ABSTRACT The paper addresses and solves the problem of multirobot collaborative localization in h... more ABSTRACT The paper addresses and solves the problem of multirobot collaborative localization in highly symmetrical 2D environments, such as the ones encountered in logistic applications. Because of the environment symmetry, the most common localization algorithms may fail to provide a correct estimate of the position and orientation of the robot, if its initial position is not known, no specific landmark is introduced, and no absolute information (e.g., GPS) is available: the robot can estimate its position with respect to the walls of the corridor, but it could be critical to determine in which corridor it is actually moving. The proposed algorithm is based upon a particle filter cooperative Monte Carlo Localization (MCL) and implements a three-stage procedure for the global localization and the accurate position tracking of each robot of the team. Online simulations and experimental tests, which investigate different situations with respect to the number of robots involved and their initial positions, show how the proposed solution can lead to the global localization of each robot, with a precision sufficient to be used as starting point for the subsequent robot tracking.
The 23rd IEEE Conference on Decision and Control, 1984
The problem of optimal sampling design for parameter estimation when data are generated by linear... more The problem of optimal sampling design for parameter estimation when data are generated by linear models is addressed. The measurements are assumed to be corrupted by unknown-but-bounded additive noise. The sampling design assumes that the samples number is free and no replication is allowed. Two main results are shown: 1) for particular classes of linear models, the optimal measurements number is equal to the parameters number, as in the statistical context; 2) the parameters uncertainty intervals of an actual realization are bounded from above by quantities that can be computed a priori, knowing only the model and the error structure.
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003
Abstract Industrial robots use closed proprietary controller architecture that prevents the proto... more Abstract Industrial robots use closed proprietary controller architecture that prevents the prototyping of advanced control algorithms when new sensor, such as force/torque or vision sensors, are used. The main bottleneck, apart from the closed architecture, consists in the ...
International Conference on Robotics and Automation, 2010
Multi robot systems are envisioned to play an important role in many robotic applications. A main... more Multi robot systems are envisioned to play an important role in many robotic applications. A main prerequisite for a team deployed in a wide unknown area is the capability of autonomously navigate, exploiting the information acquired through the on-line estimation of both robot poses and surrounding environment model, according to Simultaneous Localization And Mapping (SLAM) framework. As team coordination is
[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1992
The application of the nonlinear feedback linearization method to the position control of the mov... more The application of the nonlinear feedback linearization method to the position control of the movable platen in a plastic injection molding machine is presented. The dynamic model of the platen movement during the injection cycle presents many different nonlinearities. Some are due to the hydraulic subsystem while others depend on the movable platen kinematic chain. Both were linearized according to
This paper considers the design and the experimental validation of digital control algorithms whe... more This paper considers the design and the experimental validation of digital control algorithms when both low and high velocity precision issues are important for the quality of the controlled equipment. At low velocities friction phenomena are dominant, while at high velocities the nonlinear coupled and configuration-dependent dynamics plays a major role. Since rapid control proto- typing (RCP) requires "finely-tuned" models
IEEE International Symposium on Computer Aided Control System Design, 2002
This work presents some results on a fast prototyping system used to model, simulate and control ... more This work presents some results on a fast prototyping system used to model, simulate and control a planar manipulator at the Robotics Laboratory of the Politecnico di Torino. A unique environment allows to perform the entire range of procedures. A host-target architecture based on a PC-DSP link has been used for two basic advantages: simplicity of use, thanks to the
International Conference on Robotics and Automation, 1998
Different solutions to the robot control problem by using only position measurements have been st... more Different solutions to the robot control problem by using only position measurements have been studied in literature. The performances of some linear and nonlinear observers previously proposed are discussed in this paper, on the basis of the experimental results obtained in the control of a SCARA two-link manipulator with two revolute joints. The comparison is carried out by using the
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001
