Pino Casalino

Kourosh Darvish, Enrico Simetti, Fulvio Mastrogiovanni and Giuseppe Casalino. A hierarchical architecture for human–robot cooperation processes.
IEEE Transactions on Robotics 37(2):567 – 586, 2021.
Abstract In this article, we propose FLEXHRC+, a hierarchical human–robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The architecture encompasses three levels, namely for perception, representation, and action. Building up on previous work, here we focus on an in-the-loop decision-making process for the operations of collaborative robots coping with the variability of actions carried out by human operators, and the representation level, integrating a hierarchical AND/OR graph whose online behavior is formally specified using first-order logic. The architecture is accompanied by experiments including collaborative furniture assembly and object positioning tasks. © 2020 IEEE.
URL, DOI BibTeX

@article{Darvish2021567,
	author = "Darvish, Kourosh and Simetti, Enrico and Mastrogiovanni, Fulvio and Casalino, Giuseppe",
	title = "A hierarchical architecture for human–robot cooperation processes",
	year = 2021,
	journal = "IEEE Transactions on Robotics",
	volume = 37,
	number = 2,
	pages = "567 – 586",
	doi = "10.1109/TRO.2020.3033715",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85098774478&doi=10.1109%2fTRO.2020.3033715&partnerID=40&md5=131a12c22f672aa55e2e9eb365d3582d",
	abstract = "In this article, we propose FLEXHRC+, a hierarchical human–robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The architecture encompasses three levels, namely for perception, representation, and action. Building up on previous work, here we focus on an in-the-loop decision-making process for the operations of collaborative robots coping with the variability of actions carried out by human operators, and the representation level, integrating a hierarchical AND/OR graph whose online behavior is formally specified using first-order logic. The architecture is accompanied by experiments including collaborative furniture assembly and object positioning tasks. © 2020 IEEE.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Paolo Di Lillo, Enrico Simetti, Francesco Wanderlingh, Giuseppe Casalino and Gianluca Antonelli. Underwater Intervention with Remote Supervision via Satellite Communication: Developed Control Architecture and Experimental Results within the Dexrov Project.
IEEE Transactions on Control Systems Technology 29(1):108 – 123, 2021.
Abstract This article presents the results of the experimental campaign of the EU-H2020 funded project DexROV. Its goal is to enable the remote operation of an underwater vehicle-manipulator system (UVMS) via satellite communication to execute intervention tasks in an OilGas industry scenario. More in detail, this work focuses on the overall control architecture that has been deployed and tested during the DexROV June 2018 experimental campaign held in Marseilles, France. The motion controller relies on a task-priority inverse kinematics algorithm that allows handling several control objectives and performing them simultaneously exploiting the system redundancy. Classical inverse kinematics algorithms have been properly extended to handle also set-based tasks, or inequality constraints, useful for the definition of several safety tasks such as joint limits or virtual walls. The control architecture also includes an admittance loop that exploits the force/torque measurements of a wrench sensor in order to make the system compliant to undesired external forces and unexpected collisions with the environment. Preparatory simulations and experimental trials are presented for proving the effectiveness of the deployed architecture in a 'turn the valve' operation. © 1993-2012 IEEE.
URL, DOI BibTeX

@article{Di Lillo2021108,
	author = "Di Lillo, Paolo and Simetti, Enrico and Wanderlingh, Francesco and Casalino, Giuseppe and Antonelli, Gianluca",
	title = "Underwater Intervention with Remote Supervision via Satellite Communication: Developed Control Architecture and Experimental Results within the Dexrov Project",
	year = 2021,
	journal = "IEEE Transactions on Control Systems Technology",
	volume = 29,
	number = 1,
	pages = "108 – 123",
	doi = "10.1109/TCST.2020.2971440",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85098210022&doi=10.1109%2fTCST.2020.2971440&partnerID=40&md5=a28e7a6cd86f9d06d02e3ca209adfb9c",
	abstract = "This article presents the results of the experimental campaign of the EU-H2020 funded project DexROV. Its goal is to enable the remote operation of an underwater vehicle-manipulator system (UVMS) via satellite communication to execute intervention tasks in an OilGas industry scenario. More in detail, this work focuses on the overall control architecture that has been deployed and tested during the DexROV June 2018 experimental campaign held in Marseilles, France. The motion controller relies on a task-priority inverse kinematics algorithm that allows handling several control objectives and performing them simultaneously exploiting the system redundancy. Classical inverse kinematics algorithms have been properly extended to handle also set-based tasks, or inequality constraints, useful for the definition of several safety tasks such as joint limits or virtual walls. The control architecture also includes an admittance loop that exploits the force/torque measurements of a wrench sensor in order to make the system compliant to undesired external forces and unexpected collisions with the environment. Preparatory simulations and experimental trials are presented for proving the effectiveness of the deployed architecture in a 'turn the valve' operation. © 1993-2012 IEEE.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Cris Thomas, Enrico Simetti and Giuseppe Casalino. A unifying task priority approach for autonomous underwater vehicles integrating homing and docking maneuvers.
Journal of Marine Science and Engineering 9(2):1 – 25, 2021.
Abstract This research proposes a unified guidance and control framework for Autonomous Underwater Vehicles (AUVs) based on the task priority control approach, incorporating various behaviors such as path following, terrain following, obstacle avoidance, as well as homing and docking to stationary and moving stations. The integration of homing and docking maneuvers into the task priority framework is thus a novel contribution of this paper. This integration allows, for example, to execute homing maneuvers close to uneven seafloor or obstacles, ensuring the safety of the AUV, as safety tasks can be given the highest priority. Furthermore, another contribution shown in the paper is that the proposed approach tackles a wide range of scenarios without ad hoc solutions. Indeed, the proposed approach is well suited for both the emerging trend of resident AUVs, which stay underwater for a long period inside garage stations, exiting to perform inspection and maintenance missions and homing back to them, and for AUVs that are required to dock to moving stations such as surface vehicles, or towed docking stations. The proposed techniques are studied in a simulation setting, taking into account the rich number of aforementioned scenarios. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
URL, DOI BibTeX

@article{Thomas20211,
	author = "Thomas, Cris and Simetti, Enrico and Casalino, Giuseppe",
	title = "A unifying task priority approach for autonomous underwater vehicles integrating homing and docking maneuvers",
	year = 2021,
	journal = "Journal of Marine Science and Engineering",
	volume = 9,
	number = 2,
	pages = "1 – 25",
	doi = "10.3390/jmse9020162",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85100838192&doi=10.3390%2fjmse9020162&partnerID=40&md5=92598703f4af2ef1098bc36d6e4af796",
	abstract = "This research proposes a unified guidance and control framework for Autonomous Underwater Vehicles (AUVs) based on the task priority control approach, incorporating various behaviors such as path following, terrain following, obstacle avoidance, as well as homing and docking to stationary and moving stations. The integration of homing and docking maneuvers into the task priority framework is thus a novel contribution of this paper. This integration allows, for example, to execute homing maneuvers close to uneven seafloor or obstacles, ensuring the safety of the AUV, as safety tasks can be given the highest priority. Furthermore, another contribution shown in the paper is that the proposed approach tackles a wide range of scenarios without ad hoc solutions. Indeed, the proposed approach is well suited for both the emerging trend of resident AUVs, which stay underwater for a long period inside garage stations, exiting to perform inspection and maintenance missions and homing back to them, and for AUVs that are required to dock to moving stations such as surface vehicles, or towed docking stations. The proposed techniques are studied in a simulation setting, taking into account the rich number of aforementioned scenarios. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti and Giuseppe Casalino. Design and kinematic analysis of a novel 2-DOF closed-loop mechanism for the actuation of machining robots.
2021.
Abstract The essential characteristics of machining robots are their stiffness and their accuracy. For machining tasks, serial robots have many advantages such as large workspace to footprint ratio, but they often lack the stiffness required for accurately milling hard materials. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using classical prismatic and revolute joints. This increases the accuracy of a manipulator without reducing its workspace. This paper introduces an innovative two degrees of freedom closed-loop mechanism and shows how it can be used to build serial robots featuring both high stiffness and large workspace. The design of this mechanism is described through its geometric and kinematic models. Then, the kinematic performance of the mechanism is analyzed, and a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot. © 2021 by ASME
URL, DOI BibTeX

