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Sauro LONGHI

Pubblicazioni

Sauro LONGHI

 

548 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
347 4 Contributo in Atti di Convegno (Proceeding)
133 1 Contributo su Rivista
50 2 Contributo in Volume
14 3 Libro
4 6 Brevetti
Anno Risorsa
2009 Experimental validation of FastSLAM algorithm integrated with a linear features based map
MECHATRONICS
Autore/i: Fulgenzi, Chiara; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper the Simultaneous Localization And Mapping (SLAM) problem in unknown indoor environments is addressed. A probabilistic approach integrating FastSLAM algorithm and a line feature map is developed and validated. Experimental validation is performed by a smart wheelchair equipped with proprioceptive and exteroceptive sensors in an office like environment where loop closing is achieved without any dedicated algorithm. Geometric hypotheses of orthogonal line features are considered to enhance the performance of the algorithm in the considered environment. The proposed approach results in a computationally efficient solution to the SLAM problem and the high quality sensor measurements allow to maintain a good localization of the mobile base and a compact representation of the environment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51977 Collegamento a IRIS

2009 Robust robot localization by sensors with different degree of accuracy
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an Extended Kalman Filtering (EKF) approach is proposed for the integration of odometric, gyroscopic, and sonar measures. As gyroscopic readings are much more reliable than the other ones, the localization algorithm gives rise to a nearly singular EKF. This problem is dealt with by defining a reduced order nonsingular EKF. The robust solution has been implemented and tested on a powered wheelchair.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51514 Collegamento a IRIS

2009 Intelligent control for a remotely operated vehicle
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This article considers the tracking control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great sea depths. The vehicle is subjected to different load configurations that introduce considerable variations of its mass and inertial parameters. In this work it is assumed that the possible vehicle configurations are known, but the time instants when the changes occur and the new vehicle configuration following the change are unknown. A neural network-based switching control is proposed for the considered mode-switch process. This solution simplifies the control scheme implementation and reduces the control signal chattering.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51389 Collegamento a IRIS

2009 Discrete-time variable structure control of permanent-magnet synchronous motors
35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Autore/i: Bastiani, P.; Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Vannucci, G.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53792 Collegamento a IRIS

2009 Fault Tolerant Software: a Multi Agent System Solution
Proc. of the 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SafeProcess 2009)
Autore/i: F. Caponetti; Nicola Bergantino; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Development of high dependable systems remains a labour intensive task. This paper explores recent advances on the adaptation of the software agent architecture for control application while looking to dependability issues. Multiple agent systems theory will be reviewed giving methods to supervise it. Software ageing is shown to be the most common problem and rejuvenation its counteract. The paper will show how an agent population can be monitored, faulty agents isolated and reloaded in a healthy state, hence rejuvenated. The aim is to propose an architecture as basis for the design of control software able to tolerate faults and residual bugs without the need of maintenance stops.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74260 Collegamento a IRIS

2009 UAV navigation and landing based on single camera vision system
Proceedings of the 4th European Conference on Mobile Robots, 2009, ECMR 2009
Autore/i: A. Cesetti; E. Frontoni; A. Mancini; P. Zingaretti; S. Longhi
Editore: KoREMA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74717 Collegamento a IRIS

2009 A Framework for Simulation and Testing of UAVs in Cooperative Scenarios
Unmanned Aircraft Systems
Autore/i: Mancini, Adriano; A., Cesetti; A., Iaulè; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Editore: Springer
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/42651 Collegamento a IRIS

2009 FaultBuster: data driven fault detection and diagnosis for industrial systems
Proceedings of 7th Workshop on Advanced Control and Diagnosis
Autore/i: N. Bergantino; F. Caponetti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B176 http://www.issi.uz.zgora.pl/ACD_2009/
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78171 Collegamento a IRIS

2009 Modal and harmonic experimental validation of the vibration model of an elastic structure
2009 17th Mediterranean Conference on Control and Automation, MED 2009
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46769 Collegamento a IRIS

2009 Adaptive neural network based sliding mode control for fin roll stabilization of vessels
8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
Autore/i: Carletti, Cristina; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46772 Collegamento a IRIS

2009 A Framework for Simulation and Testing of UAVs in Cooperative Scenarios
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Mancini, Adriano; Cesetti, A.; Iualè, A.; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58320 Collegamento a IRIS

2009 A Vision-Based Guidance System for UAV Navigation and Safe Landing using Natural Landmarks
Proceedings of the 2nd International Symposium on Unmanned Aerial Vehicles, 2009. UAV’09
Autore/i: A. Cesetti; E. Frontoni; A. Mancini; P. Zingaretti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B166
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74718 Collegamento a IRIS

2009 Vision-based autonomous navigation and landing of an unmanned aerial vehicle using natural landmarks
Proceedings of the 17th Mediterranean Conference on Control and Automation, 2009, MED ’09
Autore/i: A. Cesetti; E. Frontoni; A. Mancini; P. Zingaretti; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B169
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74720 Collegamento a IRIS

