@conference {3141, title = {Distributed Task-priority Based Control in Area Coverage \& Adaptive Sampling}, booktitle = {MTS/IEEE Oceans 2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen, Scotland, June 2017}, abstract = {

The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.

}, keywords = {Robotics}, author = {T. Fabbri and E. Simetti and G. Casalino and L. Pallottino and A. Caiti} } @conference {2878, title = {Assessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {204 - 213}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

A Serious Game (SG) system for the assessment of the potential of the multi-vehicle surveillance is presented. The SG system is applied to the problem of protection of strategic assets from underwater asymmetric threats. The SG platform integrates the active sonar performance evaluator able to estimate the real performance on the basis of the environmental conditions. The final goal is to provide new technology tools to realize a Decision Support System (DDS) to support the design phase of a naval unit. The SG system is developed in the framework of the ProDifCon project supported by the (DLTM) (Italy).

}, doi = {10.1007/978-3-319-47605-6_17}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_17}, author = {T. Fabbri and S. Nardi and L. Isgr{\`o} and L. Pallottino and A. Caiti} } @article {2848, title = {Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles}, journal = {AUTONOMOUS ROBOTS}, volume = {40}, year = {2016}, month = {10/2016}, pages = {1229{\textendash}1244}, abstract = {

A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet\ {\textquoteright}13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface\ {\textquoteright}14 workshop, organized by the University of Zagreb.

}, keywords = {Robotics}, issn = {0929-5593}, doi = {10.1007/s10514-016-9594-9}, url = {http://link.springer.com/journal/volumesAndIssues/10514}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Di Corato and D. Fenucci and N. Monni and L. Pugi and A. Ridolfi} } @conference {2818, title = {A game theoretic approach for antagonistic-task coordination of underwater autonomous robots in asymmetric threats scenarios}, booktitle = {OCEANS 2016}, year = {2016}, month = {12/2016}, abstract = {

This work proposes a game theoretic approach
to tackle the problem of multi-robot coordination
in critical scenarios where communication is
limited and the robots must accomplish different tasks
simultaneously. An important application falls in underwater
robotic framework where robots are used to
protect a ship against asymmetric threats guaranteeing
simultaneously the coverage of the area around the ship
and the tracking of a possible intruder. The problem is
modelled as a potential game for which novel learning
protocols are introduced. Indeed, a general extension
of pay-off based algorithms is herein proposed where
the main difference with state-of-the-art protocols is
that the trajectory optimization is considered instead
of single action optimization. Moreover, the proposed
T-algorithms, steer the robots toward Nash equilibria
that will be shown to correspond to the accomplishment
of different, possibly antagonistic, goals. Finally, performances
of the algorithms, under different scenarios,
have been evaluated in simulations.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7761346/}, author = {S. Nardi and T. Fabbri and A. Caiti and L. Pallottino} } @article {2845, title = {A new AUV navigation system exploiting unscented Kalman filter}, journal = {OCEAN ENGINEERING}, volume = {113}, year = {2016}, pages = {121-132}, abstract = {

The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors affecting the accuracy of AUVs navigation systems is the algorithm used to estimate the vehicle motion, usually based on kinematic vehicle models and linear estimators. A precise and reliable navigation system is indeed fundamental to AUVs: the Global Positioning System (GPS) signal is not available underwater, thus making it very hard to know the position of the vehicle in real-time. In this paper, the authors present an innovative navigation strategy specifically designed for AUVs, based on the Unscented Kalman Filter (UKF). The new algorithm proves to be effective if applied to this class of vehicles and allows us to achieve a satisfying accuracy improvement compared to standard navigation algorithms. The proposed strategy has been experimentally validated using the navigation data acquired in suitable sea tests performed in Biograd Na Moru (Croatia) in the framework of the FP7 European ARROWS project tests performed during the Breaking the Surface 2014 (BtS 2014) workshop. The vehicles involved are the two Typhoon AUVs, developed and built by the Department of Industrial Engineering of the University of Florence within the THESAURUS Tuscany Region project for exploration and surveillance of underwater archaeological sites. The experiment, described in the paper, was performed to preliminary test the cooperative navigation between these AUVs. The new algorithm has been initially tested offline, and the validation of the proposed strategy provided accurate results in estimating the vehicle dynamic behaviour.