@conference{Ginnante2021,
	author = "Ginnante, Angelica and Leborne, François and Caro, Stéphane and Simetti, Enrico and Casalino, Giuseppe",
	title = "Design and kinematic analysis of a novel 2-DOF closed-loop mechanism for the actuation of machining robots",
	year = 2021,
	journal = "Proceedings of the ASME Design Engineering Technical Conference",
	volume = "8A-2021",
	doi = "10.1115/DETC2021-70378",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85119972806&doi=10.1115%2fDETC2021-70378&partnerID=40&md5=5bc667dc752760b3d655adf0c26ddd85",
	abstract = "The essential characteristics of machining robots are their stiffness and their accuracy. For machining tasks, serial robots have many advantages such as large workspace to footprint ratio, but they often lack the stiffness required for accurately milling hard materials. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using classical prismatic and revolute joints. This increases the accuracy of a manipulator without reducing its workspace. This paper introduces an innovative two degrees of freedom closed-loop mechanism and shows how it can be used to build serial robots featuring both high stiffness and large workspace. The design of this mechanism is described through its geometric and kinematic models. Then, the kinematic performance of the mechanism is analyzed, and a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot. © 2021 by ASME",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Lorenzo Pollini, Gianluca Antonelli, Filippo Arrichiello, Andrea Caiti, Giuseppe Casalino, Daniela De Palma, Giovanni Indiveri, Matteo Razzanelli and Enrico Simetti. AUV navigation, guidance, and control for geoseismic data acquisition.
2020.
Abstract This chapter describes the main challenges, and the corresponding solutions, encountered during the development of the guidance, navigation, and control (GNC) systems for the autonomous underwater vehicles (AUVs) and the autonomous surface vehicles (ASVs) involved in the Widely scalable Mobile Underwater Sonar Technology (WiMUST) project [1]. © The Institution of Engineering and Technology 2020.
URL, DOI BibTeX

@book{Pollini2020469,
	author = "Pollini, Lorenzo and Antonelli, Gianluca and Arrichiello, Filippo and Caiti, Andrea and Casalino, Giuseppe and De Palma, Daniela and Indiveri, Giovanni and Razzanelli, Matteo and Simetti, Enrico",
	title = "AUV navigation, guidance, and control for geoseismic data acquisition",
	year = 2020,
	journal = "Autonomous Underwater Vehicles",
	pages = "469 – 491",
	doi = "10.1049/sbra525e_ch17",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85118042236&doi=10.1049%2fsbra525e_ch17&partnerID=40&md5=a0d8a14a851a0f4d813da6036bbcd067",
	abstract = "This chapter describes the main challenges, and the corresponding solutions, encountered during the development of the guidance, navigation, and control (GNC) systems for the autonomous underwater vehicles (AUVs) and the autonomous surface vehicles (ASVs) involved in the Widely scalable Mobile Underwater Sonar Technology (WiMUST) project [1]. © The Institution of Engineering and Technology 2020.",
	type = "Book chapter",
	publication_stage = "Final",
	source = "Scopus"
}

Daniele S Terracciano, Vincenzo Manzari, Mirko Stifani, Benedetto Allotta, Andrea Caiti and Giuseppe Casalino. SEALab current research trends: Maritime Unmanned Systems for dual-use applications.
2020, 303 – 308.
Abstract The technological potential offered by Maritime Unmanned Systems (MUS) is recognized by many countries as an effective tool for both military and civilian applications. The increasing use of MUS brought substantial and new challenges to the Test and Evaluation process that becomes significantly more complicated than traditional systems. Unmanned systems have continuously increasing complexity and capabilities and can be at different maturity levels. These technologies necessitate for specific Test and Evaluation tools throughout the whole program life cycle. For the above reasons, the Naval Support and Experimentation Centre (CSSN) of the Italian Navy and the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) founded a joint laboratory in 2015, called SEALab (Laboratory on marine heterogeneous and autonomous systems), with the main goal to jointly develop and manage applied research and experimentation activities of common interest in the field of heterogeneous and autonomous marine systems. © 2019 IMEKO TC19 International Workshop on Metrology for the Sea: Learning to Measure Sea Health Parameters, MetroSea 2019. All rights reserved.
URL BibTeX

@conference{Terracciano2020303,
	author = "Terracciano, Daniele S. and Manzari, Vincenzo and Stifani, Mirko and Allotta, Benedetto and Caiti, Andrea and Casalino, Giuseppe",
	title = "SEALab current research trends: Maritime Unmanned Systems for dual-use applications",
	year = 2020,
	journal = "2019 IMEKO TC19 International Workshop on Metrology for the Sea: Learning to Measure Sea Health Parameters, MetroSea 2019",
	pages = "303 – 308",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85081065765&partnerID=40&md5=36e263d0bcddbb0cd7e2ebbcd8b1d1c8",
	abstract = "The technological potential offered by Maritime Unmanned Systems (MUS) is recognized by many countries as an effective tool for both military and civilian applications. The increasing use of MUS brought substantial and new challenges to the Test and Evaluation process that becomes significantly more complicated than traditional systems. Unmanned systems have continuously increasing complexity and capabilities and can be at different maturity levels. These technologies necessitate for specific Test and Evaluation tools throughout the whole program life cycle. For the above reasons, the Naval Support and Experimentation Centre (CSSN) of the Italian Navy and the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) founded a joint laboratory in 2015, called SEALab (Laboratory on marine heterogeneous and autonomous systems), with the main goal to jointly develop and manage applied research and experimentation activities of common interest in the field of heterogeneous and autonomous marine systems. © 2019 IMEKO TC19 International Workshop on Metrology for the Sea: Learning to Measure Sea Health Parameters, MetroSea 2019. All rights reserved.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Yvan R Petillot, Gianluca Antonelli, Giuseppe Casalino and Fausto Ferreira. Underwater Robots: From Remotely Operated Vehicles to Intervention-Autonomous Underwater Vehicles.
IEEE Robotics and Automation Magazine 26(2):94 – 101, 2019.
URL, DOI BibTeX

@article{Petillot201994,
	author = "Petillot, Yvan R. and Antonelli, Gianluca and Casalino, Giuseppe and Ferreira, Fausto",
	title = "Underwater Robots: From Remotely Operated Vehicles to Intervention-Autonomous Underwater Vehicles",
	year = 2019,
	journal = "IEEE Robotics and Automation Magazine",
	volume = 26,
	number = 2,
	pages = "94 – 101",
	doi = "10.1109/MRA.2019.2908063",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85065957289&doi=10.1109%2fMRA.2019.2908063&partnerID=40&md5=cf016705e11e8d40569e8c6a43c839fd",
	type = "Review",
	publication_stage = "Final",
	source = "Scopus"
}

Mina Sorial, Issa Mouawad, Enrico Simetti, Francesca Odone and Giuseppe Casalino. Towards a real time obstacle detection system for unmanned surface vehicles.
2019.
Abstract Environment perception plays a vital role in autonomous systems. Different sensory channels are exploited to capture a rich and a dynamic grasp of the surrounding to enable safe and efficient navigation. In this work, scene understanding in maritime environments is tackled using an obstacle detection and tracking procedure based on a video camera and a LIDAR (range sensor). We rely on state-of-the-art object detection CNN (Convolutional neural network) YOLO to detect obstacles in the image plane and we propose an efficient object tracking procedure to track objects across frames. LIDAR point clouds are used to locate obstacles in the world reference frame and thus, to derive a scene map with the obstacles and their headings which is used as an input to a path planning algorithm. the procedure is tested using data acquired from an unmanned surface vessel and typical metrics in object detection and tracking communities are used to evaluate our method. The results demonstrate improvement we achieve over the object detector baseline and other similar online tracking methods. © 2019 Marine Technology Society.
URL, DOI BibTeX