2009 Detection of Landmines Using a UAV: Architecture and Control Issues
Workshops - 17th Mediterranean Conference on Control and Automation, 2009, MED ’09.
Autore/i: A. Cesetti; E. Frontoni; A. Mancini; P. Zingaretti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Landmines are a constant danger causing thousands of deaths and injuries every year to soldiers, during conflicts, and to civilians, years after conflicts ceased. It has long been thought that landmine detection is an appropriate application for robotics because it is a dull, dirty and dangerous task. The purpose of this research was to evaluate the effectiveness and suitability of an Unmanned Aerial Countermine to search for, mark and report detected landmines. The intent was to provide the current military force and civilians with an effective mine detection and marking system. Our experience determined that, although accurate digital marking of landmine locations within a terrain map was useful, accurate physical marking of the mine locations was considered essential for the military and civilian requirements. In this paper we discuss the general architecture of the system, describing the required hardware and in particular the proposed sensors, starting from a ground penetrating synthetic aperture radar. We also focus our attention on the control system architecture and on the control strategy of the whole system. The main purpose of this paper is the presentation of the general problem, with an extensive analysis of the state of the art, and the general framework of the project with some major details about works in progress.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74719 Collegamento a IRIS

2009 A single-camera feature-based vision system for helicopter autonomous landing
Proceedings of the International Conference on Advanced Robotics, 2009, ICAR 2009
Autore/i: A. Cesetti; E. Frontoni; A. Mancini; P. Zingaretti; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a feature based single camera vision system for the safe landing of an unmanned aerial vehicle (UAV) is proposed. The autonomous helicopter used for tests is required to navigate from an initial to a final position in a partially known environment, to locate a landing area and to land on it. The algorithm proposed for the detection of safe landing areas is based on the analysis of optical flow and of mutual geometric position of different kinds of features, observed from different points of view. Vision allows estimating the position and velocity of a set of features with respect to the helicopter while the onboard, hierarchical, behavior-based control system autonomously guides the helicopter. Results, obtained using real data and a real helicopter in a outdoor scenario, show the appropriateness of the vision-based approach. It does not require any artificial landmark (e.g., helipad), is able to estimate correctly and autonomously safe landing areas and is quite robust to occlusions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74721 Collegamento a IRIS

2009 Robust Navigation on Critical Environment using Vision Sensors
ASI - Workshop su Robotica per esplorazione lunare unmanned
Autore/i: S. Longhi; A. Cesetti; A. Mancini; E. Frontoni; P. Zingaretti
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B171
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74707 Collegamento a IRIS

2009 Modeling and Attitude Control of an Autonomous Underwater Glider
8th IFAC International Conference on Manoeuvring and Control of Marine Craft 2009
Autore/i: Tatone F.; Vaccarini M.; Longhi S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55229 Collegamento a IRIS

2009 Neural-network-based discrete-time variable structure control of robotic manipulators
2009 International Conference on Advanced Robotics, ICAR 2009
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Signorini, Raffaele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53509 Collegamento a IRIS

2009 A Model-Based Fault Diagnosis System for a Mini-Quadrotor
Proceedings of 7th Workshop on Advanced Control and Diagnosis
Autore/i: A. Freddi; A. Monteriù; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B175 http://www.issi.uz.zgora.pl/ACD_2009/
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78170 Collegamento a IRIS

2009 A Model-Based Fault Diagnosis System for Unmanned Aerial Vehicles
Proceedings of the 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS'09)
Autore/i: A. Freddi; S. Longhi; A. Monteriù
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper addresses the problem of fault detection and isolation for helicopters used as Unmanned Aerial Vehicles. First a model for a reduced-scale helicopter is presented, then this model is linearized and used to design unknown input observers for fault diagnosis. The developed system is tested and analyzed. The results prove that it represents an effective solution to fault diagnosis problems in Unmanned Aerial Vehicles.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64480 Collegamento a IRIS

2009 Video data validation by sonar measures for robot localization and environment feature estimation
ROBOTICA
Autore/i: Bonci, Andrea; Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an extended Kalman filtering approach is proposed for the integration of odometric, video camera, and sonar measures. The environment is supposed to be only partially known, and a probabilistic method for sensor data fusion aimed at increasing the environment knowledge is considered.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50487 Collegamento a IRIS

2009 Formation Control of Marine Veihicles via Real-Time Networked Decentralized MPC
2009 17th Mediterranean Conference on Control & Automation (MED 2009)
Autore/i: Vaccarini M.; Longhi S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55228 Collegamento a IRIS

2008 Statistical learning applied to the energy management in a fuel cell electric vehicle
17th World Congress, International Federation of Automatic Control, IFAC
Autore/i: Cavalletti, Matteo; Piovesan, J.; Abdallah, C.T.; Longhi, Sauro; Dorato, P.; Ippoliti, Gianluca
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46720 Collegamento a IRIS

2008 A scalable telemedicine architecture for under developed countries. A case study: Democratic Republic of Congo
Proceedings of the 16th Mediterranean Conference on Control and Automation
Autore/i: S. Kidiamboko; A. Mancini; S. Longhi; L. Spalazzi
Editore: IEEE Press
Luogo di pubblicazione: LOS ALAMITOS, CA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Telemedicine, defined as the use of telecommunications technologies to provide medical information and services, is electronic transfer of medical data being able to include the sound and the images to practice remote medicine. In under developed countries, as the Democratic Republic of Congo, the capability to remote monitor patients that live in villages or small rural town, is a "Big step ahead" for the health system and citizens. In this paper we present a Scalable Telemedicine Architecture designated to be used in a real scenario as the Dem.Rep. of Congo. A prototype of low cost sensor, integrable into architecture, as a pulse oximeter called Ebloops (Experimental Blood Pressure Smart Sensor), is also presented. Pulse oximetry allows doctors to monitor vital parameters as oxygen levels in a human body, heart frequency and other ones.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48523 Collegamento a IRIS

2008 Statistical learning controller for the energy management in a fuel cell electric vehicle
47th IEEE Conference on Decision and Control, CDC 2008
Autore/i: Cavalletti, Matteo; Piovesan, J.; Abdallah, C.T.; Longhi, Sauro; Dorato, P.; Ippoliti, Gianluca
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46767 Collegamento a IRIS

