Risultati di ricerca
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R. Costanzi, D. Fenucci, V. Manzari, A. Caiti: "Bearing-only AUV tracking performance: the effect of uncertainty in underwater nodes position", MTS/IEEE Oceans ’16, Monterey (USA), September 2016
We analyze a specific practical problem of bearing-only localization of a stationary target using noisy measurements from three sensors. It is well understood that the performance of any target position estimator is considerably influenced by the...
https://phd.dii.unipi.it/pubblicazioni/item/1215-r-costanzi,-d-fenucci,-v-manzari,-a-caiti-bearing-only-auv-tracking-performance-the-effect-of-uncertainty-in-underwater-nodes-position-,-mts-ieee-oceans-’16,-monterey-usa-,-september-2016.html -
D. Fenucci, A. Caffaz, R. Costanzi, E. Fontanesi, V. Manzari, L. Sani, M. Stifani, D. Tricarico, A. Turetta and A. Caiti: "WAVE: a wave energy recovery module for long endurance gliders and AUVs", MTS/IEEE Oceans ’16, Monterey (USA), September 2016
The WAVE (Wave-powered Autonomous Vehicle for marine Exploration) project involves the development of a novel hybrid oceanographic glider/Autonomous Underwater Vehicle (AUV) with power recharging capabilities from environmental renewable sources, aiming...
https://phd.dii.unipi.it/pubblicazioni/item/1214-d-fenucci,-a-caffaz,-r-costanzi,-e-fontanesi,-vincenzo-manzari,-l-sani,-m-stifani,-d-tricarico,-a-turetta-and-a-caiti-wave-a-wave-energy-recovery-module-for-long-endurance-gliders-and-auvs-,-mts-ieee-oceans-’16,-monterey-usa-,-sept-2016.html -
B. Allotta, A. Caiti, R. Costanzi, F. Fanelli, D. Fenucci, E. Meli, A. Ridolfi: "A new AUV navigation system exploiting unscented Kalman filter", Ocean Engineering, 2016
The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors...
https://phd.dii.unipi.it/pubblicazioni/item/1213-b-allotta,-a-caiti,-r-costanzi,-f-fanelli,-d-fenucci,-e-meli,-a-ridolfi-a-new-auv-navigation-system-exploiting-unscented-kalman-filter-,-ocean-engineering,-2016.html -
B. Allotta, A. Caiti, L. Chisci, R. Costanzi, F. Di Corato, C. Fantacci, D. Fenucci, E. Meli, A. Ridolfi: "An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles", Mechatronics, 2016
Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discrimi- nant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the...
https://phd.dii.unipi.it/publications/item/1212-b-allotta,-a-caiti,-l-chisci,-r-costanzi,-f-di-corato,-c-fantacci,-d-fenucci,-e-meli,-a-ridolfi-an-unscented-kalman-filter-based-navigation-algorithm-for-autonomous-underwater-vehicles-,-mechatronics,-2016.html -
F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti: "A Distributed, Passivity–Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network", IFAC Conference on Control Applications in Marine Systems (CAMS) '16, Trondheim (NO), September 2016
This paper presents a cooperative and distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communication constraints. Virtual couplings dene interaction control forces between...
https://phd.dii.unipi.it/pubblicazioni/item/1211-f-fabiani,-d-fenucci,-t-fabbri,-a-caiti-a-distributed,-passivity–based-control-of-autonomous-mobile-sensors-in-an-underwater-acoustic-network-,-cams’16-ifac-conference-on-control-applications-in-marine-systems,-trondheim-no-,-september-2016.html -
D. Fenucci, A. Caiti, E. Simetti and G. Casalino: "Underwater communication requirements in coordinated autonomous manipulation: The MARIS project," 2016 IEEE Third Underwater Communications and Networking Conference (UComms), Lerici, Italy, 2016
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...
