA.2017.2731524}, url = {http://ieeexplore.ieee.org/document/7990237/}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @conference {2504, title = {Open Biomedical Engineering Education in Africa}, booktitle = {The 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = { Milan, Italy, 25-29 August 2015}, keywords = {Bioengineering}, author = {A. Ahluwalia and D. Atwine and C. De Maria and C. Ibingira and E. Kipkorir and F. Kiros and J. Madete and D. Mazzei and E. Molyneux and K. Moonga and M. Moshi and M. Nzomo and V. Oduol and J. Okuonzi} } @conference {2337, title = {Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {5675 - 5681}, address = {Seattle, USA, 25 - 30 May}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2015.7139994}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2183, title = {Object shaping with a sonotrode}, booktitle = { 25th symposium on Free Form Fabrication}, year = {2014}, keywords = {Robotics}, author = {Tilli, J. and G Fantoni and Currenti, S. and Razionale, A. V.} } @conference {2190, title = {Open Source Biomedical Engineering for Sustainability in African Healthcare: Combining Academic Excellence with Innovation}, booktitle = {ICDS 2014, The Eighth International Conference on Digital Society}, year = {2014}, pages = {48{\textendash}53}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei and A. Ahluwalia} } @conference {2151, title = {Open Source VSA-CubeBots for Rapid Soft Robot Prototyping }, booktitle = { Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems}, year = {2014}, address = { July 12, 2014, Berkeley, California }, keywords = {Robotics}, author = {K. Melo and M. Garabini and G. Grioli and M. G. Catalano and L. Malagia and A. Bicchi} } @conference {1437, title = {Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2477 - 2484}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630914 }, author = {R. Incaini and L. Sestini and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1447, title = {Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {516 - 522}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630623}, author = {L. Chen and M. Garabini and M. Laffranchi and N. Kashiri and N G Tsagarakis and A. Bicchi and D. G. Caldwell} } @conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @article {1472, title = {Oscillations of Heart Rate and Respiration Synchronize During Affective Visual Stimulation}, journal = {Information Technology in Biomedicine, IEEE Transactions on}, volume = {16}, year = {2012}, pages = {683{\textendash}690}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @booklet {11, title = {Optimal synthesis for nonholonomic vehicles with constrained side sensors}, year = {2011}, note = {

Technical Report

}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and A. Bicchi} } @conference {GPBSB11, title = {Optimality Principles in Variable Stiffness Control: the VSA Hammer}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {3770 - 3775}, address = {S. Francisco, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {FMEBG, title = {Observability and Controllability Detection of Multi-Agent Systems through Decentralized Laplacian Spectrum Estimation}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {5775 - 5780}, keywords = {Embedded Control, Robotics}, author = {M. Franceschelli and S. Martini and M. Egerstedt and A. Bicchi and A. Giua} } @conference {PFB_2010, title = {On Optimal Cooperative Patrolling}, booktitle = {IEEE Conf. on Decision and Control}, year = {2010}, month = {December}, address = {Atlanta, GA, USA}, keywords = {Robotics}, author = {F. Pasqualetti and A. Franchi and F. Bullo} } @conference {SBFGB08, title = {Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking}, booktitle = {IROS}, year = {2008}, month = {22-26 Sept}, pages = {1673-1680}, abstract = {

This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and L. Greco and A. Bicchi} } @article {1553, title = {Optimization of PAM Scaffolds for Neural Tissue Engineering: Preliminary Study on an SH-SY5Y Cell Line}, journal = {TISSUE ENGINEERING, PART A}, year = {2008}, keywords = {Bioengineering}, issn = {1937-3341}, author = {KULLENBERG, J and ROSATINI, F and G. Vozzi and BIANCHI, F and A. Ahluwalia and C. Domenici} } @inbook {ISER04, title = {Optimal Mechanical/Control Design for Safe and Fast Robotics}, booktitle = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics}, series = {Springer Tracts in Advanced Robotics}, volume = {21}, year = {2006}, pages = {311 - 320}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