2008 TEWA Algorithm for Homeland Security
Proceedings of NATO RTO SET-125 Symposium on "Sensor and Technology for Defence against Terrorism"
Autore/i: E. Pizzingrilli; T. Albanesi; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74703 Collegamento a IRIS

2008 An educational opportunity for master students in mobile robotics: Traiano Project
Proceedings of the RAAD 2008 17th International Workshop on Robotics in Alpe–Adria–Danube Region
Autore/i: M. Zamponi; M. Babini; R. Donnini; M. Gallieri; D. Mancini; V. Minnetti; E. Torta; M. Tinaro; D. Tina; P. Raspa; R. Stronati; S. Longhi; A. Mancini; E. Frontoni; A. Cesetti; A. Gabrielli; M. Cavallettia; P. Zingaretti
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Eurobot, created in 1998, is an international amateur robotics contest open to teams of young people, organised either in student projects or in independent clubs. The chance to take part in a mobile robotics competition it is an interesting opportunity to execute a theoretic transfer process. In this paper, the Traiano robot, developed by Master Student of Universit´a Politecnica delle Marche for the Eurobot 2008 competition, is presented. Traiano is a fully autonomous complex mechatronic system. Different methodological and technical challenges involve the design and development of a robot. In this paper the workflow, the approach followed during the course of project, algorithms for localization and final result are presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74715 Collegamento a IRIS

2008 Intelligent Powertrain Management System for a Fuel Cell Electric Vehicle
Proceedings of the EVS24
Autore/i: P. Bellesi; M. Cavalletti; R. D'Ercoli; R. Isidori; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B153
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74702 Collegamento a IRIS

2008 A comparative analysis of sliding mode controllers for overhead cranes
Proceedings of the 16th Mediterranean Conference on Control and Automation
Autore/i: M. Orbisaglia; G. Orlando; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Three different controllers for reducing the swing angle in overhead cranes are developed and compared in this paper. Numerical simulations tests have been developed for analysing the control performance. The introduced solutions combine different slide surfaces with fuzzy logic rules.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74267 Collegamento a IRIS

2008 Networked Decentralized MPC of Nonlinear Interacting Processes
Proceedings of INTERNATIONAL WORKSHOP ON ASSESSMENT AND FUTURE DIRECTIONS OF NONLINEAR MODEL PREDICTIVE CONTROL (NMPC08)
Autore/i: M. Vaccarini; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: http://sisdin.unipv.it/NMPC08/index.html
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74700 Collegamento a IRIS

2008 Fin/Rudder Roll Stabilization of Vessels: a Neural Networks Based Sliding Mode Approach
In Proceedings of the RAAD 2008 17th International Workshop on Robotics in Alpe–Adria–Danube Region
Autore/i: Carletti C.; Cavalletti M.; Ippoliti G.; Longhi S.; Orlando G.; Sartini L.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74714 Collegamento a IRIS

2008 Cooperative control of underwater glider fleets by fault tolerant decentralized MPC
17th IFAC World Congress 2008
Autore/i: Longhi S.; Monteriù A.; Vaccarini M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A fleet of Autonomous Underwater Vehicles (AUVs) moving together in a prescribed pattern can form an efficient data acquisition network. The problem is to control several AUVs such that after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of faults, is a fundamental requirement for these kind of missions. A completely decentralized predictive control and FDI strategy is here proposed for allowing cooperation. Trough an underwater communication channel, each vehicle broadcasts its position, its future behavior and its actuator/sensor fault situation. Based both on the local and the received information, each vehicle selects the desired formation to keep and plans its future actions. Simulation results are provided to validate the approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55234 Collegamento a IRIS

2008 A Two Level MPC Architecture for Controlling Cooperative Underwater Gliders
2nd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles 2008
Autore/i: Longhi S.; Vaccarini M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55235 Collegamento a IRIS

2008 A Framework for Simulation and Testing of UAVs in Cooperative Scenarios
International Symposium on Unmanned Aerial Vehicles - UAV’08
Autore/i: A. MANCINI; A. CESETTI; A. IAULÈ; E. FRONTONI; P. ZINGARETTI; S. LONGHI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47785 Collegamento a IRIS

2008 Neural network based adaptive controller for a remotely operated vehicle
2nd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46766 Collegamento a IRIS

2008 Probabilistic self-localization and mapping - An asynchronous multirate approach
IEEE ROBOTICS AND AUTOMATION MAGAZINE
Autore/i: Armesto, Leopoldo; Ippoliti, Gianluca; Longhi, Sauro; Tornero, Josep
Classificazione: 1 Contributo su Rivista
Abstract: A new approach has been developed for multirate fusion, probabilistic self-localization, and map building for mobile robots. The asynchronous multirate holds are hybrid systems generating continuous signals from discrete sequence of inputs. This method has been used to overcome the filtering problem of dynamic system with inputs and outputs sampled at a different rates. It acts as interfaces for signals with different sampling rates, providing signals properly adapted to the required sampling period. It also reduce extrapolation errors in comparison to the naive solution of keeping the last updated value. The preliminary ideas of multirate extended Kalman filter (EKF) and unscented Kalman filter (UKF) were successfully applied to the mobile robot localization problem and three-dimensional tracking problem. The multirate asynchronous structure has been applied to particles filters (PFs) in fast simultaneous localization and map building (FastSLAM),as well as can be used with many other filters such as EKF, UKF, or discrete-Bayes filters.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/37845 Collegamento a IRIS

