2015 (v1)
Publication
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2016 (v1)Publication
The task priority based control is a formalism which allows to create complex control laws with nice invariance properties, i.e. lower priority tasks do not affect the execution of higher priority ones. However, the classical task priority framework (Siciliano and Slotine) lacked the ability of enabling and disabling tasks without causing...
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2017 (v1)Publication
Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the...
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2009 (v1)Publication
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2010 (v1)Publication
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2016 (v1)Publication
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2016 (v1)Publication
This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage...
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2008 (v1)Publication
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2016 (v1)Publication
The paper illustrates the basic ideas and relevant algorithmic developments underlying the proposal for a task-priority based control approach to distributed data-driven ocean sampling applications. This approach is deemed allowing a better formalization of the overall motion problem of the involved team of agents; that apart the ultimate...
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2009 (v1)PublicationReal Time Path Planning and Obstacle Avoidance for Security Related USVs Operating in Harbour Fields
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2011 (v1)Publication
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2012 (v1)Publication
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2010 (v1)Publication
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2010 (v1)Publication
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2011 (v1)Publication
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2014 (v1)Publication
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2011 (v1)PublicationSimulative Validations of RT2: A Real-Time Ray-Tracing Technique for Acoustic-based Range Evaluation
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2009 (v1)Publication
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2016 (v1)Publication
This paper addresses the communication requirements needed within the MARIS project, which involves several Italian institutions. The goal of the MARIS project is to develop technologies for autonomous underwater interventions, in particular to enable two floating manipulators in executing joint grasping and transportation activities. In this...
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2010 (v1)Publication
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