00479nas a2200133 4500008004100000245011200041210006900153300001400222490000700236100001700243700001700260700001900277856004900296 2021 eng d00aOn Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation0 aNull SpaceBased Inverse Kinematics Techniques for Fleet Manageme a257 - 2740 v371 aMannucci, A.1 aCaporale, D.1 aPallottino, L. uhttps://ieeexplore.ieee.org/document/919432101839nas a2200205 4500008004100000020002200041245009800063210006900161260004400230300001200274520117900286100001901465700001801484700001601502700001601518700002101534700001401555700001601569856004801585 2020 eng d a978-3-030-35032-100aNetworked Systems Theory: Distributed Algorithms for Optimal Cooperation of Dynamical Systems0 aNetworked Systems Theory Distributed Algorithms for Optimal Coop aChambSpringer International Publishing a25–373 a

Interconnection of a large number of systems has become a reality from a technological point of view although intelligent connection among smart systems still presents a challenge in several application scenarios. More specifically, when many smart devices must accomplish an overall goal based on information exchanges with other devices, several factors render this task a real challenge, such as, knowing what specific information to exchange, with whom, how to go about it, and when this exchange will occur. Moreover, interconnected devices may require access to or the use of common resources, making the management of the overall system even more complex. The management of shared resources usually sets the goal of optimizing usage while guaranteeing achievement of the overall goals. Algorithms or protocols that grant the device a correct, safe and optimized access to resources play a fundamental role. In this chapter we will provide those algorithms that are fundamental in several different application scenarios that allow for the development of more complex algorithms in order to manage interconnected systems in the management of shared resources.

1 aPallottino, L.1 aCrisostomi, E1 aGhaddar, B.1 aHausler, F.1 aNaoum-Sawaya, J.1 aRusso, G.1 aShorten, R. uhttps://doi.org/10.1007/978-3-030-35032-1_302171nas a2200157 4500008003900000245008200039210006900121260000900190300001600199520168700215653001301902100001501915700001901930700001501949856004901964 2017 d00aNoninteracting Constrained Motion Planning and Control for Robot Manipulators0 aNoninteracting Constrained Motion Planning and Control for Robot bIEEE a4038 - 40433 a

In this paper we present a novel geometric approach
to motion planning for constrained robot systems.
This problem is notoriously hard, as classical sampling-based
methods do not easily apply when motion is constrained in
a zero-measure submanifold of the configuration space. Based
on results on the functional controllability theory of dynamical
systems, we obtain a description of the complementary spaces
where rigid body motions can occur, and where interaction
forces can be generated, respectively. Once this geometric setting
is established, the motion planning problem can be greatly
simplified. Indeed, we can relax the geometric constraint, i.e.,
replace the lower–dimensional constraint manifold with a fulldimensional
boundary layer. This in turn allows us to plan
motion using state-of-the-art methods, such as RRT*, on points
within the boundary layer, which can be efficiently sampled. On
the other hand, the same geometric approach enables the design
of a completely decoupled control scheme for interaction forces,
so that they can be regulated to zero (or any other desired
value) without interacting with the motion plan execution.
A distinguishing feature of our method is that it does not
use projection of sampled points on the constraint manifold,
thus largely saving in computational time, and guaranteeing
accurate execution of the motion plan. An explanatory example
is presented, along with an experimental implementation of the
method on a bimanual manipulation workstation.

10aRobotics1 aBonilla, M1 aPallottino, L.1 aBicchi, A. uhttp://ieeexplore.ieee.org/document/7989463/01896nas a2200169 4500008003900000245013800039210006900177260004400246300001400290490006900304520122000373653002101593653001301614100001401627700001901641856006601660 2016 d00aNoStop: An Open Source Framework for Design and Test of Coordination Protocol for Asymmetric Threats Protection in Marine Environment0 aNoStop An Open Source Framework for Design and Test of Coordinat aRome, Italy, June 15-16, 2016bSpronger a176 - 1850 v9991 of the book series Lecture Notes in Computer Science (LNCS)3 a

NoStop is an open source simulator dedicated to distributed and cooperative mobile robotics systems. It has been designed as a framework to design and test multi–agent collaborative algorithms in terms of performance and robustness. The particular application scenario of a team of autonomous guards that coordinate to protect an area from asymmetric threat is considered. NoStop system is an integrated tool able to both evaluate the coordination protocol performance and to design the team of guards involved in the asymmetric threat protection. Moreover, NoStop is designed to validate robustness of coordination protocol through the use of a remote pilot that control the intruder motion to escape from the guards that monitor the area and accomplish its mission. The project core is a simulation server with a dynamic engine and a synchronization facility. Different coordination protocol can be designed and easily integrated in NoStop. The framework is fully integrated with the Robot Operating System (ROS) and it is completed by a control station where the remote pilot moves the intruder following the guards evolution in a 3D viewer.

10aEmbedded Control10aRobotics1 aNardi, S.1 aPallottino, L. uhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_1401656nas a2200145 4500008003900000245009700039210006900136520109600205653002101301653001301322100001201335700001801347700001901365856012601384 2011 d00aNeighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study0 aNeighbourhood Monitoring for Decentralised Coordination in Multi3 a

Decentralized coordination of multi-agents requires that every agent reliably and efficiently disseminates its state to neighbours
through a wireless network. If dissemination is unreliable, safety issues may ensue. Unfortunately, the broadcast service of
wireless network is efficient but unreliable (e. g., IEEE 802.11). The Neighbourhood Monitoring Protocol (NMP) [1] is an efficient
and scalable protocol that assures a reliable state dissemination between mobile agents, under some conditions of channel
utilization. NMP runs on top of IEEE 802.11. In this paper we evaluate NMP with a specific decentralized collision avoidance
algorithm based on the GRP policy [2]. The algorithm is particularly challenging because it accommodates an arbitrary number
non-holonomic agents. We show that NMP allows the system to scale well and provides a very high state delivery ratio even if it
operates on the unreliable broadcast service like 802.11. Doing so, NMP assures the correct state information to the collision
avoidance algorithm.

10aEmbedded Control10aRobotics1 aDini, G1 aGiurlanda, F.1 aPallottino, L. uhttp://95.110.227.16/publications/neighbourhood-monitoring-decentralised-coordination-multi-agent-systems-case-study.html