Robotics equipment used in research studies or industrial prototyping often require reconfigurati... more Robotics equipment used in research studies or industrial prototyping often require reconfiguration of some hardware/software architectures and algorithms for new experiments and trials. Such requirements highlight the interest in new “open” control system architectures, interacting with suitable applications for software development in order to reduce and simplify the project cycle. This paper shows an application based on one of these
Friction effects are particularly critical for industrial robots, since they can induce large pos... more Friction effects are particularly critical for industrial robots, since they can induce large positioning errors, stick-slip motions, and limit cycles. This paper offers a reasoned overview of the main friction compensation techniques that have been developed in the last years, regrouping them according to the adopted kind of control strategy. Some experimental results are reported, to show how the control
2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011
Planning under uncertainty in perception and action requires the robot to be able to use active s... more Planning under uncertainty in perception and action requires the robot to be able to use active strategies for trading-off between the contrasting tasks of exploring the scenario and satisfying given constraints on the admis- sible uncertainty in the estimation process. In this work we compare several state-of-the-art approaches to active SLAM (Simultaneous Localization and Mapping) and exploration using Rao-Blackwellized Particle Filters. The proposed numerical evaluation and analytical insight allow to have a clear picture of the advantages and limitations of each technique for real world applications. Extensive tests are performed in typical indoor and office environments and on well-known benchmarking scenarios belonging to SLAM literature, with the purpose of evaluating the maturity of the field and the potential of truly autonomous navigation systems based on particle filtering. I. INTRODUCTION
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
... ξ can be selected so that the red curve is always below the histogram of the ... Loop closing... more ... ξ can be selected so that the red curve is always below the histogram of the ... Loop closing actions and exploration actions are rewarded by the metric, but in many cases ... On one hand the results enlightens some drawbacks of common frontier-based target selection: reaching the ...
Systems and Control: Foundations & Applications, 2006
Several tasks of the most recent robotics applications require high control performances, which c... more Several tasks of the most recent robotics applications require high control performances, which cannot be achieved by the classical joint independent control schemes widely used in the industrial field. The necessity to directly take into account parasitic phenomena affecting motion control, such as friction, often leads to the development of model-based control schemes. The actual effectiveness of such schemes is strongly dependent on the accuracy with which the robot dynamics and the friction effects are compensated by the identified models, and it must be assessed by suitable experimental tests. In this chapter, different solutions are investigated for the development of a model-based control scheme, including joint friction compensation, for a two-links, planar, direct-drive manipulator. In particular, the use of available nominal robot inertial parameters for the identification of a nonlinear friction function, based on the well-known LuGre model, is compared with a complete dynamic calibration of the manipulator, including the estimation of both the robot dynamics and the parameters of a polynomial friction function. The identification results are discussed in the two cases, and inverse dynamics control schemes, based on the identified models, are experimentally applied to the manipulator for the execution of different trajectories, which allow the evaluation of the control performances in different conditions.
Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2002
The paper gives an overview of the attitude and drag-free control (in short DFC) of the European ... more The paper gives an overview of the attitude and drag-free control (in short DFC) of the European Gravity Field and Ocean Circulation Explorer (GOCE) satellite. The DFC has been designed and tested in view of the Preliminary Design Review (PDR). The DFC is intended to enable the operations of a gravity gradiometer for the Earth gravity field recovery. The DFC has been fully designed on a simplified discrete-time model derived from the 'fine' dynamics of the spacecraft and its environment, as outlined in a companion paper. The DFC has been tested against severe uncertainties and its code has been integrated into GOCE end-to-end simulator.
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
The localization problem is one of the most important and investigated problems in mobile robotic... more The localization problem is one of the most important and investigated problems in mobile robotics. A great number of solutions have been described in many papers and many different theoretical approaches have been presented. Among the sampling-based approaches Monte Carlo Localization (MCL) exploits the Monte Carlo techniques to solve the localization problem. The MCL approach has been intensively tested on problems involving robots equipped with range sensors such as sonar or laser sensors leading to very good performances. In this paper the application of MCL techniques to the localization of mobile mini-robots, equipped with only low-cost Infra-Red (IR) sensors, is investigated and discussed both in simulation and experimentally.