2008 Traiano: Educational (but not only) opportunity for Master Students
Conference–Eurobot 2008
Autore/i: A. Mancini; E. Frontoni; A. Cesetti; A. Gabrielli; M. Cavalletti; P. Zingaretti; M. Zamponi; M. Babini; R. Donnini; M. Gallieri; V. Minnetti; E. Torta; M. Tinaro; D. Tina; P. Raspa; R. Stronati; D. Mancini; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B155
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47782 Collegamento a IRIS

2008 From simulated to real scenarios: a framework for multi-UAVs
Int. Conf. on simulation, modeling and programming for autonomous robots – SIMPAR 2008
Autore/i: A., Cesetti; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46744 Collegamento a IRIS

2008 From simulated to real scenarios: a framework for multi-UAVs
Simulation, Modeling, and Programming for Autonomous Robots
Autore/i: A. CESETTI; A. MANCINI; E. FRONTONI; P. ZINGARETTI; S. LONGHI
Editore: Springer-Verlag
Luogo di pubblicazione: BERLIN
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51795 Collegamento a IRIS

2007 Prototype UAV helicopter working in cooperative environments
Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Autore/i: E. Frontoni; A. Mancini; F. Caponetti; P. Zingaretti; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today small autonomous helicopters offer a low budget platform for aerial applications such as surveillance (both military and civilian), land management, and earth science. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications in a cooperative network based on autonomous agents as UAV and UGV. We present our scalable and robust architecture, focusing in particular on hardware and real time solutions. A mechanical structure for safe testing is then presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74271 Collegamento a IRIS

2007 Comparative Analysis of Mobile Robot Localization Methods Based on Proprioceptive and Exteroceptive Sensors
Mobile Robots Perception & Navigation
Autore/i: IPPOLITI, Gianluca; IETTO, LEOPOLDO; LONGHI, SAURO; MONTERIU', Andrea
Editore: Advanced Robotic Systems International
Luogo di pubblicazione: MAMMENDORF
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50394 Collegamento a IRIS

2007 Adaptive nonlinear control for vessel roll stabilization
7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50490 Collegamento a IRIS

2007 Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'07)
Autore/i: A. Monteriù; P. Asthana; K. Valavanis; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents implementation details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis, applied to the nonlinear model of the UGV, is followed to build the residual generation module, followed by a residual evaluation module capable of detecting single and multiple sensor faults, as detailed in part I [1]. The overall proposed sensor fault detection and isolation system has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64474 Collegamento a IRIS

2007 Neural network based nonlinear control for vessel roll stabilization
2007 9th European Control Conference, ECC 2007
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52176 Collegamento a IRIS

2007 Networked decentralized MPC for unicycle vehicles formation
7th IFAC Symposium on Nonlinear Control Systems 2007
Autore/i: Vaccarini M.; Longhi S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55236 Collegamento a IRIS

2007 An Actuator Fault Tolerant Approach for Underwater Remotely Operated Vehicles
Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems (CAMS'07)
Autore/i: M. L. Corradini; S. Longhi; G. Orlando; A. Monteriù
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a preliminary set of results on the design of Actuator Fault Detection Systems (AFDSs) for an underwater remotely operated vehicle (ROV) to prevent actuator faults and hence to reduce the risk of safety hazards. The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV. This solution permits to discover the redundancy of the system, and thus using it for fault detection purposes. Successively, by means of a Sliding Mode Control based approach, the fault is isolated and the control law is reconfigurated using the remaining working actuators. In both the phases the plant is assumed to be affected by \moderate" parametric variations. Moreover, it is supposed to undergo unknown faults, which cause the plant input components to be stuck at some uncertain but bounded time functions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64477 Collegamento a IRIS

2007 Residual Generation Approaches in Navigation Sensors Fault Detection Applications
Proceedings of the European Control Conference (ECC'07)
Autore/i: A. Monteriù; P. Asthana; K. Valavanis; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64475 Collegamento a IRIS

2007 Autonomous helicopter for surveillance and security
Proceedings of 3rd ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (ASME/IEEE'07)
Autore/i: P. Zingaretti; A. Mancini; E. Frontoni; A. Monteriù; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Unmanned Aerial Vehicles represent today an advanced and complex robotics platform for novel tasks. For example, UAVs can be used in applications for traffic monitoring and surveillance, emergency services assistance, photogrammetry and surveying. Generally, an UAV must be fully autonomous; autonomy is accomplished by a complex interconnection of systems related to a wide range of topics, e.g., flight low level control, navigation and task-based planning, elaboration of sensor signals, software architecture for reactive behaviours, communication. Today the challenge is the ability to insert UAVs in a cooperative network based on autonomous agents as UAV, UGV (Unmanned Ground Vehicle) to accomplish a specific task a priori defined. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications as surveillance and security.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64479 Collegamento a IRIS

2007 Special section on control applications in marine systems
CONTROL ENGINEERING PRACTICE
Autore/i: S. LONGHI; KATEBI R; DALEY S
Editore: Elsevier Science Limited:Oxford Fulfillment Center, PO Box 800, Kidlington Oxford OX5 1DX United Kingdom:011 44 1865 843000, 011 44 1865 843699, EMAIL: asianfo@elsevier.com, tcb@elsevier.co.UK, INTERNET: http://www.elsevier.com, http://www.elsevier.com/locate/shpsa/, Fax: 011 44 1865 843010 PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD, ENGLAND, OX5 1GB
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32370 Collegamento a IRIS