}, keywords = {Robotics}, doi = {10.1016/j.oceaneng.2015.12.058}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Fanelli and D. Fenucci and E. Meli and A. Ridolfi} } @article {2846, title = {An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles}, journal = {Mechatronics}, volume = {39}, year = {2016}, month = {11/2016}, pages = {185-195}, abstract = {

Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the AUV navigation state strongly affects the performance of the overall system. In this paper, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an Unscented Kalman Filter (UKF). The comparison results to be significant as the two strategies of filtering are based on the same process and sensors models. The UKF-based approach, here adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load. UKF has not yet been extensively used in practical underwater applications, even if it turns out to be quite promising. The proposed results rely on the data acquired during a sea mission performed by one of the two Typhoon class vehicles involved in the NATO CommsNet13 experiment (held in September 2013). As ground truth for performance evaluation and comparison, performed offline, position measurements obtained through Ultra-Short BaseLine (USBL) fixes are used. The result analysis leads to identify both the strategies as effective for the purpose of being included in the control loop of an AUV. The UKF approach demonstrates higher performance encouraging its implementation as a more suitable navigation algorithm even if, up to now, it is still not used much in this field.

}, keywords = {Robotics}, doi = {http://dx.doi.org/10.1016/j.mechatronics.2016.05.007}, url = {http://www.sciencedirect.com/science/article/pii/S095741581630037X}, author = {B. Allotta and A. Caiti and L. Chisci and R. Costanzi and F. Di Corato and D. Fantacci and D. Fenucci and E. Meli and A. Ridolfi} } @article {1876, title = {Mobile underwater sensor networks for protection and security: field experience at the UAN11 experiment}, journal = {JOURNAL OF FIELD ROBOTICS}, volume = {30}, year = {2013}, pages = {237{\textendash}253}, keywords = {Robotics}, issn = {1556-4959}, doi = {10.1002/rob.21447}, url = {http://dx.medra.org/10.1002/rob.21447}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @inbook {1875, title = {Further Advances in Unmanned Marine Vehicles}, year = {2012}, pages = {309{\textendash}330}, publisher = {IET}, organization = {IET}, chapter = {The enhanced FOLAGA: a hybrid glider/propelled AUV capable of carrying universal payload modules}, address = {Londra}, keywords = {Robotics}, isbn = {9781849194792}, author = {A. Caffaz and A. Caiti and V. Calabr{\`o} and G. Casalino and A Maguer and A. Munaf{\`o} and J.R. Potter and H Tay and A. Turetta} } @article {1290, title = {A geographical information system (GIS)-based simulation tool to assess civilian harbor protection levels}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {37}, year = {2012}, pages = {85{\textendash}102}, keywords = {Robotics}, issn = {0364-9059}, doi = {10.1109/JOE.2011.2174675}, url = {http://dx.medra.org/10.1109/JOE.2011.2174675}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @conference {1874, title = {MOOS middleware and node adaptivity in underwater sensor networks: Results from the UAN11 sea trial}, booktitle = {Proceedings of Meetings on Acoustics}, year = {2012}, month = {2-6 July,}, pages = {1{\textendash}9}, publisher = {Acoustical Society of America}, organization = {Acoustical Society of America}, address = {Edinburgh}, keywords = {Robotics}, doi = {10.1121/1.4772678}, url = {http://dx.medra.org/10.1121/1.4772678}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Duca and A. Munaf{\`o}} } @article {1287, title = {Multivariable constrained process control via Lyapunov R-functions}, journal = {JOURNAL OF PROCESS CONTROL}, year = {2012}, note = {

Available on line since Aug 10 2012 - paper version in press

}, keywords = {Robotics}, issn = {0959-1524}, doi = {10.1016/j.jprocont.2012.07.013}, url = {http://dx.medra.org/10.1016/j.jprocont.2012.07.013}, author = {A. Balestrino and A. Caiti and S Grammatico} } @article {1288, title = {A new class of Lyapunov functions for the constrained stabilization of linear systems}, journal = {AUTOMATICA}, year = {2012}, note = {