Proceedings 1992 IEEE International Conference on Robotics and Automation, 1992
The authors present an algorithm for hybrid force-position control of a robot manipulator using t... more The authors present an algorithm for hybrid force-position control of a robot manipulator using the operational space formulation approach. The proposed scheme modifies and integrates a previous algorithm due to O. Khatib (1987) and to Khatib and J. Burdick (1986), to achieve an exact decoupling of the force and position control along the task subspaces. The theoretical results presented demonstrate
ABSTRACT The paper addresses and solves the problem of multirobot collaborative localization in h... more ABSTRACT The paper addresses and solves the problem of multirobot collaborative localization in highly symmetrical 2D environments, such as the ones encountered in logistic applications. Because of the environment symmetry, the most common localization algorithms may fail to provide a correct estimate of the position and orientation of the robot, if its initial position is not known, no specific landmark is introduced, and no absolute information (e.g., GPS) is available: the robot can estimate its position with respect to the walls of the corridor, but it could be critical to determine in which corridor it is actually moving. The proposed algorithm is based upon a particle filter cooperative Monte Carlo Localization (MCL) and implements a three-stage procedure for the global localization and the accurate position tracking of each robot of the team. Online simulations and experimental tests, which investigate different situations with respect to the number of robots involved and their initial positions, show how the proposed solution can lead to the global localization of each robot, with a precision sufficient to be used as starting point for the subsequent robot tracking.
The 23rd IEEE Conference on Decision and Control, 1984
The problem of optimal sampling design for parameter estimation when data are generated by linear... more The problem of optimal sampling design for parameter estimation when data are generated by linear models is addressed. The measurements are assumed to be corrupted by unknown-but-bounded additive noise. The sampling design assumes that the samples number is free and no replication is allowed. Two main results are shown: 1) for particular classes of linear models, the optimal measurements number is equal to the parameters number, as in the statistical context; 2) the parameters uncertainty intervals of an actual realization are bounded from above by quantities that can be computed a priori, knowing only the model and the error structure.
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003
Abstract Industrial robots use closed proprietary controller architecture that prevents the proto... more Abstract Industrial robots use closed proprietary controller architecture that prevents the prototyping of advanced control algorithms when new sensor, such as force/torque or vision sensors, are used. The main bottleneck, apart from the closed architecture, consists in the ...
International Conference on Robotics and Automation, 2010
Multi robot systems are envisioned to play an important role in many robotic applications. A main... more Multi robot systems are envisioned to play an important role in many robotic applications. A main prerequisite for a team deployed in a wide unknown area is the capability of autonomously navigate, exploiting the information acquired through the on-line estimation of both robot poses and surrounding environment model, according to Simultaneous Localization And Mapping (SLAM) framework. As team coordination is
[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1992
The application of the nonlinear feedback linearization method to the position control of the mov... more The application of the nonlinear feedback linearization method to the position control of the movable platen in a plastic injection molding machine is presented. The dynamic model of the platen movement during the injection cycle presents many different nonlinearities. Some are due to the hydraulic subsystem while others depend on the movable platen kinematic chain. Both were linearized according to
This paper considers the design and the experimental validation of digital control algorithms whe... more This paper considers the design and the experimental validation of digital control algorithms when both low and high velocity precision issues are important for the quality of the controlled equipment. At low velocities friction phenomena are dominant, while at high velocities the nonlinear coupled and configuration-dependent dynamics plays a major role. Since rapid control proto- typing (RCP) requires "finely-tuned" models
IEEE International Symposium on Computer Aided Control System Design, 2002
This work presents some results on a fast prototyping system used to model, simulate and control ... more This work presents some results on a fast prototyping system used to model, simulate and control a planar manipulator at the Robotics Laboratory of the Politecnico di Torino. A unique environment allows to perform the entire range of procedures. A host-target architecture based on a PC-DSP link has been used for two basic advantages: simplicity of use, thanks to the
International Conference on Robotics and Automation, 1998
Different solutions to the robot control problem by using only position measurements have been st... more Different solutions to the robot control problem by using only position measurements have been studied in literature. The performances of some linear and nonlinear observers previously proposed are discussed in this paper, on the basis of the experimental results obtained in the control of a SCARA two-link manipulator with two revolute joints. The comparison is carried out by using the
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001
Robotics equipment used in research studies or industrial prototyping often require reconfigurati... more Robotics equipment used in research studies or industrial prototyping often require reconfiguration of some hardware/software architectures and algorithms for new experiments and trials. Such requirements highlight the interest in new “open” control system architectures, interacting with suitable applications for software development in order to reduce and simplify the project cycle. This paper shows an application based on one of these