2007 Safe flying for an UAV Helicopter
Proceedings of 15th IEEE Mediterranean Conference on Control and Automation (MED'07)
Autore/i: A. Mancini; F. Caponetti; A. Monteriù; E. Frontoni; P. Zingaretti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today small autonomous helicopters offer a low budget platform for aerial applications such as surveillance (both military and civil), land management and earth sciences. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications in cooperative networks. Fundamental steps in the design process of an UAV are shown. We also present work in progress in the field of failure detection and a novel idea to the problem of failure recovery using a terrain vision system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64476 Collegamento a IRIS

2007 A Geometric Approach to Fault Detection of Periodic Systems
Proceedings of the 46th IEEE Conference on Decision and Control (CDC'07)
Autore/i: S. Longhi; A. Monteriù
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Using the geometric approach, a solution is given to the problem of detecting faults in linear periodic discretetime systems. The existing conditions are provided in terms of the new geometric notion of outer observable subspace. Making use of this notion, a residual generator is developed, such that the residual is made independent of unknown input disturbance, and its output free response goes asymptotically to zero. When different faults affect the system, a bank of observers solve the problem, generating a residual for each input fault.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64478 Collegamento a IRIS

2007 Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'07)
Autore/i: A. Monteriù; P. Asthana; K. Valavanis; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64473 Collegamento a IRIS

2007 Switching adaptive control for a remotely operated vehicle
Proceedings of the 2007 American Control Conference, ACC
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53528 Collegamento a IRIS

2007 Networked decentralized MPC for formation control of underwater glider fleets
7th IFAC Conference on Control Applications in Marine Systems 2007
Autore/i: Vaccarini M.; Longhi S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55237 Collegamento a IRIS

2007 Lyapunov-based switching control using neural networks for a remotely operated vehicle
INTERNATIONAL JOURNAL OF CONTROL
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper considers the tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process cannot be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and the stability of this multi-controller system is analysed using the Lyapunov theory. The performance of the switched controller is evaluated by numerical simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51891 Collegamento a IRIS

2006 A sensitivity based approach for racing cars design and set-up
Proceedings of FISITA 2006
Autore/i: P. Antonini; M.L. Corradini; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B121
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78169 Collegamento a IRIS

2006 Multiple model control using neural networks for a remotely operated vehicle
14th Mediterranean Conference on Control and Automation, MED'06
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46658 Collegamento a IRIS

2006 FastSLAM 2.0: least-squares approach
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Autore/i: Armesto, Leopoldo; Ippoliti, Gianluca; Longhi, Sauro; Tornero, J.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46708 Collegamento a IRIS

2006 Lyapunov-based switching control for a remotely operated vehicle
9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48201 Collegamento a IRIS

2006 Learning control of mobile robots using a multiprocessor system
CONTROL ENGINEERING PRACTICE
Autore/i: Antonini, P.; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: A real-time multiprocessor system is proposed for the solution of the tracking problem of mobile robots operating in a real context with environmental disturbances and parameter uncertainties. The proposed control scheme utilizes multiple models of the robot for its identification in an adaptive and learning control framework. Radial Basis Function Networks (RBFNs) are considered for the multiple models in order to exploit the net non-linear approximation capabilities for modeling the kinematic behavior of the vehicle and for reducing unmodeled contributions to tracking errors. The training of the nets and the tests of the achieved control performance have been done in a real experimental setup. The proposed control architecture improves the robot tracking performance achieving fast and accurate control actions in presence of large and time-varying uncertainties in dynamical environments. The experimental results are satisfactory in terms of tracking errors and computational efforts.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51696 Collegamento a IRIS

2006 Switching Based Supervisory Control of Underwater Vehicles
Advances in Unmanned Marine Vehicles. IEE Control Engineering Series 69
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro
Editore: The Institution of Electrical Engineers
Luogo di pubblicazione: STEVENAGE
Classificazione: 2 Contributo in Volume
Abstract: Underwater vehicles operate in dynamical environments where sudden changes of the working conditions occur from time to time. The need for an effective control action calls for refined techniques with a high degree of robustness with respect to large parametric variations and/or uncertainties. Supervised switching control gives the theoretical framework where appropriate control strategies can be developed. Both the switching algorithms proposed here are based on a multiple models approach to describe the different operating conditions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/38741 Collegamento a IRIS

2006 Learning Nonliner MPC for Fast Computation Control
Proc. IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems
Autore/i: G. CONTE; S. LONGHI; P. PENNESI; M. VACCARINI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44514 Collegamento a IRIS

2006 A multiple models approach for adaptation and learning in mobile robots control
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: D'Amico, Amerigo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The paper proposes a multiple models based control methodology for the solution of the tracking problem for mobile robots. The proposed method utilizes multiple models of the robot for its identification in an adaptive and learning control framework. Radial Basis Function Networks (RBFNs) are considered for the multiple models in order to exploit the non-linear approximation capabilities of the nets for modeling the kinematic behaviour of the vehicle and for reducing unmodelled tracking errors contributions. The training of the nets and the control performance analysis have been done in a real experimental setup. The experimental results are satisfactory in terms of tracking errors and computational efforts and show the improvement in the tracking performance when the proposed methodology is used for tracking tasks in dynamical uncertain environments.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50903 Collegamento a IRIS

2006 Control Applications in Marine Systems 2004
Autore/i: R. KATEBI; S. LONGHI
Editore: Elsevier Limited
Luogo di pubblicazione: OXFORD
Classificazione: 3 Libro
Abstract: http://www.elsevier.com/wps/find/bookdescription.cws_home/708585/description#description
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/41971 Collegamento a IRIS