@conference{Sorial2019,
	author = "Sorial, Mina and Mouawad, Issa and Simetti, Enrico and Odone, Francesca and Casalino, Giuseppe",
	title = "Towards a real time obstacle detection system for unmanned surface vehicles",
	year = 2019,
	journal = "OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019",
	doi = "10.23919/OCEANS40490.2019.8962685",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85079063634&doi=10.23919%2fOCEANS40490.2019.8962685&partnerID=40&md5=9bf69b0e1b74b490cac176d7cf6ee667",
	abstract = "Environment perception plays a vital role in autonomous systems. Different sensory channels are exploited to capture a rich and a dynamic grasp of the surrounding to enable safe and efficient navigation. In this work, scene understanding in maritime environments is tackled using an obstacle detection and tracking procedure based on a video camera and a LIDAR (range sensor). We rely on state-of-the-art object detection CNN (Convolutional neural network) YOLO to detect obstacles in the image plane and we propose an efficient object tracking procedure to track objects across frames. LIDAR point clouds are used to locate obstacles in the world reference frame and thus, to derive a scene map with the obstacles and their headings which is used as an input to a path planning algorithm. the procedure is tested using data acquired from an unmanned surface vessel and typical metrics in object detection and tracking communities are used to evaluate our method. The results demonstrate improvement we achieve over the object detector baseline and other similar online tracking methods. © 2019 Marine Technology Society.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Seda Karadeniz Kartal and Giuseppe Casalino. Horizontal Parking Control of Autonomous Underwater Vehicle, FOLOGA.
2019, 99 – 104.
Abstract In this study, a velocity field control algorithm and an optimal autopilot algorithm are developed for horizontal parking system motion of Fologa which is an autonomous unmanned underwater survey vehicle and manufactured by Graaltech Ltd., Genoa, Italy. Firstly, a nonlinear mathematical model for Fologa is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The resultant nonlinear system is then controlled by PID controllers. These PID controllers are designed for horizontal parking motion which is realized by a suitable combination of rear and front lateral thrusters. The velocity field control and optimal control problem is that the vehicle is supposed to reach the desired position and rotation by consuming minimum energy. Velocity field control is solved with developed velocity field vector notation. Optimal control problem is solved with a genetic algorithm. The performance and consuming energy of velocity field control and optimal control are compared. All of this study is performed in a Matlab/Simulink environment. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
URL, DOI BibTeX

@conference{Kartal201999,
	author = "Kartal, Seda Karadeniz and Casalino, Giuseppe",
	title = "Horizontal Parking Control of Autonomous Underwater Vehicle, FOLOGA",
	year = 2019,
	journal = "IFAC-PapersOnLine",
	volume = 52,
	number = 8,
	pages = "99 – 104",
	doi = "10.1016/j.ifacol.2019.08.102",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85076259234&doi=10.1016%2fj.ifacol.2019.08.102&partnerID=40&md5=fc47165cd6e562d4ae34ce86b197a7b6",
	abstract = "In this study, a velocity field control algorithm and an optimal autopilot algorithm are developed for horizontal parking system motion of Fologa which is an autonomous unmanned underwater survey vehicle and manufactured by Graaltech Ltd., Genoa, Italy. Firstly, a nonlinear mathematical model for Fologa is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The resultant nonlinear system is then controlled by PID controllers. These PID controllers are designed for horizontal parking motion which is realized by a suitable combination of rear and front lateral thrusters. The velocity field control and optimal control problem is that the vehicle is supposed to reach the desired position and rotation by consuming minimum energy. Velocity field control is solved with developed velocity field vector notation. Optimal control problem is solved with a genetic algorithm. The performance and consuming energy of velocity field control and optimal control are compared. All of this study is performed in a Matlab/Simulink environment. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.",
	editor = "Wiszniewski B. and Kowalczuk Z. and Domzalski M.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Nicolo Bastianelli Naticchi, Marco Baglietto, Alessandro Sperinde, Enrico Simetti and Giuseppe Casalino. Visual Servoed Autonomous Landing on a Surface Vessel.
2019.
Abstract In this paper, we describe a quadrotor able to land autonomously on a moving platform by employing on-board sensors. The full pose of the platform is estimated using a vision system. Furthermore, an ultrasonic sensor is used to compute the relative vertical position and velocity of the platform w.r.t. the quadrotor. This redundant information is used to achieve greater robustness during the final landing phase. The landing algorithm is presented and an overview of the overall architecture is provided. Software-in-the-loop simulations have been performed to evaluate the performance and to analyse in a safe way the entire landing procedure. We have finally tested our landing system in a real world environment using a customized quadrotor. Results of the landing procedure performed with real quadrotor are presented. © 2019 IEEE.
URL, DOI BibTeX

@conference{Naticchi2019,
	author = "Naticchi, Nicolo Bastianelli and Baglietto, Marco and Sperinde, Alessandro and Simetti, Enrico and Casalino, Giuseppe",
	title = "Visual Servoed Autonomous Landing on a Surface Vessel",
	year = 2019,
	journal = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",
	volume = "2019-June",
	doi = "10.1109/OCEANSE.2019.8867175",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85103689465&doi=10.1109%2fOCEANSE.2019.8867175&partnerID=40&md5=61bef646dac7aec043fe7f82e1c36a6b",
	abstract = "In this paper, we describe a quadrotor able to land autonomously on a moving platform by employing on-board sensors. The full pose of the platform is estimated using a vision system. Furthermore, an ultrasonic sensor is used to compute the relative vertical position and velocity of the platform w.r.t. the quadrotor. This redundant information is used to achieve greater robustness during the final landing phase. The landing algorithm is presented and an overview of the overall architecture is provided. Software-in-the-loop simulations have been performed to evaluate the performance and to analyse in a safe way the entire landing procedure. We have finally tested our landing system in a real world environment using a customized quadrotor. Results of the landing procedure performed with real quadrotor are presented. © 2019 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Carlotta Sartore, Enrico Simetti, Francesco Wanderlingh and Giuseppe Casalino. Autonomous Deep Sea Mining Exploration: The EU ROBUST Project Control Framework.
2019.
Abstract This paper presents the control framework developed within the Horizon 2020 ROBUST project aimed at building an autonomous system for exploring deep sea mining sites. First, the Autonomous Underwater Vehicle analyzes the initial zone of interest with the aim of finding a sub area with the highest probability to contain a manganese nodule field. When such an area is found, a low altitude survey is performed. When a possible nodule is detected, the vehicle lands on the seafloor, allowing a dedicated sensor mounted on the manipulator's end-effector to perform the nodule analysis.This work presents the ROBUST control framework and the task priority based kinematic used for its implementation. In addition, software in the loop simulation, dry and pool test results are shown to validate the control framework addressed. © 2019 IEEE.
URL, DOI BibTeX

@conference{Sartore2019,
	author = "Sartore, Carlotta and Simetti, Enrico and Wanderlingh, Francesco and Casalino, Giuseppe",
	title = "Autonomous Deep Sea Mining Exploration: The EU ROBUST Project Control Framework",
	year = 2019,
	journal = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",
	volume = "2019-June",
	doi = "10.1109/OCEANSE.2019.8867075",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85103686804&doi=10.1109%2fOCEANSE.2019.8867075&partnerID=40&md5=bf6c49a2fbaf22ce15d4b0b20134409a",
	abstract = "This paper presents the control framework developed within the Horizon 2020 ROBUST project aimed at building an autonomous system for exploring deep sea mining sites. First, the Autonomous Underwater Vehicle analyzes the initial zone of interest with the aim of finding a sub area with the highest probability to contain a manganese nodule field. When such an area is found, a low altitude survey is performed. When a possible nodule is detected, the vehicle lands on the seafloor, allowing a dedicated sensor mounted on the manipulator's end-effector to perform the nodule analysis.This work presents the ROBUST control framework and the task priority based kinematic used for its implementation. In addition, software in the loop simulation, dry and pool test results are shown to validate the control framework addressed. © 2019 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