Available on-line since July 18 2012 - Paper version in press

}, keywords = {Robotics}, issn = {0005-1098}, doi = {10.1016/j.automatica.2012.06.099}, url = {http://dx.medra.org/10.1016/j.automatica.2012.06.099}, author = {A. Balestrino and A. Caiti and S Grammatico} } @article {1289, title = {Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network}, journal = {SENSORS}, volume = {12}, year = {2012}, pages = {1967{\textendash}1989}, keywords = {Embedded Control, Robotics}, issn = {1424-8220}, doi = {10.3390/s120201967}, url = {http://dx.medra.org/10.3390/s120201967}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @inbook {1873, title = {Advances in PID Control}, year = {2011}, pages = {85{\textendash}100}, publisher = {INTECH}, organization = {INTECH}, chapter = {From Basic to Advanced PI Controllers: A Complexity vs. Performance Comparison}, keywords = {Robotics}, isbn = {9789533072678}, author = {A. Balestrino and A. Caiti and V. Calabr{\`o} and E. Crisostomi and A. Landi} } @article {1291, title = {Autonomous underwater vehicle teams for adaptive ocean sampling: a data-driven approach}, journal = {OCEAN DYNAMICS}, volume = {61}, year = {2011}, pages = {{\textendash}}, keywords = {Embedded Control, Robotics}, issn = {1616-7341}, doi = {10.1007/s10236-011-0464-x}, url = {http://dx.medra.org/10.1007/s10236-011-0464-x}, author = {A. Munaf{\`o} and E. Simetti and A. Turetta and G. Casalino and A. Caiti} } @conference {1870, title = {AUVs as mobile nodes in acoustic networks: field experience at the UAN10 experiment}, booktitle = {Proceedings of the OCEANS{\^a}{\texteuro}{\texttrademark}11 IEEE Santander Conference}, year = {2011}, month = {June}, pages = {1{\textendash}6}, keywords = {Robotics}, doi = {10.1109/Oceans-Spain.2011.6003462}, url = {http://dx.medra.org/10.1109/Oceans-Spain.2011.6003462}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1293, title = {Logical composition of Lyapunov functions}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {84}, year = {2011}, pages = {563{\textendash}573}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207179.2011.562549}, url = {http://dx.medra.org/10.1080/00207179.2011.562549}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @inbook {1872, title = {Nonlinear Science and Complexity}, year = {2011}, pages = {381{\textendash}388}, publisher = {Springer}, organization = {Springer}, chapter = {A generalised entropy of curves approach for the analysis of dynamical systems}, keywords = {Robotics}, isbn = {9789048198832}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @article {1292, title = {RT2: Real Time Ray Tracing for Underwater range Evaluation}, journal = {INTELLIGENT SERVICE ROBOTICS}, volume = {4}, year = {2011}, keywords = {Robotics}, issn = {1861-2776}, doi = {10.1007/s11370-011-0093-8}, url = {http://dx.medra.org/10.1007/s11370-011-0093-8}, author = {G. Casalino and A. Caiti and E. Simetti and A. Turetta} } @conference {1871, title = {Secure Cooperation of Mobile Sensors in an Underwater Acoustic Network}, booktitle = {Proceedings of the 8th European Conference on Wireless Sensor Networks}, year = {2011}, month = {23-25 February,}, pages = {1{\textendash}2}, keywords = {Robotics}, author = {A. Caiti and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @conference {1869, title = {Stabilization of constrained linear systems via smoothed truncated ellipsoids}, booktitle = {IFAC World Congress}, year = {2011}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and E. Crisostomi and S Grammatico and A. Caiti} } @conference {1868, title = {A statistical tool for analysing nonlinear properties of dynamical systems}, booktitle = {IEEE Mediterranean Conference on Automation and Control}, year = {2011}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @conference {1861, title = {Adaptive Cooperative Algorithms for AUV Networks}, booktitle = {Proc. IEEE Int. Conf. on Communications ICC10, workshop WUnderNet 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @conference {1860, title = {AUV networks for adaptive area coverage with reliable acoustic communication links}, booktitle = {Proc. Int. Conf. on Computing and Information technology in the Maritime Industries, COMPIT2010}, year = {2010}, month = {Apr}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @conference {1862, title = {Control-oriented modelling of an hybrid AUV}, booktitle = {Proc. IEEE Conf. on Robotics and Automation, ICRA 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/ROBOT.2010.5509365}, url = {http://dx.medra.org/10.1109/ROBOT.2010.5509365}, author = {A. Caiti and V. Calabr{\`o}} } @conference {1864, title = {DCL: a real time portable distributed control telelaboratory}, booktitle = {IEEE Mediterranean Conference on Automation and Control}, year = {2010}, month = {Jun}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and V. Calabr{\`o} and E. Crisostomi} } @conference {1863, title = {Designing behaviours to improve observability for relative localization of AUVs}, booktitle = {IEEE Conf. on Robotics and Automation, ICRA 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/ROBOT.2010.5509292}, url = {http://dx.medra.org/10.1109/ROBOT.2010.5509292}, author = {G. ANTONELLI and A. Caiti and V. Calabr{\`o} and S. CHIAVERINI} } @conference {1865, title = {Geometric and robust feedback control of an AUV exploring an underwater volcano}, booktitle = {Proc. IEEE Autonomous Underwater Vehicles Conference}, year = {2010}, month = {Aug}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/AUV.2010.5779646}, url = {http://dx.medra.org/10.1109/AUV.2010.5779646}, author = {M. ANDONIAN and M. CHYBA and S Grammatico and A. Caiti} } @article {1294, title = {The hybrid glider/auv FOLAGA}, journal = {IEEE ROBOTICS AND