2006 On-line sensor fault detection system for a smart wheelchair
8th International IFAC Symposium on Robot Control, SYROCO 2006
Autore/i: Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46709 Collegamento a IRIS

2006 Networked decentralized control of multirate sample-data systems
Current Trends in Nonlinear Systems and Control
Autore/i: Ciferri, Roberto; Ippoliti, Gianluca; Longhi, Sauro
Editore: Birkhäuser
Luogo di pubblicazione: BOSTON
Classificazione: 2 Contributo in Volume
Abstract: The vast progress in network technology over the past decade has certainly influenced the area of control systems. Nowadays, it is becoming more common to use networks in systems, especially in those that are large scale and physically distributed or that require extensive cabling. A network-based decentralized control of multirate sampled-data systems approach is introduced and analyzed as an effectiveness solution to the control problem of large-scale continuous-time plant. The main idea is that of information exchange among the various input-output channels of a complex system throughout a local area network. The chapter analyzes the stabilization problem for decentralized control of a large-scale continuous-time plant with different sampling rates in the input-output plant channels. Existence conditions and synthesis procedures are introduced and discussed. The results on the analysis and control of periodic discrete-time systems are used for finding such solutions. The chapter ends with some remarks on the possible extensions to the robust stabilization for the decentralized control of multirate sampled-data systems.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/38375 Collegamento a IRIS

2006 A state-space approach to adaptive rejection of harmonic sensor disturbances in discrete-time systems
Proceedings of the 14th Mediterranean Conference on Control and Automation
Autore/i: L. Fiorentini; A. Serrani; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper considers the problem of rejecting harmonic disturbances given by a finite sum of unbiased sinusoidal signals with unknown amplitude, phase and frequencies, in the particular case in which they act additively on the sensor input. The problem is addressed using a state-space formulation in the discrete-time domain. The proposed approach is based on the use of a self-tuning external model which is able to provide an online estimate of the disturbance. Two adaptive algorithms that provide the disturbance parameters estimates are presented, the first one based on RWLS algorithm and the second one based on the Kalman filter. The self-tuning external model performance is shown through a simulation example
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74327 Collegamento a IRIS

2006 Stability analysis tool for tuning unconstrained decentralized model predictive controllers
Proceedings of Control 2006
Autore/i: M. Vaccarini; M.R. Katebi; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Some processes are naturally suitable to be controlled in a decentralized framework: centralized control solutions are often infeasible in dealing with large scale plants and they are technologically prohibitive when the processes are too fast for the available computational resources. In these cases, the resulting control problem is usually split in many smaller subproblems and the global requirements are guaranteed by means of a proper coordination. The unconstrained decentralized case is here considered and a coordination strategy is proposed for improving the global control performances. This paper present a tool for setting up and tuning a nominally stable decentralized Model Predictive Controller. Numerical examples are proposed for testing and validating the developed technique.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74333 Collegamento a IRIS

2006 Advanced Control Strategies for Roll Stabilization of Ocean Motoryachts.
In Proceedings of the 7th IFAC Conference on Manoeuvring and Control of Marine Craft
Autore/i: Gerini G.; Ippoliti G.; Longhi S.; Orlando G.; Scala P.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52877 Collegamento a IRIS

2006 Experimental validation of FastSLAM algorithm characterized by a linear features based map
8th International IFAC Symposium on Robot Control, SYROCO 2006
Autore/i: Fulgenzi, Chiara; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48204 Collegamento a IRIS

2006 Race car performance evaluation by a neuro-fuzzy inference system
Proceedings of the 2006 American Control Conference
Autore/i: ANTONINI P.; Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro.; Stronati, C.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48202 Collegamento a IRIS

2006 Experimental Validation of a Real-Time Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles
Proceedings of the 14th Mediterranean Conference on Control and Automation (MED'06)
Autore/i: A. Monteriù; P. Asthana; K. Valavanis; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents experimental validation and implementation issues of a model-based sensor fault detection and isolation (FDI) system applied to unmanned ground vehicles (UGVs). Enhanced structural analysis is followed to build the residual generation module, followed by different residual evaluation modules capable of detecting single and multiple sensor faults. The overall proposed sensor fault detection and isolation system (SFDIS) has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders. To increase residual sensitivity to sensor faults, the IMU readings are filtered using a Kalman filter (KF), resulting in a robust and accurate FDI system that detects and isolates single/multiple sensor faults.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64472 Collegamento a IRIS

2006 State Space Stability Analysis of Unconstrained Decentralized Model Predictive Control Systems
Proceedings of the 2006 American Control Conference
Autore/i: Vaccarini M.; Longhi S; Katebi M. R.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55239 Collegamento a IRIS

2005 Improving the robustness properties of robot localization procedures with respect to environment features uncertainties
Proceedings - 2005 IEEE International Conference on Robotics and Automation
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; La Manna, Alessia; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53539 Collegamento a IRIS

2005 Improved set-points tracking of remotely operated underwater vehicles through a supervised PID control scheme
PROCEEDINGS OF THE INSTITUTE OF MARINE ENGINEERING, SCIENCE AND TECHNOLOGY (PART A) JOURNAL OF MARINE ENGINEERING AND TECHNOLOGY
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper considers the position control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths. The use of a single, time-invariant PID controller may result in an unsatisfactory set-point tracking. To cope with this problem, a globally non linear regulator given by the connection of a supervisor with a finite family of properly chosen PID controllers is here proposed. Each PID is designed to obtain a specific desired feature of the step response and the supervisor governs the switching among them to obtain an overall time-varying control law yielding a globally satisfactory output behaviour The switching logic is driven by the numerical values assumed by some suitably defined cost functionals of output prediction errors. The performance of the switched controller so obtained is evaluated by numerical simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53109 Collegamento a IRIS