E Simetti, G Casalino, F Wanderlingh and M Aicardi. A task priority approach to cooperative mobile manipulation: Theory and experiments.
Robotics and Autonomous Systems 122, 2019.
Abstract Cooperative manipulation and transportation by means of multi-robot systems is a subject that has received an increased interest in the last few years. In this work, a task priority approach is first recalled from the authors previous works as framework for the control of a single mobile manipulator, to manage all its control objectives, including set membership ones and a proper coordination between the manipulator and its supporting vehicle. The approach is then extended, through a novel coordination policy, to execute a cooperative transportation of a common load by means of two (or more) mobile manipulators, via an explicit but limited information exchange, without modifying the individual controllers. Experimental results with two YouBot mobile manipulators are shown to demonstrate the effectiveness of the approach. © 2019
URL, DOI BibTeX

@article{Simetti2019,
	author = "Simetti, E. and Casalino, G. and Wanderlingh, F. and Aicardi, M.",
	title = "A task priority approach to cooperative mobile manipulation: Theory and experiments",
	year = 2019,
	journal = "Robotics and Autonomous Systems",
	volume = 122,
	doi = "10.1016/j.robot.2019.103287",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85072397763&doi=10.1016%2fj.robot.2019.103287&partnerID=40&md5=15b8ce61ab1d77f3ca3322fc771153ca",
	abstract = "Cooperative manipulation and transportation by means of multi-robot systems is a subject that has received an increased interest in the last few years. In this work, a task priority approach is first recalled from the authors previous works as framework for the control of a single mobile manipulator, to manage all its control objectives, including set membership ones and a proper coordination between the manipulator and its supporting vehicle. The approach is then extended, through a novel coordination policy, to execute a cooperative transportation of a common load by means of two (or more) mobile manipulators, via an explicit but limited information exchange, without modifying the individual controllers. Experimental results with two YouBot mobile manipulators are shown to demonstrate the effectiveness of the approach. © 2019",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Carlotta Sartore, Ricard Campos, Josep Quintana, Enrico Simetti, Rafael Garcia and Giuseppe Casalino. Control and Perception Framework for Deep Sea Mining Exploration.
2019, 6348 – 6353.
Abstract This paper presents the control and perception framework used in the ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system for exploring deep-sea mining sites. The vehicle firstly collects data of the initial zone of interest and it selects a sub area which is the most probable to contain a manganese nodule field; then it carries out a low altitude survey. When a possible nodule is detected by the cameras, the vehicle lands on the seafloor, allowing the following fixed based manipulation which is designed to perform the nodule analysis. The work reports the implemented control and perception architecture and the preliminary pool experiments results. © 2019 IEEE.
URL, DOI BibTeX

@conference{Sartore20196348,
	author = "Sartore, Carlotta and Campos, Ricard and Quintana, Josep and Simetti, Enrico and Garcia, Rafael and Casalino, Giuseppe",
	title = "Control and Perception Framework for Deep Sea Mining Exploration",
	year = 2019,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	pages = "6348 – 6353",
	doi = "10.1109/IROS40897.2019.8967599",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85081165154&doi=10.1109%2fIROS40897.2019.8967599&partnerID=40&md5=8b636f3896affc5b46babdbe2be5dc1d",
	abstract = "This paper presents the control and perception framework used in the ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system for exploring deep-sea mining sites. The vehicle firstly collects data of the initial zone of interest and it selects a sub area which is the most probable to contain a manganese nodule field; then it carries out a low altitude survey. When a possible nodule is detected by the cameras, the vehicle lands on the seafloor, allowing the following fixed based manipulation which is designed to perform the nodule analysis. The work reports the implemented control and perception architecture and the preliminary pool experiments results. © 2019 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Gianluca Antonelli, Filippo Arrichiello, Andrea Caiti, Giuseppe Casalino, Daniela De Palma, Giovanni Indiveri, Matteo Razzanelli, Lorenzo Pollini and Enrico Simetti. ISME activity on the use of autonomous surface and underwater vehicles for acoustic surveys at sea.
Acta IMEKO 7(2):24 – 31, 2018.
Abstract The paper presents an overview of the recent and ongoing research activities of the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) in the field of geotechnical seismic surveying. Such activities, performed in the framework of the H2020 European project WiMUST, include the development of technologies and algorithms for Autonomous Surface Crafts and Autonomous Underwater Vehicles to perform geotechnical seismic surveying by means of a team of robots towing streamers equipped with acoustic sensors. Copyright: © 2018 IMEKO.
URL, DOI BibTeX

@article{Antonelli201824,
	author = "Antonelli, Gianluca and Arrichiello, Filippo and Caiti, Andrea and Casalino, Giuseppe and De Palma, Daniela and Indiveri, Giovanni and Razzanelli, Matteo and Pollini, Lorenzo and Simetti, Enrico",
	title = "ISME activity on the use of autonomous surface and underwater vehicles for acoustic surveys at sea",
	year = 2018,
	journal = "Acta IMEKO",
	volume = 7,
	number = 2,
	pages = "24 – 31",
	doi = "10.21014/acta_imeko.v7i2.539",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049533145&doi=10.21014%2facta_imeko.v7i2.539&partnerID=40&md5=fcdf158c86755db6d306c96e27b349f6",
	abstract = "The paper presents an overview of the recent and ongoing research activities of the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) in the field of geotechnical seismic surveying. Such activities, performed in the framework of the H2020 European project WiMUST, include the development of technologies and algorithms for Autonomous Surface Crafts and Autonomous Underwater Vehicles to perform geotechnical seismic surveying by means of a team of robots towing streamers equipped with acoustic sensors. Copyright: © 2018 IMEKO.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Kourosh Darvish, Francesco Wanderlingh, Barbara Bruno, Enrico Simetti, Fulvio Mastrogiovanni and Giuseppe Casalino. Flexible human–robot cooperation models for assisted shop-floor tasks.
Mechatronics 51:97 – 114, 2018.
Abstract The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, a yet unreached enabling technology is the design of robots able to deal at all levels with humans’ intrinsic variability, which is not only a necessary element to a comfortable working experience for humans, but also a precious capability for efficiently dealing with unexpected events. In this paper, a sensing, representation, planning and control architecture for flexible human–robot cooperation, referred to as FlexHRC, is proposed. FlexHRC relies on wearable sensors for human action recognition, AND/OR graphs for the representation of and the reasoning upon human–robot cooperation models online, and a Task Priority framework to decouple action planning from robot motion planning and control. © 2018 Elsevier Ltd
URL, DOI BibTeX

