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Elenco Pubblicazioni - Publications (1433)

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

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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…
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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

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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 model the whole…
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G. M. Gasparri, F. Fabiani, M. Garabini, L. Pallottino, M. G. Catalano, G. Grioli, R. Persichini, A. Bicchi: “Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios”, Humanoids’16 IEEE – RAS International Conference

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Compliance in robot design and control is often introduced to improve the robot performance in tasks where interaction with environment or human is required. However a rigorous method to choose the correct level of compliance …
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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”, Oceans’16 MTS/IEEE, Monterey (USA), September 2016

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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 model the whole…
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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

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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 neighbouring vehicles. Moreover, the couplings…
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