2005 Model-based sensor fault detection system for a smart wheelchair
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
Autore/i: Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48074 Collegamento a IRIS

2005 A Robust Solution to the Networked Decentralized Control Problem of Multirate Sample-data Systems
Proceedings of the 17th IMACS World Congress. Scientific Computation, Applied Mathematics and Simulation
Autore/i: Ciferri R.; Ippoliti G.; Longhi S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48073 Collegamento a IRIS

2005 Localization of mobile robots: Development and comparative evaluation of algorithms based on odometric and inertial sensors
JOURNAL OF ROBOTIC SYSTEMS
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: An autonomous mobile robot must be able to elaborate the measures provided by the sensor equipment to localize itself with respect to a coordinate system. The precision of the location estimate depends on the sensor accuracy and on the reliability of the measure processing algorithm. The purpose of this article is to propose a low cost positioning system using internal sensors like odometers and optical fiber gyroscopes. Three simple localization algorithms based on different sensor data processing procedures are presented. Two of them operate in a deterministic framework, the third operates in a stochastic framework where the uncertainty is induced by sensing and unmodeled robot dynamics. The performance of the proposed localization algorithms are tested through a wide set of laboratory experiments and compared in terms of localization accuracy and computational cost.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51032 Collegamento a IRIS

2005 Neural network based switching control of a remotely operated vehicle
Proceedings of the International Workshop on Underwarter Robotics (IWUR 2005)
Autore/i: CAVALLETTI M.; IPPOLITI G.; LONGHI S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46657 Collegamento a IRIS

2005 Application of a networked decentralized MPC to syngas process in oil industry
Proceedings of the 16th IFAC World Congress
Autore/i: Longhi S.; Trillini R.; Vaccarini M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55238 Collegamento a IRIS

2005 Navigation system for a smart wheelchair
JOURNAL OF ZHEJIANG UNIVERSITY. SCIENCE A
Autore/i: Bonci, Andrea; Longhi, Sauro; Monteriu', Andrea; Vaccarini, Massimo
Classificazione: 1 Contributo su Rivista
Abstract: Recent results on the development of a navigation system for a smart wheelchair are presented in this paper. In order to reduce the development cost, a modular solution is designed by using commercial and low cost devices. The functionalities of the tracking control system are described. Experimental results of the proposed assistive system are also presented and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36584 Collegamento a IRIS

2005 Sonar and video data fusion for robot localization and environment feature estimation
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Autore/i: Bonci, Andrea; Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro; Sartini, L.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51455 Collegamento a IRIS

2005 A Bayesian Approach to the Hough Transform for Line Detection
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
Autore/i: A. BONCI; T. LEO; S. LONGHI
Classificazione: 1 Contributo su Rivista
Abstract: This paper explains how to associate a rigorous probability value to the main straight line features extracted from a digital image. A Bayesian approach to the Hough Transform (HT)is considered. Under general conditions, it is shown that a probability measure is associated to each line extracted from the HT. The proposed method increments the HT accumulator in a probabilistic way: first calculating the uncertainty of each edge point in the image and then using a Bayesian probabilistic scheme for fusing the probability of each edge point and calculating the line feature probability.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53110 Collegamento a IRIS

2004 Discussion on: “Computation of Kalman decompositions of periodic systems”
EUROPEAN JOURNAL OF CONTROL
Autore/i: S. GALEANI; S. LONGHI; O.M. GRASSELLI
Editore: LAVOISIER, 14, RUE DE PROVIGNY, CACHAN, FRANCE, 94236 Primo editore Springer-Verl. London
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32083 Collegamento a IRIS

2004 Hierarchical switching scheme for PID control of underwater vehicles
Proceedings of the IFAC Conference on Control Applications in Marine Systems (CAMS 2004)
Autore/i: IPPOLITI G.; JETTO L.; LONGHI S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47884 Collegamento a IRIS

2004 Consistent on line estimation of environment features aimed at enhancing the efficiency of the localization procedure for a powered wheelchair
Robotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; La Manna, Alessia; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48067 Collegamento a IRIS

2004 Multiple models for adaptive control to improve the performance of minimum variance regulators
IEE PROCEEDINGS. CONTROL THEORY AND APPLICATIONS
Autore/i: Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The design of a minimum variance regulator for systems operating in dynamical uncertain environments is considered. For minimum variance self-tuning control of an unknown linear time-invariant system, a stable control strategy is developed that improves the transient response by using multiple models to describe the different environments and switching between the relative controllers. The controller is determined at every time instant by the model which best approximates the plant. The performance of the controller is evaluated by a set of simulation tests.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51212 Collegamento a IRIS

2004 Adaptively Switched Set-point Tracking PID Controllers
In Proceedings of the 12th Mediterranean Conference on Control and Automation
Autore/i: Ippoliti G.; Jetto L.; Longhi S.; Orsini V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper investigates the problem of improving the output step response obtainable with PID controllers. The solution proposed is based on a supervisory switching control. First, a family of candidate stabilizing conventional PID regulators are designed on the basis of a suitable plant model. For each controller the corresponding feedback connection with a plant model is defined and the resultant output prediction error is used to form a real, positive definite functional giving a measure of the future controller performance. At any time instant, the supervisor exploits these measures for on-line selecting the most appropriate controller to be connected to the plant at the same time instant. The stability of the control system is guaranteed by the introduction of a suitably defined dwell time into the switching logic.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46660 Collegamento a IRIS