@article{Darvish201897,
	author = "Darvish, Kourosh and Wanderlingh, Francesco and Bruno, Barbara and Simetti, Enrico and Mastrogiovanni, Fulvio and Casalino, Giuseppe",
	title = "Flexible human–robot cooperation models for assisted shop-floor tasks",
	year = 2018,
	journal = "Mechatronics",
	volume = 51,
	pages = "97 – 114",
	doi = "10.1016/j.mechatronics.2018.03.006",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85044133444&doi=10.1016%2fj.mechatronics.2018.03.006&partnerID=40&md5=8acb9e3ea490d4ae7ff890d666525755",
	abstract = "The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, a yet unreached enabling technology is the design of robots able to deal at all levels with humans’ intrinsic variability, which is not only a necessary element to a comfortable working experience for humans, but also a precious capability for efficiently dealing with unexpected events. In this paper, a sensing, representation, planning and control architecture for flexible human–robot cooperation, referred to as FlexHRC, is proposed. FlexHRC relies on wearable sensors for human action recognition, AND/OR graphs for the representation of and the reasoning upon human–robot cooperation models online, and a Task Priority framework to decouple action planning from robot motion planning and control. © 2018 Elsevier Ltd",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Andreas Birk, Tobias Doernbach, Christian Mueller, Tomasz Luczynski, Arturo Gomez Chavez, Daniel Koehntopp, Andras Kupcsik, Sylvain Calinon, Ajay K Tanwani, Gianluca Antonelli, Paolo Di Lillo, Enrico Simetti, Giuseppe Casalino, Giovanni Indiveri, Luigi Ostuni, Alessio Turetta, Andrea Caffaz, Peter Weiss, Thibaud Gobert, Bertrand Chemisky, Jeremi Gancet, Torsten Siedel, Shashank Govindaraj, Xavier Martinez and Pierre Letier. Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles.
IEEE Robotics and Automation Magazine 25(4):24 – 33, 2018.
Abstract Underwater manipulation is a challenging problem. The state-of-the-art technology is dominated by remotely operated vehicles (ROVs). ROV operations typically require an offshore crew consisting of, at minimum, an intendant (or supervisor), an operator, and a navigator. This crew must often be doubled or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. Furthermore, underwater intervention missions are still dominated by a significant amount of lowlevel, manual control of the manipulator(s) and of the vehicle itself. While there is a significant amount of research on autonomous underwater vehicles (AUVs) in general and fieldable solutions already exist for inspection and exploration missions, possibilities remain for adding intelligent autonomous functions for interventions. © 1994-2011 IEEE.
URL, DOI BibTeX

@article{Birk201824,
	author = "Birk, Andreas and Doernbach, Tobias and Mueller, Christian and Luczynski, Tomasz and Chavez, Arturo Gomez and Koehntopp, Daniel and Kupcsik, Andras and Calinon, Sylvain and Tanwani, Ajay K. and Antonelli, Gianluca and Di Lillo, Paolo and Simetti, Enrico and Casalino, Giuseppe and Indiveri, Giovanni and Ostuni, Luigi and Turetta, Alessio and Caffaz, Andrea and Weiss, Peter and Gobert, Thibaud and Chemisky, Bertrand and Gancet, Jeremi and Siedel, Torsten and Govindaraj, Shashank and Martinez, Xavier and Letier, Pierre",
	title = "Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles",
	year = 2018,
	journal = "IEEE Robotics and Automation Magazine",
	volume = 25,
	number = 4,
	pages = "24 – 33",
	doi = "10.1109/MRA.2018.2869523",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85054551533&doi=10.1109%2fMRA.2018.2869523&partnerID=40&md5=cc45c25f67397c99a6b7c69f6e6f953b",
	abstract = "Underwater manipulation is a challenging problem. The state-of-the-art technology is dominated by remotely operated vehicles (ROVs). ROV operations typically require an offshore crew consisting of, at minimum, an intendant (or supervisor), an operator, and a navigator. This crew must often be doubled or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. Furthermore, underwater intervention missions are still dominated by a significant amount of lowlevel, manual control of the manipulator(s) and of the vehicle itself. While there is a significant amount of research on autonomous underwater vehicles (AUVs) in general and fieldable solutions already exist for inspection and exploration missions, possibilities remain for adding intelligent autonomous functions for interventions. © 1994-2011 IEEE.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

E Simetti, G Casalino, F Wanderlingh and M Aicardi. Task priority control of underwater intervention systems: Theory and applications.
Ocean Engineering 164:40 – 54, 2018.
Abstract This paper presents a unifying task priority control architecture for underwater vehicle manipulator systems. The proposed control framework can be applied to different operative scenarios such as waypoint navigation, assisted teleoperation, interaction, landing and grasping. This work extends the results of the TRIDENT and MARIS projects, which were limited to the execution of grasping actions, to other applications taken from the DexROV and ROBUST projects. In particular, simulation results show how the control framework can be used, for example, for pipeline inspection scenarios and deep sea mining exploration. © 2018 The Authors
URL, DOI BibTeX

@article{Simetti201840,
	author = "Simetti, E. and Casalino, G. and Wanderlingh, F. and Aicardi, M.",
	title = "Task priority control of underwater intervention systems: Theory and applications",
	year = 2018,
	journal = "Ocean Engineering",
	volume = 164,
	pages = "40 – 54",
	doi = "10.1016/j.oceaneng.2018.06.026",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85048843432&doi=10.1016%2fj.oceaneng.2018.06.026&partnerID=40&md5=0a168f7d6fdb330b5e5d7b71c2985337",
	abstract = "This paper presents a unifying task priority control architecture for underwater vehicle manipulator systems. The proposed control framework can be applied to different operative scenarios such as waypoint navigation, assisted teleoperation, interaction, landing and grasping. This work extends the results of the TRIDENT and MARIS projects, which were limited to the execution of grasping actions, to other applications taken from the DexROV and ROBUST projects. In particular, simulation results show how the control framework can be used, for example, for pipeline inspection scenarios and deep sea mining exploration. © 2018 The Authors",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access, Hybrid Gold Open Access"
}

Giovanni Indiveri, Gianluca Antonelli, Filippo Arrichiello, Joao Botelho, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Nicola Catenacci Volpi, Laurent Dollon, Daniela De Palma, Henrique Duarte, Youssef Essaouari, Paulo Felisberto, Jonathan Grimsdale, Sergio Jesus, Konstantin Kebkal, Elbert Kelholt, Antonio Pascoal, Daniel Polani, Lorenzo Pollini, Jorge Ribeiro, Miguel Ribeiro, Manuel Rufino, Luis Sebastiao, Henrique Silva, Enrico Simetti, Alessandro Sperinde and Alessio Turetta. Geotechnical Surveys with Cooperative Autonomous Marine Vehicles: The EC WiMUST project.
2018.
Abstract The H2020 WiMUST (Widely scalable Mobile Underwater Sonar Technology) project aimed at expanding and improving the functionalities of current cooperative marine robotic systems, effectively enabling distributed acoustic array technologies for geophysical surveying with a view to ocean exploration and geotechnical applications. The paper includes a brief overview of the WiMUST project and a short description of the final experimental results at sea obtained with a group of 7 autonomous marine vehicles equipped with two acoustic sparkers and streamers with hydrophone arrays. © 2018 IEEE.
URL, DOI BibTeX

@conference{Indiveri2018,
	author = "Indiveri, Giovanni and Antonelli, Gianluca and Arrichiello, Filippo and Botelho, Joao and Caffaz, Andrea and Caiti, Andrea and Casalino, Giuseppe and Volpi, Nicola Catenacci and Dollon, Laurent and De Palma, Daniela and Duarte, Henrique and Essaouari, Youssef and Felisberto, Paulo and Grimsdale, Jonathan and Jesus, Sergio and Kebkal, Konstantin and Kelholt, Elbert and Pascoal, Antonio and Polani, Daniel and Pollini, Lorenzo and Ribeiro, Jorge and Ribeiro, Miguel and Rufino, Manuel and Sebastiao, Luis and Silva, Henrique and Simetti, Enrico and Sperinde, Alessandro and Turetta, Alessio",
	title = "Geotechnical Surveys with Cooperative Autonomous Marine Vehicles: The EC WiMUST project",
	year = 2018,
	journal = "AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings",
	doi = "10.1109/AUV.2018.8729794",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85068336817&doi=10.1109%2fAUV.2018.8729794&partnerID=40&md5=e85424ac813fe05fa70705fe7774f19d",
	abstract = "The H2020 WiMUST (Widely scalable Mobile Underwater Sonar Technology) project aimed at expanding and improving the functionalities of current cooperative marine robotic systems, effectively enabling distributed acoustic array technologies for geophysical surveying with a view to ocean exploration and geotechnical applications. The paper includes a brief overview of the WiMUST project and a short description of the final experimental results at sea obtained with a group of 7 autonomous marine vehicles equipped with two acoustic sparkers and streamers with hydrophone arrays. © 2018 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Kourosh Darvish, Barbara Bruno, Enrico Simetti, Fulvio Mastrogiovanni and Giuseppe Casalino. Interleaved Online Task Planning, Simulation, Task Allocation and Motion Control for Flexible Human-Robot Cooperation.
2018, 58 – 65.
Abstract Modern manufacturing paradigms introduce the need for robots able to naturally cooperate with humans in an unstructured and dynamic environment. In this article we extend FlexHRC, an architecture for flexible and collaborative manufacturing robots, with an online perception-simulation-planning framework that allows the robot to assess the status of the workspace, keeping track at all times of the stage at which the cooperative manufacturing process is, to identify its next action, to simulate it to check its feasibility and, as a consequence, to dynamically allocate tasks to itself or the human operator. We have tested the FlexHRC with a dual-arm manipulator cooperating with a person to assemble a table with one tabletop and four legs. © 2018 IEEE.
URL, DOI BibTeX