The problem to ensure safety of performant robot arms during task execution was previously investigated by authors. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi}, editor = {Marcelo H. Ang, Oussama Khatib} } @inbook {BSSTB06, title = {Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI}, booktitle = {European Robotics Symposium 2006}, series = {Springer Tracts in Advanced Robotics}, volume = {22}, year = {2006}, pages = {109 - 118}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Boccadamo and R. Schiavi and S. Sen and G. Tonietti and A. Bicchi}, editor = {H. Christensen} } @inbook {KRLOCHNI06, title = {Output feedback control of relative translation in a leader-follower spacecraft formation}, series = {Lecture Notes in Control and Information Sciences}, year = {2006}, pages = {131{\textendash}151}, publisher = {Springer Verlag}, organization = {Springer Verlag}, chapter = {in Workshop on Group Coordination and Cooperative Control}, address = {Tromsoe, Norway}, abstract = {

We present a solution to the problem of tracking relative translation in a leader-follower spacecraft formation using feedback from relative position only. Three controller configurations are presented which enables the follower spacecraft to track a desired reference trajectory relative to the leader. The controller design is performed for different levels of knowledge about the leader spacecraft and its orbit. The first controller assumes perfect knowledge of the leader and its orbital parameters, and renders the equilibrium points of the closed-loop system uniformly globally asymptotically stable (UGAS). The second controller uses the framework of the first to render the closed-loop system uniformly globally practically asymptotically stable (UGPAS), with knowledge of bounds on some orbital parameters, only. That is, the state errors in the closed-loop system are proved to converge from any initial conditions to a ball in close vicinity of the origin in a stable way, and this ball can be diminished arbitrarily by increasing the gains in the control law. The third controller, based on the design of the second, utilizes adaptation to estimate the bounds that were previously assumed to be known. The resulting closed-loop system is proved to be uniformly semiglobally practically asymptotically stable (USPAS). The last two controllers assume boundedness only of orbital perturbations and the leader control force. Simulation results of a leader-follower spacecraft formation using the proposed controllers are presented.

}, keywords = {Robotics}, author = {R. Kristiansen and A. Lor and A. Chaillet and P. J. Nicklasson} } @article {pietrini2005ois, title = {Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale}, journal = {Neurological Sciences}, volume = {26}, year = {2005}, pages = {S81{\textendash}S83}, keywords = {Haptics}, author = {P. Pietrini and E. Ricciardi and C. Gentili and D. Bonino and N. Vanello and L. Sani and S. Danti and M. Guazzelli and A. Bicchi and TE Vecchi} } @article {BCPT03, title = {On-line Robotic Experiments for Tele-Education at the University of Pisa}, journal = {Int. Journal of Robotic Systems}, volume = {22}, number = {4}, year = {2005}, note = {

Special Issue on Internet \& Online Robots for Telemanipulation

}, pages = {217-230}, abstract = {

In this paper we describe work being done at our department to make the Robotics Laboratory accessible to student and colleagues, to execute and watch real-time experiments at any time and from anywhere. We describe few different installations, and highlight the underlying philosophy, wich is aimed at enlarging the lab in all the dimensions of space, time, and available resources, through the use of Internet technologies.

}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and L. Pallottino and G. Tonietti} } @conference {SRPB-05, title = {Optic and tactile flow: does a supramodal response exist?}, booktitle = {International multisensory research forum, 6th Annual meeting}, year = {2005}, month = {June}, address = {Rovereto, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and E. Ricciardi and P. Pietrini and A. Bicchi} } @article {1280, title = {Osmolality control by inhalation or micro-infusions?}, journal = {WIT Transactions on Biomedicine and Health}, volume = {9}, year = {2005}, pages = {559-570}, abstract = {