2004 A properly designed extended Kalman filtering approach for robot localization by sensors with different degree of accuracy
Proceedings of the International Symposium on Robotics and Automation (ISRA'2004)
Autore/i: IPPOLITI G.; JETTO L.; LONGHI S.; MONTERIU' A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48071 Collegamento a IRIS

2004 Sensor fault diagnostic system to improve the navigation reliability of a smart wheelchair
Proceedings of the International Symposium on Robotics and Automation (ISRA'2004)
Autore/i: IPPOLITI G.; LONGHI S.; MONTERIU' A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46707 Collegamento a IRIS

2004 Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot
Advances in Control of Articulated and Mobile Robots
Autore/i: BONCI, Andrea; IPPOLITI, Gianluca; IETTO, LEOPOLDO; LEO, TOMMASO; LONGHI, SAURO
Editore: Springer-Verlag
Luogo di pubblicazione: BERLIN
Classificazione: 2 Contributo in Volume
Abstract: A basic requirement for an autonomous mobile robot is to localize itself with repect to a given coordinate system. In this regard two different operating conditions exist: structured and unstructured environment. The relative method and algorithms are strongly influenced by the a priori knowledge on the environment where the robot operates. If the environment is known, a proper multisensor system endowed with an efficient data fusion algorithm may provide a very accurate localization. In this chapter the localization problem is formulated in a stochastic setting and a Kalman filtering approach is proposed for the integration of odometric, gyrocope, sonar and video camera measures. If the environment is only partially known the localization algorithm need preliminary definition of suitable environment map. Different probabilistic methods for sensory data fusion aimed at increasing the environment knowledge are proposed and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51659 Collegamento a IRIS

2004 Motion Control of a Smart Mobile Manipulator
Proceedings of the IEEE International Conference on Intelligent Manipulation and Grasping (IMG'04))
Autore/i: A. Bonci; S. Longhi; A. Monteriù; M. Vaccarini
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64470 Collegamento a IRIS

2003 Polynomial approach to the control of SISO periodic systems subject to input contraints
AUTOMATICA
Autore/i: P. COLANERI; V. KUCERA; S. LONGHI
Editore: Elsevier Science Limited:Oxford Fulfillment Center, PO Box 800, Kidlington Oxford OX5 1DX United Kingdom:011 44 1865 843000, 011 44 1865 843699, EMAIL: asianfo@elsevier.com, tcb@elsevier.co.UK, INTERNET: http://www.elsevier.com, http://www.elsevier.com/locate/shpsa/, Fax: 011 44 1865 843010
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32079 Collegamento a IRIS

2003 Sensor fusion in mobile robot: a Bayesian approach with real-time multiprocessor architecture
Proceedings of the European Conference on Mobile Robotis, Adam Borkowski (Ed)
Autore/i: A. Bonci; T. Leo; S. Longhi
Editore: ZTUREK Research-Scientific Inst.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B106
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65431 Collegamento a IRIS

2003 Neural networks based control of mobile robots: Development and experimental validation
JOURNAL OF ROBOTIC SYSTEMS
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The paper proposes a neural networks approach to the solution of the tracking problem for mobile robots. Neural networks based controllers are investigated in order to exploit the nonlinear approximation capabilities of the nets for modeling the kinematic behavior of the vehicle and for reducing unmodeled tracking errors contributions. The training of the nets and the control performances analysis have been done in a real experimental setup. The proposed solutions are implemented on a PC-based control architecture for the real-time control of the LabMate mobile base and are compared with classical kinematic control schemes. Experimental results are satisfactory in terms of tracking errors and computational efforts.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51339 Collegamento a IRIS

2003 Decentralized control networks of multirate sampled-data systems
Proceedings of the 11th Mediterranean Conference on Control and Automation
Autore/i: R. Ciferri; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B104
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74705 Collegamento a IRIS

2003 Improving PID Control of Underwater Vehicles through a Hybrid Control Scheme
1st IFAC Workshop on Guidance and Control of Underwater Vehicles
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46659 Collegamento a IRIS

2002 A Bayesian approach to the Hough Transform for Video and Ultrasonic Data Fusion in Mobile Robot Navigation
Proceedings of the 2002 IEEE international Conference on Systems, Man and Cybernetics
Autore/i: A. Bonci; G. Di Francesco; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B101
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65429 Collegamento a IRIS

2002 Decentralized control of multirate sampled-data systems
Proceedings of the 41st IEEE Conference on Decision and Control
Autore/i: R. Ciferri; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B103
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65430 Collegamento a IRIS

2002 Modelling and Identification of a Remotely Operated Vehicle
PROCEEDINGS OF THE INSTITUTE OF MARINE ENGINEERING, SCIENCE AND TECHNOLOGY (PART A) JOURNAL OF MARINE ENGINEERING AND TECHNOLOGY
Autore/i: Ippoliti G.; Longhi S.; Radicioni A.
Classificazione: 1 Contributo su Rivista
Abstract: The linear models obtained by linearization and discretization of the dynamics of a remotely operated vehicle around the operating points are compared with the linear models obtained by parametric identication methods based on experimental data collected in real operative conditions. The results of this analysis produce a signicative estimation of the parameters variability of the considered class of linear models. In the design of multiple models controllers this analysis is of main relevance for choosing the number of linear models and their distribution in the parameters space.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51865 Collegamento a IRIS


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