https://phd.dii.unipi.it/pubblicazioni/item/1210-d-fenucci,-a-caiti,-e-simetti-and-g-casalino-underwater-communication-requirements-in-coordinated-autonomous-manipulation-the-maris-project,-2016-ieee-third-underwater-communications-and-networking-conference-ucomms-,-lerici,-italy,-2016.html -
F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti: “A Passivity–Based Framework for Coordinated Distributed Control of AUV teams: guaranteeing Stability in presence of Range Communication Constraints”, MTS/IEEE Oceans ’16, Monterey (USA), September 2016
This paper presents a cooperative, distance-based, distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communications constraints. The classic graph theory provides the essential tools to...
https://phd.dii.unipi.it/publications/item/1209-f-fabiani,-d-fenucci,-t-fabbri,-a-caiti-“a-passivity–based-framework-for-coordinated-distributed-control-of-auv-teams-guaranteeing-stability-in-presence-of-range-communication-constraints”,-mts-ieee-oceans-’16,-monterey-usa-,-september-2016.html -
B. Allotta, F. Bartolini, A. Caiti, R. Costanzi, F. Di Corato, D. Fenucci, et al.: “Typhoon at CommsNet 2013: experimental experience on AUV navigation and localization”, IFAC Annual Reviews in Control.
Abstract: This paper presents two acoustic-based techniques for Autonomous Underwater Vehicle (AUV) navigation within an underwater network of fixed sensors. The proposed algorithms exploit the positioning measurements provided by an Ultra-Short Base...
https://phd.dii.unipi.it/pubblicazioni/item/700-b-allotta,-f-bartolini,-a-caiti,-r-costanzi,-f-di-corato,-d-fenucci,-et-al-“typhoon-at-commsnet-2013-experimental-experience-on-auv-navigation-and-localization”,-ifac-annual-reviews-in-control,-accettato.html -
B. Allotta, A. Caiti, R. Costanzi, F. Di Corato, D. Fenucci, N. Monni, L. Pugi, A. Ridolfi: “Cooperative Localization of AUVs Via Acoustic Communication Networking - Field experience with the Typhoon vehicles”, Autonomous Robots SI
A cooperative localization procedure for a team of Autonomous Underwater Vehicles (AUVs) is described and experimentally evaluated. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable...
https://phd.dii.unipi.it/pubblicazioni/item/699-b-allotta,-a-caiti,-r-costanzi,-f-di-corato,-d-fenucci,-n-monni,-l-pugi,-a-ridolfi-“cooperative-localization-of-auvs-via-acoustic-communication-networking%20-field-experience-with-the-typhoon-vehicles”,-autonomous-robots-si,-sottomesso.html -
T. Fabbri, F. Di Corato, D. Fenucci, D. Meucci, A. Caiti: “Multiple target tracking in sea-bed surveys using the GM-PHD filter”, OCEANS ’15 MTS/IEEE WASHINGTON D.C, Ott. 2015.
This paper proposes a Bayesian set-based estimator applied to the adaptive mapping of objects resting on the seabed, through the design and the implementation of a Gaussian Mixture - Probability Hypothesis Density (GM-PHD) filter. Starting from the...
https://phd.dii.unipi.it/pubblicazioni/item/698-t-fabbri,-f-di-corato,-d-fenucci,-d-meucci,-a-caiti-“multiple-target-tracking-in-sea-bed-surveys-using-the-gm-phd-filter”,-oceans-’15-mts-ieee-washington-d-c,-ott-2015.html -
A. Caiti, F. Di Corato, F. Fabiani, D. Fenucci, S. Grechi, F. Pacini: “Enhancing autonomy: fault detection, identification and optimal reaction for over-actuated AUVs”, OCEANS ’15 MTS/IEEE GENOVA, Mag. 2015.