A model of osmolarity is proposed in this paper. This model represents a typical example of embedded physiological feedback control in physiology. Extensive simulation tests with a compartmental approach (using the specific software SAAM II) have been performed, showing that the model agrees with the findings published in the literature of endocrine physiology and with medical practice. As a relevant example of application of the models, the diabetes insipidus pathology was considered. In the case of central insipidus diabetes, it is possible to predict effects of a therapy, giving out synthetic ADH (where ADH is the antidiuretic hormone, the vasopressine) for restoring homeostatic conditions. Two kinds of therapy were considered: supply by inhalation or by microinfusion. In the first case, we evaluated the effect of inhalation using a two compartmental model to describe the effect of commercial drug (minirin, that means desmopressine acetate), and compared results with data existing in the literature. In the second case, the aim was to have a helping tool in the study and development of micro-infusors with sensors and controllers embedded so as to be able to release a controlled drug quantity, accorded to the patient and optimized for avoiding hyper- or ipo-concentrations of plasma ADH hormone. In this case, we used a mono-compartmental model, considering that the drug is infused directly in the plasma; results are again compared with data existing in the literature and with experimental data.

}, keywords = {Bioengineering}, author = {Ciofani, G. and A. Landi and D. Mazzei and A. Mazzoldi} } @conference {MOCHLOBEifac05, title = {Output feedback control via adaptive observers with persistency of excitation}, booktitle = {Proc. 16th. IFAC World Congress}, year = {2005}, month = {July}, address = {Praha, Tcheck Republic}, abstract = {

We address the problem of adaptive observer design for nonlinear time-varying systems which can be transformed in the so-called output feedback form (linear in the unmeasured variables). The observer design follows up previous work on adaptive observers for linear systems and has the form of the classical Luenberger observers for linear systems except that the observer gain is time-varying. A specific form of persistency of excitation is imposed to guarantee the convergence of the (state and parameter) estimation errors. As for the output feedback loop, we proceed using a cascade approach, i.e., we impose the appropriate conditions so that the closed loop system has a cascaded structure. Uniform global asymptotic stability may then be concluded based on cascaded systems theory.

}, keywords = {Robotics}, author = {De Leon Morales, J. and A. Chaillet and A. Lor and G. Besancon} } @inbook {PLPB02, title = {Optimal control of quantized input systems}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {351-363}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Leonardi and L. Pallottino and A. Bicchi}, editor = {C. Tomlin and M. Greenstreet} } @conference {PPB02, title = {On Optimal Steering of Quantized Input Systems}, booktitle = {Proceedings of the NSF/ONR Workshop on Future Directions in Nonlinear Control of Mechanical Systems}, year = {2002}, address = {Urbana, IL.}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Pallottino 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} } @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} } @inbook {CB00, title = {Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy}, booktitle = {Nonlinear Control in the Year 2000}, series = {LNCIS}, volume = {258}, year = {2000}, pages = {315-330}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Localization and Mapping, Nonlinear Control Systems}, author = {F. Conticelli and A. Bicchi}, editor = {A. Isidori and F. F. Lamnabhi-Lagarrigue and W. Respondek} } @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} } @conference {SBB00, title = {Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {April}, pages = {2473-2478}, address = {San Francisco, CA, USA}, keywords = {Robotics}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @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 {BCP99, title = {Optimal Design of Dynamic Multiaxis Force/Torque Sensors}, booktitle = {Proc. IEEE Int. Conference on Decision and Control}, year = {1999}, pages = {2981-2986}, abstract = {The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @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 {BPA98, title = {Optimization of Internal Forces in Force-Closure Grasps}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo and G. Antognetti} } @conference {BCP97, title = {Optimal Design of Dynamic Force/Torque Sensors}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @article {BC94, title = {Optimal Design of Multivariate Sensors}, journal = {Measurement Science and Technology (Institute of Physics Journal {\textquoteleft}{\textquoteleft}E{\textquoteright}{\textquoteright})}, volume = {5}, year = {1994}, pages = {319-332}, keywords = {Robot Hands, Sensors}, author = {A. Bicchi and G. Canepa} } @conference {B92-ACC, title = {Optimal Control of Robotic Grasping}, booktitle = {Proc. American Control Conference}, year = {1992}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi} }