@conference{Darvish201858,
	author = "Darvish, Kourosh and Bruno, Barbara and Simetti, Enrico and Mastrogiovanni, Fulvio and Casalino, Giuseppe",
	title = "Interleaved Online Task Planning, Simulation, Task Allocation and Motion Control for Flexible Human-Robot Cooperation",
	year = 2018,
	journal = "RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication",
	pages = "58 – 65",
	doi = "10.1109/ROMAN.2018.8525644",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85058094809&doi=10.1109%2fROMAN.2018.8525644&partnerID=40&md5=ddbbcc0fe826f0b984b100d2967a738d",
	abstract = "Modern manufacturing paradigms introduce the need for robots able to naturally cooperate with humans in an unstructured and dynamic environment. In this article we extend FlexHRC, an architecture for flexible and collaborative manufacturing robots, with an online perception-simulation-planning framework that allows the robot to assess the status of the workspace, keeping track at all times of the stage at which the cooperative manufacturing process is, to identify its next action, to simulate it to check its feasibility and, as a consequence, to dynamically allocate tasks to itself or the human operator. We have tested the FlexHRC with a dual-arm manipulator cooperating with a person to assemble a table with one tabletop and four legs. © 2018 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Paolo Di Lillo, Daniele Di Vito, Enrico Simetti, Giuseppe Casalino and Gianluca Antonelli. Satellite-Based Tele-Operation of an Underwater Vehicle-Manipulator System. Preliminary Experimental Results.
2018, 7504 – 7509.
Abstract Within the European project DexROV the topic of underwater intervention is addressed. In particular, a remote control room is connected through a satellite communication link to surface vessel, which is in turn connected to an UVMS (Underwater Vehicle-Manipulator System) with an umbilical cable. The operator may interact with the system using a joystick or exoskeleton. Since a direct teleoperation is not feasible, a cognitive engine is in charge of handling communication latency or interruptions caused by the satellite link, and the UVMS should have sufficient autonomy in dealing with low level constraints or secondary objectives. To this purpose, a task-priority-based inverse kinematics algorithm has been developed in order to allow the operator to control only the end effector, while the algorithm is in charge of handling both operative and joint-space constraints. This paper describes some preliminary experimental results achieved during the DexROV campaign of July 2017 in Marseilles (France), where most of the components have been successfully integrated and the inverse kinematics nicely run. © 2018 IEEE.
URL, DOI BibTeX

@conference{Di Lillo20187504,
	author = "Di Lillo, Paolo and Di Vito, Daniele and Simetti, Enrico and Casalino, Giuseppe and Antonelli, Gianluca",
	title = "Satellite-Based Tele-Operation of an Underwater Vehicle-Manipulator System. Preliminary Experimental Results",
	year = 2018,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	pages = "7504 – 7509",
	doi = "10.1109/ICRA.2018.8462976",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85063145449&doi=10.1109%2fICRA.2018.8462976&partnerID=40&md5=eeb4762df8ba5f3a78656350f413b20c",
	abstract = "Within the European project DexROV the topic of underwater intervention is addressed. In particular, a remote control room is connected through a satellite communication link to surface vessel, which is in turn connected to an UVMS (Underwater Vehicle-Manipulator System) with an umbilical cable. The operator may interact with the system using a joystick or exoskeleton. Since a direct teleoperation is not feasible, a cognitive engine is in charge of handling communication latency or interruptions caused by the satellite link, and the UVMS should have sufficient autonomy in dealing with low level constraints or secondary objectives. To this purpose, a task-priority-based inverse kinematics algorithm has been developed in order to allow the operator to control only the end effector, while the algorithm is in charge of handling both operative and joint-space constraints. This paper describes some preliminary experimental results achieved during the DexROV campaign of July 2017 in Marseilles (France), where most of the components have been successfully integrated and the inverse kinematics nicely run. © 2018 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Gianluca Antonelli, Filippo Arrichiello, Andrea Caiti, Giuseppe Casalino, Giovanni Indiveri, Lorenzo Pollini and Enrico Simetti. ISME trends: Autonomous surface and underwater vehicles for geoseismic survey.
2017, 44 – 49.
Abstract The paper presents the recent and ongoing activities of the Italian Center named ISME on the use of Autonomous Surface Crafts (ASCs) and Autonomous Underwater Vehicles (AUVs) for geoseismic survey. In particular, the paper will focus on the technologies and the algorithms developed in the framework of the H2020 European Project WiMUST. © 2017 IMEKO-International Measurement Federation Secretariat. All Rights Reserved.
URL BibTeX

@conference{Antonelli201744,
	author = "Antonelli, Gianluca and Arrichiello, Filippo and Caiti, Andrea and Casalino, Giuseppe and Indiveri, Giovanni and Pollini, Lorenzo and Simetti, Enrico",
	title = "ISME trends: Autonomous surface and underwater vehicles for geoseismic survey",
	year = 2017,
	journal = "IMEKO TC19 Workshop on Metrology for the Sea, MetroSea 2017: Learning to Measure Sea Health Parameters",
	volume = "2017-October",
	pages = "44 – 49",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85048439605&partnerID=40&md5=a301a2c4cccf58b4c82c8ec26679aad8",
	abstract = "The paper presents the recent and ongoing activities of the Italian Center named ISME on the use of Autonomous Surface Crafts (ASCs) and Autonomous Underwater Vehicles (AUVs) for geoseismic survey. In particular, the paper will focus on the technologies and the algorithms developed in the framework of the H2020 European Project WiMUST. © 2017 IMEKO-International Measurement Federation Secretariat. All Rights Reserved.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Francesco Wanderlingh, Giuseppe Casalino, Giovanni Indiveri and Gianluca Antonelli. DexROV project: Control framework for underwater interaction tasks.
2017, 1 – 6.
Abstract In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is used as study case to test the proposed framework in a simulation setting. © 2017 IEEE.
URL, DOI BibTeX

@conference{Simetti2017a,
	author = "Simetti, Enrico and Wanderlingh, Francesco and Casalino, Giuseppe and Indiveri, Giovanni and Antonelli, Gianluca",
	title = "DexROV project: Control framework for underwater interaction tasks",
	year = 2017,
	journal = "OCEANS 2017 - Aberdeen",
	volume = "2017-October",
	pages = "1 – 6",
	doi = "10.1109/OCEANSE.2017.8084888",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85044752971&doi=10.1109%2fOCEANSE.2017.8084888&partnerID=40&md5=1cfe230010e886ed3b2aba3b87d2a582",
	abstract = "In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is used as study case to test the proposed framework in a simulation setting. © 2017 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino, Enrico Simetti and Francesco Wanderlingh. Robotized underwater interventions.
Lecture Notes in Control and Information Sciences 474:365 – 386, 2017.
Abstract Working in underwater environments poses many challenges for robotic systems. One of them is the low bandwidth and high latency of underwater acoustic communications, which limits the possibility of interaction with submerged robots. One solution is to have a tether cable to enable high speed and low latency communications, but that requires a support vessel and increases costs. For that reason, autonomous underwater robots are a very interesting solution. Several research projects have demonstrated autonomy capabilities of Underwater Vehicle Manipulator Systems (UVMS) in performing basic manipulation tasks, and, moving a step further, this chapter will present a unifying architecture for the control of an UVMS, comprehensive of all the control objectives that an UVMS should take into account, their different priorities and the typical mission phases that an UVMS has to tackle. The proposed strategy is supported both by a complete simulated execution of a test-case mission and experimental results. © Springer International Publishing AG 2017.
URL, DOI BibTeX