The adoption of fault detection and isolation (FDI) techniques is fundamental to ensure high levels of safety and productivity, especially in critical and expensive applications like Autonomous Underwater Vehicles (AUV). This paper describes a...
https://phd.dii.unipi.it/pubblicazioni/item/697-a-caiti,-f-di-corato,-f-fabiani,-d-fenucci,-s-grechi,-f-pacini-“enhancing-autonomy-fault-detection,-identification-and-optimal-reaction-for-over-actuated-auvs”,-oceans-’15-mts-ieee-ge-nova,-mag-2015.html -
F. Di Corato, M. Novi, F. Pacini, G. Paoli, A. Caiti, D. Fenucci, S. Grechi: “Optimal aided inertial navigation, augmented with inter-sensors self-calibration”, OCEANS ’15 MTS/IEEE GENOVA, Mag. 2015.
The proposed work is in the framework of the V-Fides project, in which is a general purpose, 3000m depth rated underwater vehicle with highly maneuverability capabilities was developed. The project was co-funded by Tuscany Region (Italy) and developed...
https://phd.dii.unipi.it/pubblicazioni/item/696-f-di-corato,-m-novi,-f-pacini,-g-paoli,-a-caiti,-d-fenucci,-s-grechi-“optimal-aided-inertial-navigation,-augmented-with-inter-sensors-self-calibration”,-oceans-’15-mts-ieee-genova,-mag-2015.html -
F. Di Corato, M. Novi, F. Pacini, G. Paoli, A. Caiti, D. Fenucci, S. Grechi: “A non-linear complementary filter for underwater navigation using inertial measurements”, OCEANS ’15 MTS/IEEE GENOVA, Mag. 2015.
This paper describes a nonlinear complementary filter capable of estimating the course motion variables namely the position, velocity, heading and accelerometers bias of an agile, over-actuated AUV during underwater operations, using the inertial...
https://phd.dii.unipi.it/pubblicazioni/item/695-f-di-corato,-m-novi,-f-pacini,-g-paoli,-a-caiti,-d-fenucci,-s-grechi-“a-non-linear-comple-mentary-filter-for-underwater-navigation-using-inertial-measurements”,-oceans-’15-mts-ieee-genova,-mag-2015.html -
M. Novi, F. Pacini, G. Paoli, G. Ballini, A. Caiti, F. Di Corato, D. Fenucci, S. Grechi, R. Reggiannini, G. Saviozzi, F. Carrai: “Project “V-FIDES”: An innovative, multi purpose, autonomous underwater platform”, OCEANS’15 MTS/IEEE GENOVA, Mag. 2015
The proposed work aims to describe the “V-FIDES” project, focused on developing a new generation of agile, over-actuated, long endurance Autonomous Underwater Vehicles, for deep underwater exploration, operation and environmental monitoring. The...
https://phd.dii.unipi.it/pubblicazioni/item/694-m-novi,-f-pacini,-g-paoli,-g-ballini,-a-caiti,-f-di-corato,-d-fenucci,-s-grechi,-r-reggiannini,-g-saviozzi,-f-carrai-“project-“v-fides”-an-innovative,-multi-purpose,-autonomous-underwater-platform”,-oceans’15-mts-ieee-genova,-mag-2015.html -
A. Caiti, F. Di Corato, D. Fenucci, B. Allotta, R. Costanzi, N. Monni, L. Pugi, A. Ridolfi: “Experimental results with a mixed USBL / LBL system for AUV navigation”, Underwater Communications (UComms ’14), September 2014
A mixed USBL / LBL acoustic navigation system has been experimentally tested in the framework of the CommsNet 13 sea trial, organized and led by CMRE in September 2013. The system set-up included a “Typhoon” AUV, equipped with a USBL/acoustic modem...
https://phd.dii.unipi.it/pubblicazioni/item/245-a-caiti,-f-di-corato,-d-fenucci,-b-allotta,-r-costanzi,-n-monni,-l-pugi,-a-ridolfi-“experimental-results-with-a-mixed-usbl-lbl-system-for-auv-navigation”,-underwater-communications-ucomms-’14-,-september-2014.html -
F. Di Corato, D. Fenucci, A. Caiti et al: “Toward underwater acoustic-based simultaneous localization and mapping. Experimental results with the Typhoon AUV at CommsNet13 sea trial”, OCEANS ’14 ST.JOHN’S, September 2014
An algorithmic framework and experimental results on acoustic self-localization and mapping for an AUV equipped with an USBL modem are reported. The methodology proposed is quite general and applicable to a wide range of AUV and of navigation needs;...