AUTOMATION MAGAZINE}, volume = {1}, year = {2010}, pages = {31{\textendash}44}, keywords = {Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2010.935791}, url = {http://dx.medra.org/10.1109/MRA.2010.935791}, author = {A. Caffaz and A. Caiti and G. Casalino and A. Turetta} } @inbook {1867, title = {Sensor Systems and Software}, year = {2010}, pages = {111{\textendash}126}, publisher = {Springer}, organization = {Springer}, chapter = {Physical characterization of acoustic communication channel properties in underwater mobile sensor networks}, keywords = {Robotics}, isbn = {9783642115271}, author = {A. Caiti and E. Crisostomi and A. Munaf{\`o}} } @conference {1866, title = {Stabilizability of Linear Differential Inclusions via R-Functions}, booktitle = {IFAC Symposium on Nonlinear Control Systems (NOLCOS)}, year = {2010}, month = {Sep}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @conference {1856, title = {Cooperating AUV Teams: Adaptive Area Coverage With Space-Varying Communication Constraints}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278255}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278255}, author = {A. Caiti and G. Casalino and A. Munaf{\`o} and A. Turetta} } @article {1300, title = {Folaga: a low cost autonomous underwater vehicle combining glider and auv capabilities}, journal = {OCEAN ENGINEERING}, volume = {36}, year = {2009}, pages = {24{\textendash}38}, keywords = {Robotics}, issn = {0029-8018}, doi = {10.1016/j.oceaneng.2008.08.014}, url = {http://dx.medra.org/10.1016/j.oceaneng.2008.08.014}, author = {A. Alvarez and A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta and R. Viviani} } @article {1296, title = {F{\`o}laga: A low cost AUV/glider for coastal environmental sampling}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {151{\textendash}157}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.151}, url = {http://dx.medra.org/10.3723/ut.28.151}, author = {A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta} } @article {1297, title = {From remote experiments to web-based learning objects: an advanced tele-laboratory for robotics and control systems}, journal = {IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS}, volume = {56}, year = {2009}, pages = {4817{\textendash}4825}, keywords = {Robotics}, issn = {0278-0046}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @article {1299, title = {Generalised Entropy of Curves for the Analysis and Classification of Dynamical Systems}, journal = {ENTROPY}, volume = {11}, year = {2009}, pages = {249{\textendash}270}, keywords = {Robotics}, issn = {1099-4300}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @conference {1855, title = {HISS: Harbour Intrusion Simulator System}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278264}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278264}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @conference {1859, title = {R-composition of Lyapunov functions}, booktitle = {2009 17th Mediterranean Conference on Control and Automation}, year = {2009}, pages = {126{\textendash}131}, keywords = {Robotics}, doi = {10.1109/MED.2009.5164527}, url = {http://dx.medra.org/10.1109/MED.2009.5164527}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @article {1298, title = {Robotics techniques for data acquisition in underwater archeology}, journal = {INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL}, volume = {10}, year = {2009}, pages = {45{\textendash}51}, keywords = {Robotics}, issn = {1590-8844}, author = {G. Conte and S. M. Zanoli and D. Scaradozzi and A. Caiti} } @conference {1854, title = {Stability analysis of dynamical systems via R-functions}, booktitle = {Proc. European Control Conference}, year = {2009}, month = {July}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @conference {1857, title = {System performance trade-off in underwater harbour protection}, booktitle = {Proc. Int. Conf. Underwater Acoustic Measurements 09}, year = {2009}, month = {Jun}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @article {1295, title = {Underwater vehicle technology in the European research project VENUS}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {175{\textendash}185}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.175}, url = {http://dx.medra.org/10.3723/ut.28.175}, author = {G. Conte and L. Gambella and D. Scaradozzi and S. M. Zanoli and A. Caiti and V. Calabr{\`o} and A. Alcocer and J. Alves and B. Cardeira and R. Cunha and F. Curado and P. Oliveira and A. Oliveira and A. Pascoal and M. Rufino and L. Sebasti{\~a}o and C. Silvestre} } @conference {1858, title = {On the use of the generalised entropy of curves to evaluate chaotic behaviours}, booktitle = {International Scientific Conference on Physics and Control}, year = {2009}, month = {Aug}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @article {1400, title = {Underwater cartography for archaeology in the VENUS project}, journal = {GEOMATICA}, volume = {62}, year = {2008}, pages = {419{\textendash}427}, keywords = {Bioengineering}, issn = {1195-1036}, author = {P. Drap and J. SEINTURIER and G. Conte and A. Caiti and D. Scaradozzi and S. M. Zanoli and P. GAMBOGI} } @article {1402, title = {Adaptive on-line planning of environmental sampling missions with a team of cooperating autonomous underwater vehicles}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {80}, year = {2007}, pages = {1151{\textendash}1168}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207170701230973}, url = {http://dx.medra.org/10.1080/00207170701230973}, author = {A. Caiti and A. Munaf{\`o} and R. Viviani} } @article {1401, title = {Working towards autonomous distributed systems}, journal = {SEA TECHNOLOGY}, volume = {48}, year = {2007}, note = {

