DE PALMA D.

Measurement outliers can severely impact on the performance of conventional state estimators. The design of state estimators exhibiting enhanced robustness to measurement outliers is of interest in many areas of systems and control engineering. In marine robotics applications the issue is particularly relevant for navigation and model...

This paper tackles the problem of formation reconstruction for a team of vehicles based on the knowledge of the range between agents of a subset of the participants. One main peculiarity of the proposed approach is that the relative velocity between agents, which is a fundamental data to solve the problem, is not assumed to be known in advance...

This paper presents the modeling approach and the control framework developed for the ROBUST EU Horizon 2020 project. The goal of this project is to showcase technologies and methodologies for future autonomous mineral exploration missions in deep-sea sites with an Underwater Vehicle-Manipulator System. Within the aim to make the system...