Friction effects are particularly critical for industrial robots, since they can induce large pos... more Friction effects are particularly critical for industrial robots, since they can induce large positioning errors, stick-slip motions, and limit cycles. This paper offers a reasoned overview of the main friction compensation techniques that have been developed in the last years, regrouping them according to the adopted kind of control strategy. Some experimental results are reported, to show how the control
2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011
Planning under uncertainty in perception and action requires the robot to be able to use active s... more Planning under uncertainty in perception and action requires the robot to be able to use active strategies for trading-off between the contrasting tasks of exploring the scenario and satisfying given constraints on the admis- sible uncertainty in the estimation process. In this work we compare several state-of-the-art approaches to active SLAM (Simultaneous Localization and Mapping) and exploration using Rao-Blackwellized Particle Filters. The proposed numerical evaluation and analytical insight allow to have a clear picture of the advantages and limitations of each technique for real world applications. Extensive tests are performed in typical indoor and office environments and on well-known benchmarking scenarios belonging to SLAM literature, with the purpose of evaluating the maturity of the field and the potential of truly autonomous navigation systems based on particle filtering. I. INTRODUCTION
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
... ξ can be selected so that the red curve is always below the histogram of the ... Loop closing... more ... ξ can be selected so that the red curve is always below the histogram of the ... Loop closing actions and exploration actions are rewarded by the metric, but in many cases ... On one hand the results enlightens some drawbacks of common frontier-based target selection: reaching the ...
Systems and Control: Foundations & Applications, 2006
Several tasks of the most recent robotics applications require high control performances, which c... more Several tasks of the most recent robotics applications require high control performances, which cannot be achieved by the classical joint independent control schemes widely used in the industrial field. The necessity to directly take into account parasitic phenomena affecting motion control, such as friction, often leads to the development of model-based control schemes. The actual effectiveness of such schemes is strongly dependent on the accuracy with which the robot dynamics and the friction effects are compensated by the identified models, and it must be assessed by suitable experimental tests. In this chapter, different solutions are investigated for the development of a model-based control scheme, including joint friction compensation, for a two-links, planar, direct-drive manipulator. In particular, the use of available nominal robot inertial parameters for the identification of a nonlinear friction function, based on the well-known LuGre model, is compared with a complete dynamic calibration of the manipulator, including the estimation of both the robot dynamics and the parameters of a polynomial friction function. The identification results are discussed in the two cases, and inverse dynamics control schemes, based on the identified models, are experimentally applied to the manipulator for the execution of different trajectories, which allow the evaluation of the control performances in different conditions.
Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2002
The paper gives an overview of the attitude and drag-free control (in short DFC) of the European ... more The paper gives an overview of the attitude and drag-free control (in short DFC) of the European Gravity Field and Ocean Circulation Explorer (GOCE) satellite. The DFC has been designed and tested in view of the Preliminary Design Review (PDR). The DFC is intended to enable the operations of a gravity gradiometer for the Earth gravity field recovery. The DFC has been fully designed on a simplified discrete-time model derived from the 'fine' dynamics of the spacecraft and its environment, as outlined in a companion paper. The DFC has been tested against severe uncertainties and its code has been integrated into GOCE end-to-end simulator.
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
The localization problem is one of the most important and investigated problems in mobile robotic... more The localization problem is one of the most important and investigated problems in mobile robotics. A great number of solutions have been described in many papers and many different theoretical approaches have been presented. Among the sampling-based approaches Monte Carlo Localization (MCL) exploits the Monte Carlo techniques to solve the localization problem. The MCL approach has been intensively tested on problems involving robots equipped with range sensors such as sonar or laser sensors leading to very good performances. In this paper the application of MCL techniques to the localization of mobile mini-robots, equipped with only low-cost Infra-Red (IR) sensors, is investigated and discussed both in simulation and experimentally.
Proceedings 1992 IEEE International Conference on Robotics and Automation, 1992
The authors present an algorithm for hybrid force-position control of a robot manipulator using t... more The authors present an algorithm for hybrid force-position control of a robot manipulator using the operational space formulation approach. The proposed scheme modifies and integrates a previous algorithm due to O. Khatib (1987) and to Khatib and J. Burdick (1986), to achieve an exact decoupling of the force and position control along the task subspaces. The theoretical results presented demonstrate
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Papers by Basilio Bona