Editorial

}, pages = {7{\textendash}7}, keywords = {Robotics}, issn = {0093-3651}, author = {A. Caiti} } @conference {FontanelliVGCB06, title = {Adaptive non Linear Control of Dynamic Mobile Robots with Parameters Uncertainty}, booktitle = {Int. IFAC Symp. on Robot Control}, year = {2006}, month = {September}, address = {Bologna, Italy}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and R. Viviani and L. Greco and A. Caiti and A. Bicchi} } @article {1403, title = {Efficient Numerical Approximation of Maximum Entropy Estimates}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {79}, year = {2006}, pages = {1145{\textendash}1155}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207170600818373}, url = {http://dx.medra.org/10.1080/00207170600818373}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @article {1404, title = {GIS tools application for risk assessment of toxic waste buried in seafloor sediments}, journal = {CHEMISTRY IN ECOLOGY}, year = {2006}, pages = {S145{\textendash}S161}, keywords = {Robotics}, issn = {0275-7540}, doi = {10.1080/02757540600670828}, url = {http://dx.medra.org/10.1080/02757540600670828}, author = {A. Caiti and R. Minciardi and M. Palmese and M. Robba and R. Sacile and A. Trucco} } @article {1405, title = {Innovative technologies in underwater archaeology: field experience, open problems, research lines}, journal = {CHEMISTRY IN ECOLOGY}, year = {2006}, pages = {S383{\textendash}S396}, keywords = {Robotics}, issn = {0275-7540}, doi = {10.1080/02757540600572321}, url = {http://dx.medra.org/10.1080/02757540600572321}, author = {A. Caiti and G. Casalino and G. Conte and S. M. Zanoli} } @booklet {BCFGV05, title = {Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty}, year = {2005}, publisher = {Dipartimento di Sistemi Elettrici e Automazione, Universit\à di Pisa}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Caiti and D. Fontanelli and L. Greco and R. Viviani} } @conference {BBCCCCPT05, title = {From tele-laboratory to e-learning in automation curricula at the university of Pisa}, booktitle = {Proc. IFAC World Congress}, year = {2005}, abstract = {

The design and development of computational infrastructures supporting existing tele-laboratory experiences in the field of automation and robotics are described. The goal of the activity is to provide a proper e-learning environment in which remote laboratory experiences are integrated in a coherent way. The addition of e-learning features, as self-assessment and progress monitoring tools, asynchronous tutor interaction, authentication, evaluation and follow-up features, has led also to the modification of the original tele-laboratory set-up.