@article{Casalino2017365,
	author = "Casalino, Giuseppe and Simetti, Enrico and Wanderlingh, Francesco",
	title = "Robotized underwater interventions",
	year = 2017,
	journal = "Lecture Notes in Control and Information Sciences",
	volume = 474,
	pages = "365 – 386",
	doi = "10.1007/978-3-319-55372-6_17",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85020471808&doi=10.1007%2f978-3-319-55372-6_17&partnerID=40&md5=dae4a6ff43b1eb53a57ed31f5fc447ac",
	abstract = "Working in underwater environments poses many challenges for robotic systems. One of them is the low bandwidth and high latency of underwater acoustic communications, which limits the possibility of interaction with submerged robots. One solution is to have a tether cable to enable high speed and low latency communications, but that requires a support vessel and increases costs. For that reason, autonomous underwater robots are a very interesting solution. Several research projects have demonstrated autonomy capabilities of Underwater Vehicle Manipulator Systems (UVMS) in performing basic manipulation tasks, and, moving a step further, this chapter will present a unifying architecture for the control of an UVMS, comprehensive of all the control objectives that an UVMS should take into account, their different priorities and the typical mission phases that an UVMS has to tackle. The proposed strategy is supported both by a complete simulated execution of a test-case mission and experimental results. © Springer International Publishing AG 2017.",
	editor = "Fossen T.I. and Pettersen K.Y. and Nijmeijer H.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Kourosh Darvish, Barbara Bruno, Enrico Simetti, Fulvio Mastrogiovanni and Giuseppe Casalino. An adaptive human-robot cooperation framework for assembly-like tasks.
2017, 45 – 50.
Abstract In this paper we introduce a method for human-robot cooperation, specifically for assembly-like tasks. Novel approaches for cooperation are needed if we want to enable intuitive and natural interaction between humans and robots in future factories. Our contribution is two-fold: i) a framework for the representation of the cooperation task, which allows for run-time adaptation; ii) a dynamic procedure to monitor task execution based on AND/OR graphs. The framework has been experimentally validated in a cooperation scenario in which a Baxter robot and a human perform a screwing task together. © 2017, CEUR-WS. All rights reserved.
URL BibTeX

@conference{Darvish201745,
	author = "Darvish, Kourosh and Bruno, Barbara and Simetti, Enrico and Mastrogiovanni, Fulvio and Casalino, Giuseppe",
	title = "An adaptive human-robot cooperation framework for assembly-like tasks",
	year = 2017,
	journal = "CEUR Workshop Proceedings",
	volume = 1834,
	pages = "45 – 50",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85019608470&partnerID=40&md5=40c2020d4870c2fb35f4b359ddfb47f4",
	abstract = "In this paper we introduce a method for human-robot cooperation, specifically for assembly-like tasks. Novel approaches for cooperation are needed if we want to enable intuitive and natural interaction between humans and robots in future factories. Our contribution is two-fold: i) a framework for the representation of the cooperation task, which allows for run-time adaptation; ii) a dynamic procedure to monitor task execution based on AND/OR graphs. The framework has been experimentally validated in a cooperation scenario in which a Baxter robot and a human perform a screwing task together. © 2017, CEUR-WS. All rights reserved.",
	editor = "Farinelli A. and Universita degli Studi di Verona, Dipartimento di Informatica, Ca Vignal 2, Strada le Grazie 15 - 37134, Verona and Mastrogiovanni F. and Universita degli Studi di Genova, Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Via All'Opera Pia, Genova and Finzi A. and Universit a degli Studi di Napoli Federico II, Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione (DIETI), Via Claudio 21- 80125, Napoli",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti and Giuseppe Casalino. Manipulation and Transportation with Cooperative Underwater Vehicle Manipulator Systems.
IEEE Journal of Oceanic Engineering 42(4):782 – 799, 2017.
Abstract Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the seafloor. The Italian funded MARIS project aims to extend some of these results to multiple UVMSs performing a cooperative transportation task of a long object such as a pipe. This paper presents the results achieved in developing a unifying architecture for the control of both individually and cooperatively operating UVMSs which explicitly makes use of a limited amount of information exchange between the agents, which is needed due to the severe bandwidth limitations of the underwater acoustic communications. A complete execution of the reference transportation mission is presented to support the proposed distributed algorithm. Furthermore, hydrodynamic simulations of the cooperative transportation phase are presented and an analysis of the achievable performances as different communication schemes are employed is given. © 2017 IEEE.
URL, DOI BibTeX

@article{Simetti2017782,
	author = "Simetti, Enrico and Casalino, Giuseppe",
	title = "Manipulation and Transportation with Cooperative Underwater Vehicle Manipulator Systems",
	year = 2017,
	journal = "IEEE Journal of Oceanic Engineering",
	volume = 42,
	number = 4,
	pages = "782 – 799",
	doi = "10.1109/JOE.2016.2618182",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85007325681&doi=10.1109%2fJOE.2016.2618182&partnerID=40&md5=563ae66ead4b5ab4668595dd7e141ee5",
	abstract = "Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the seafloor. The Italian funded MARIS project aims to extend some of these results to multiple UVMSs performing a cooperative transportation task of a long object such as a pipe. This paper presents the results achieved in developing a unifying architecture for the control of both individually and cooperatively operating UVMSs which explicitly makes use of a limited amount of information exchange between the agents, which is needed due to the severe bandwidth limitations of the underwater acoustic communications. A complete execution of the reference transportation mission is presented to support the proposed distributed algorithm. Furthermore, hydrodynamic simulations of the cooperative transportation phase are presented and an analysis of the achievable performances as different communication schemes are employed is given. © 2017 IEEE.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

T Fabbri, E Simetti, G Casalino, L Pallottino and A Caiti. Distributed Task-priority Based Control in Area Coverage & Adaptive Sampling.
2017, 1 – 8.
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. © 2017 IEEE.
URL, DOI BibTeX

@conference{Fabbri20171,
	author = "Fabbri, T. and Simetti, E. and Casalino, G. and Pallottino, L. and Caiti, A.",
	title = "Distributed Task-priority Based Control in Area Coverage & Adaptive Sampling",
	year = 2017,
	journal = "OCEANS 2017 - Aberdeen",
	volume = "2017-October",
	pages = "1 – 8",
	doi = "10.1109/OCEANSE.2017.8085004",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85044633839&doi=10.1109%2fOCEANSE.2017.8085004&partnerID=40&md5=af2507bb261d58be3b42849cd0a30f57",
	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. © 2017 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Andrea Nistico, Marco Baglietto, Enrico Simetti, Giuseppe Casalino and Alessandro Sperinde. Marea project: UAV landing procedure on a moving and floating platform.
2017, 1 – 10.
Abstract In this paper we consider the problem of autonomous landing on a horizontally moving platform with vertical unpredictable oscillatory dynamics using a quadrotor system. The quadrotor is equipped with an external Raspberry PI as a companion computer used for communications. The task is divided in two subproblems: tracking and landing. We present the algorithms involved for the entire procedure; a PI regulator is used for the tracking problem while descending is made by controlling relative vertical velocity. A finite state machine approach is chosen to manage multiple robot states and recover from failures. A software framework was developed in order to manage general flight missions and, in this case, the landing assignment. At the end, we performed simulation and real experiments in order to validate the outcome of this work. © 2017 Marine Technology Society.
URL BibTeX