https://phd.dii.unipi.it/pubblicazioni/item/244-f-di-corato,-d-fenucci,-a-caiti-et-al-“toward-underwater-acoustic-based-simultaneous-localization-and-mapping-experimental-results-with-the-typhoon-auv-at-commsnet13-sea-trial”,-oceans-’14-st-john’s,-september-2014.html -
A. Caiti, D. Fenucci, F. Di Corato, D. Meucci, B. Allotta, F. Bartolini, R. Costanzi, J. Gelli, N. Monni, M. Natalini, L. Pugi and A. Ridolfi: “Acoustic communication and localization in AUV cooperative surveys”, UA2014, June 2014
The experimental results in acoustic communication and localization obtained with the “Typhoon” Autonomous Underwater Vehicle (AUV) in the CommsNet13 field trial are presented. The “Typhoon”s are a set of three AUVs developed by the Authors within the...
https://phd.dii.unipi.it/pubblicazioni/item/243-a-caiti,-d-fenucci,-f-di-corato,-d-meucci,-b-allotta,-f-bartolini,-r-costanzi,-j-gelli,-n-monni,-m-natalini,-l-pugi-and-a-ridolfi-“acoustic-communication-and-localization-in-auv-cooperative-surveys”,-ua2014,-june-2014.html -
A. Caiti, V. Calabrò, F. Di Corato, T. Fabbri, D. Fenucci, A. Munafò et al: “Thesaurus: AUV teams for archaeological search. Field results on acoustic communication and localization with the Typhoon”, MED ’14, June 2014.
The Thesaurus project, funded by the Tuscany Region, had among its goals the development of technologies and methodologies for archaeological search with Autonomous Underwater Vehicles working as a team in exploration mis- sions. This has led to the...
https://phd.dii.unipi.it/pubblicazioni/item/242-a-caiti,-v-calabrò,-f-di-corato,-t-fabbri,-d-fenucci,-a-munafò-et-al-“thesaurus-auv-teams-for-archaeological-search-field-results-on-acoustic-communication-and-localization-with-the-typhoon”,-med-’14,-june-2014.html -
A. Caiti, F. Di Corato, D. Fenucci et al: “Fusing acoustic ranges and inertial measurements in AUV navigation: the Typhoon AUV at CommsNet13 sea trial”, OCEANS ’14 TAIPEI, April 2014.
The paper presents some experimental results of autonomous underwater navigation, based on the fusion of acoustic and inertial measurements. The work is in the framework of the Thesaurus project, funded by the Tuscany Region, aiming at developing...
https://phd.dii.unipi.it/pubblicazioni/item/241-a-caiti,-f-di-corato,-d-fenucci-et-al-“fusing-acoustic-ranges-and-inertial-measurements-in-auv-navigation-the-typhoon-auv-at-commsnet13-sea-trial”,-oceans-’14-taipei,-april-2014.html -
A. Caiti, F. Di Corato, D. Fenucci et al: “Typhoon at CommsNet 2013: experimental experience on AUV navigation and localization”, 19th World Congress of the International Federation of Automatic Control (IFAC ’14), August 2014
The CommsNet 2013 experiment took place in September 2013 in the La Spezia Gulf, North Tyrrhenian Sea. Organized and scientifically led by the NATO S&T Org. Ctr. for Maritime Research and Experimentation (CMRE, formerly NURC), with the participation of...
https://phd.dii.unipi.it/pubblicazioni/item/240-a-caiti,-f-di-corato,-d-fenucci-et-al-“typhoon-at-commsnet-2013-experimental-experience-on-auv-navigation-and-localization”,-19th-world-congress-of-the-international-federation-of-automatic-control-ifac-’14-,-august-2014.html