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and V. Calabr{\`o} and T. Cecchini and A. Coppelli and L. Pallottino and G. Tonietti} } @article {1407, title = {Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {30}, year = {2005}, pages = {140{\textendash}152}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @article {BCPT03, title = {On-line Robotic Experiments for Tele-Education at the University of Pisa}, journal = {Int. Journal of Robotic Systems}, volume = {22}, number = {4}, year = {2005}, note = {

Special Issue on Internet \& Online Robots for Telemanipulation

}, pages = {217-230}, abstract = {

In this paper we describe work being done at our department to make the Robotics Laboratory accessible to student and colleagues, to execute and watch real-time experiments at any time and from anywhere. We describe few different installations, and highlight the underlying philosophy, wich is aimed at enlarging the lab in all the dimensions of space, time, and available resources, through the use of Internet technologies.

}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and L. Pallottino and G. Tonietti} } @article {1406, title = {Risk assessment of seafloor waste: acoustical imaging of buried waste}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {13}, year = {2005}, pages = {385{\textendash}401}, keywords = {Robotics}, issn = {0218-396X}, doi = {10.1142/S0218396X05002694}, url = {http://dx.medra.org/10.1142/S0218396X05002694}, author = {A. Caiti and M. Palmese and A. Trucco} } @article {1408, title = {Evolutionary path planning for autonomous underwater vehicles in a variable ocean}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {29}, year = {2004}, pages = {418{\textendash}429}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Alvarez and A. Caiti and R. Onken} } @conference {BBCCPPT04, title = {A Robotic Set-Up with Remote Access for {\textquoteleft}{\textquoteleft}Pick and Place{\textquoteright}{\textquoteright} Operations Under Uncertainty Conditions}, booktitle = {E-learning and Virtual and Remote Laboratories}, series = {Proc. VIRTUAL-LAB 2004}, year = {2004}, pages = {144{\textendash}149}, abstract = {

The work describes on-going work at the University of Pisa on the field of tele-laboratories and distance learning. In particular, the group is working at the evolution of existing tele-laboratory experiments in the field of robotics and control into learning units of a self-consistent didactic project. The pick-and-place system described has been designed to provide the set-up for robot arm motion planning with specific objectives and evaluation tools.

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and T. Cecchini and L. Pallottino and A. Pisani and G. Tonietti}, editor = {P. Borza and L. Gomes and G. Scutaru} } @article {1409, title = {Set-membership acoustic tracking of autonomous underwater vehicles}, journal = {ACTA ACUSTICA UNITED WITH ACUSTICA}, volume = {88}, year = {2002}, pages = {648{\textendash}652}, keywords = {Robotics}, issn = {1610-1928}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @article {1410, title = {Seafloor properties determination from acoustic backscattering at normal incidence with a parametric source}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {8}, year = {2000}, pages = {365{\textendash}388}, issn = {0218-396X}, author = {A. Caiti} } @conference {BCP99, title = {Optimal Design of Dynamic Multiaxis Force/Torque Sensors}, booktitle = {Proc. IEEE Int. Conference on Decision and Control}, year = {1999}, pages = {2981-2986}, abstract = {The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @article {1411, title = {Parametric sonars for seafloor characterization}, journal = {MEASUREMENT SCIENCE \& TECHNOLOGY}, volume = {10}, year = {1999}, pages = {1105{\textendash}1115}, issn = {0957-0233}, doi = {10.1088/0957-0233/10/12/301}, url = {http://dx.medra.org/10.1088/0957-0233/10/12/301}, author = {A. Caiti and O. Bergem and J. Dybedal} } @conference {BCP97-ICAR, title = {Dynamic force/torque sensors: theory and experiments }, booktitle = {Proc. Int. Conference on Advanced Robotics}, year = {1997}, pages = {727-732}, address = {Monterey, CA, USA}, abstract = {

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @conference {BCP97, title = {Optimal Design of Dynamic Force/Torque Sensors}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @article {1413, title = {Acoustic estimation of seafloor parameters: A radial basis functions approach}, journal = {THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA}, volume = {100}, year = {1996}, pages = {1473{\textendash}1481}, issn = {0001-4966}, doi = {10.1142/S0218396X96000088}, url = {http://dx.medra.org/10.1142/S0218396X96000088}, author = {A. Caiti and S. M. Jesus} } @article {1414, title = {Estimating geoacoustic bottom properties from towed array data}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {4}, year = {1996}, pages = {273{\textendash}290}, issn = {0218-396X}, doi = {10.1142/S0218396X96000088}, url = {http://dx.medra.org/10.1142/S0218396X96000088}, author = {S. M. Jesus and A. Caiti} } @article {1415, title = {Geoacoustic seafloor exploration with a towed array in a shallow water area of the Strait of Sicily}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {21}, year = {1996}, pages = {355{\textendash}366}, issn = {0364-9059}, doi = {10.1109/48.544046}, url = {http://dx.medra.org/10.1109/48.544046}, author = {A. Caiti and S. M. Jesus and A. Kristensen} } @article {1412, title = {A multiquadrics-based algorithm for the acceleration of simulated annealing optimization procedures}, journal = {IEEE TRANSACTIONS ON MAGNETICS}, volume = {32}, year = {1996}, pages = {1198{\textendash}1201}, issn = {0018-9464}, doi = {10.1109/20.497458}, url = {http://dx.medra.org/10.1109/20.497458}, author = {P. Alotto and A. Caiti and G. Molinari and M. Repetto} } @article {1418, title = {BEAMFORMING ON SEISMIC INTERFACE WAVES WITH AN ARRAY OF GEOPHONES ON THE SHALLOW SEA-FLOOR}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {20}, year = {1995}, pages = {300{\textendash}310}, issn = {0364-9059}, doi = {10.1109/48.468245}, url = {http://dx.medra.org/10.1109/48.468245}, author = {J. A. Tencate and T. G. Muir and A. Caiti and A. Kristensen and J. F. Manning and J. A. Shooter and R. A. Koch and E. Michelozzi} } @article {1416, title = {STABILIZATION OF SPECTRAL METHODS FOR THE ANALYSIS OF SINGULAR SYSTEMS USING PIECEWISE-CONSTANT BASIS FUNCTIONS}, journal = {CIRCUITS SYSTEMS AND SIGNAL PROCESSING}, volume = {14}, year = {1995}, pages = {299{\textendash}316}, issn = {0278-081X}, doi = {10.1007/BF01189015}, url = {http://dx.medra.org/10.1007/BF01189015}, author = {A. Caiti and G. Cannata} } @article {1417, title = {TOWARDS THE REALIZATION OF AN ARTIFICIAL TACTILE SYSTEM - FINE-FORM DISCRIMINATION BY A TENSORIAL TACTILE SENSOR ARRAY AND NEURAL INVERSION ALGORITHMS}, journal = {IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS}, volume = {25}, year = {1995}, pages = {933{\textendash}946}, issn = {0018-9472}, doi = {10.1109/21.384256}, url = {http://dx.medra.org/10.1109/21.384256}, author = {A. Caiti and G. Canepa and D. De Rossi and F. Germagnoli and G. Magenes and T. Parisini} } @article {1419, title = {ESTIMATION OF SHEAR-WAVE VELOCITY IN SHALLOW MARINE-SEDIMENTS}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {19}, year = {1994}, pages = {58{\textendash}72}, issn = {0364-9059}, doi = {10.1109/48.289451}, url = {http://dx.medra.org/10.1109/48.289451}, author = {A. Caiti and T. Akal and R. D. Stoll} } @article {1421, title = {MAPPING OCEAN SEDIMENTS BY RBF NETWORKS}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {19}, year = {1994}, pages = {577{\textendash}582}, issn = {0364-9059}, doi = {10.1109/48.338393}, url = {http://dx.medra.org/ 10.1109/48.338393}, author = {A. Caiti and T. Parisini} } @article {1420, title = {SPECTRAL METHODS FOR THE SOLUTION OF LINEAR DESCRIPTOR SYSTEMS USING FOURIER FUNCTIONS}, journal = {CIRCUITS SYSTEMS AND SIGNAL PROCESSING}, volume = {13}, year = {1994}, pages = {225{\textendash}239}, issn = {0278-081X}, doi = {10.1007/BF01188108}, url = {http://dx.medra.org/10.1007/BF01188108}, author = {A. Caiti and G. Cannata} } @article {1423, title = {COMMENTS ON THE PROPERTIES OF THE OPERATIONAL MATRICES OF INTEGRATION AND DIFFERENTIATION FOR FOURIER TRIGONOMETRIC FUNCTIONS}, journal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL}, volume = {38}, year = {1993}, pages = {667{\textendash}671}, issn = {0018-9286}, doi = {10.1109/9.250546}, url = {http://dx.medra.org/10.1109/9.250546}, author = {A. Caiti and G. Cannata} } @article {1422, title = {Skin-like tactile sensor arrays for contact stress field extraction}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {1993}, pages = {23{\textendash}36}, issn = {0928-4931}, author = {D. De Rossi and G. Canepa and G. Magenes and F. Germagnoli and A. Caiti and T. Parisini} }