@conference{Nistico20171,
	author = "Nistico, Andrea and Baglietto, Marco and Simetti, Enrico and Casalino, Giuseppe and Sperinde, Alessandro",
	title = "Marea project: UAV landing procedure on a moving and floating platform",
	year = 2017,
	journal = "OCEANS 2017 - Anchorage",
	volume = "2017-January",
	pages = "1 – 10",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85048125867&partnerID=40&md5=a1c860bb20735c100aab130f63fb989c",
	abstract = "In this paper we consider the problem of autonomous landing on a horizontally moving platform with vertical unpredictable oscillatory dynamics using a quadrotor system. The quadrotor is equipped with an external Raspberry PI as a companion computer used for communications. The task is divided in two subproblems: tracking and landing. We present the algorithms involved for the entire procedure; a PI regulator is used for the tracking problem while descending is made by controlling relative vertical velocity. A finite state machine approach is chosen to manage multiple robot states and recover from failures. A software framework was developed in order to manage general flight missions and, in this case, the landing assignment. At the end, we performed simulation and real experiments in order to validate the outcome of this work. © 2017 Marine Technology Society.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, E Simetti, F Wanderlingh, K Darvish, B Bruno and F Mastrogiovanni. On Autonomous Robotic Cooperation Capabilities within Factory and Logistic Scenarios.
2017, 147 – 163.
Abstract The paper presents the development of a unified functional, algorithmic and Software (Sw) architecture, which can be adopted as a standard for controlling, at action level only, any robotic structure within a given wide class of them; even of reconfigurable type within the class. Such control architecture is therefore deemed very suitable for operating within factory and/or logistic, possibly reconfigurable, scenarios. Moreover, for the few cases of cooperative activities to be established between agents not allowed to be cable connected, an effective coordination policy, based on the exchange of a reduced information set, only regarding the cooperation goals, is developed; and relevant simulative and experimental trials are briefly outlined. Moreover, the advantage of having, in whatever operative condition, the possibility of commanding the involved structures only in terms of the ultimate goals of each action, also seems to be the right basis for having non-negligible improvements within their integration with automated action planning, and even learning, techniques. © 2017
URL, DOI BibTeX

@conference{Casalino2017147,
	author = "Casalino, G. and Simetti, E. and Wanderlingh, F. and Darvish, K. and Bruno, B. and Mastrogiovanni, F.",
	title = "On Autonomous Robotic Cooperation Capabilities within Factory and Logistic Scenarios",
	year = 2017,
	journal = "Procedia Manufacturing",
	volume = 11,
	pages = "147 – 163",
	doi = "10.1016/j.promfg.2017.07.219",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85029886973&doi=10.1016%2fj.promfg.2017.07.219&partnerID=40&md5=cab4b7e29dfef450b928d1acdf56663c",
	abstract = "The paper presents the development of a unified functional, algorithmic and Software (Sw) architecture, which can be adopted as a standard for controlling, at action level only, any robotic structure within a given wide class of them; even of reconfigurable type within the class. Such control architecture is therefore deemed very suitable for operating within factory and/or logistic, possibly reconfigurable, scenarios. Moreover, for the few cases of cooperative activities to be established between agents not allowed to be cable connected, an effective coordination policy, based on the exchange of a reduced information set, only regarding the cooperation goals, is developed; and relevant simulative and experimental trials are briefly outlined. Moreover, the advantage of having, in whatever operative condition, the possibility of commanding the involved structures only in terms of the ultimate goals of each action, also seems to be the right basis for having non-negligible improvements within their integration with automated action planning, and even learning, techniques. © 2017",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Marco Bibuli, Gabriele Bruzzone, Massimo Caccia, Angelo Odetti, Giovanni Indiveri, Roberta Ingrosso and Giuseppe Casalino. A practical identification procedure for unmanned underwater vehicles - From modeling to experiments.
2017, 1 – 6.
Abstract The need of defining suitable dynamical models for Unmanned Underwater Vehicles (UUVs) is of absolute importance for the sake of a precise motion estimation (needed due the slow rate and low precision measurement usually provided by acoustic devices) and guidance & control system design, where regulation scheme and parameter setting have to be defined and evaluated on the basis of a reliable dynamical model. © 2017 IEEE.
URL, DOI BibTeX

@conference{Bibuli20171,
	author = "Bibuli, Marco and Bruzzone, Gabriele and Caccia, Massimo and Odetti, Angelo and Indiveri, Giovanni and Ingrosso, Roberta and Casalino, Giuseppe",
	title = "A practical identification procedure for unmanned underwater vehicles - From modeling to experiments",
	year = 2017,
	journal = "OCEANS 2017 - Aberdeen",
	volume = "2017-October",
	pages = "1 – 6",
	doi = "10.1109/OCEANSE.2017.8084759",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85044725455&doi=10.1109%2fOCEANSE.2017.8084759&partnerID=40&md5=cd628e210436f92ed07ff6e608c0f87f",
	abstract = "The need of defining suitable dynamical models for Unmanned Underwater Vehicles (UUVs) is of absolute importance for the sake of a precise motion estimation (needed due the slow rate and low precision measurement usually provided by acoustic devices) and guidance & control system design, where regulation scheme and parameter setting have to be defined and evaluated on the basis of a reliable dynamical model. © 2017 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Francesco Wanderlingh, Giuseppe Casalino, Giovanni Indiveri and Gianluca Antonelli. ROBUST project: Control framework for deep sea mining exploration.
2017, 1 – 5.
Abstract This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed low altitude survey. Whenever a possible nodule is found, it performs an in-situ measurement through laser induced spectroscopy. To do so, the underwater vehicle must first land on the seafloor, with a certain precision to allow a subsequent fixed-based manipulation, bringing its manipulator endowed with the laser system in the position to carry out the measurement. The work reports the developed control architecture and the simulation results supporting it. © 2017 Marine Technology Society.
URL BibTeX

@conference{Simetti2017b,
	author = "Simetti, Enrico and Wanderlingh, Francesco and Casalino, Giuseppe and Indiveri, Giovanni and Antonelli, Gianluca",
	title = "ROBUST project: Control framework for deep sea mining exploration",
	year = 2017,
	journal = "OCEANS 2017 - Anchorage",
	volume = "2017-January",
	pages = "1 – 5",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85048137398&partnerID=40&md5=179703e8107605681e94de3614b3a722",
	abstract = "This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed low altitude survey. Whenever a possible nodule is found, it performs an in-situ measurement through laser induced spectroscopy. To do so, the underwater vehicle must first land on the seafloor, with a certain precision to allow a subsequent fixed-based manipulation, bringing its manipulator endowed with the laser system in the position to carry out the measurement. The work reports the developed control architecture and the simulation results supporting it. © 2017 Marine Technology Society.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Stefano Galeano and Giuseppe Casalino. Underwater vehicle manipulator systems: Control methodologies for inspection and maintenance tasks.
2016.
Abstract This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given. The paper presents some simulation results to support the proposed control architecture. © 2016 IEEE.
URL, DOI BibTeX

@conference{Simetti2016,
	author = "Simetti, Enrico and Galeano, Stefano and Casalino, Giuseppe",
	title = "Underwater vehicle manipulator systems: Control methodologies for inspection and maintenance tasks",
	year = 2016,
	journal = "OCEANS 2016 - Shanghai",
	doi = "10.1109/OCEANSAP.2016.7485690",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84978257327&doi=10.1109%2fOCEANSAP.2016.7485690&partnerID=40&md5=974271cc3b6a6380e03a60dae58e2a4b",
	abstract = "This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given. The paper presents some simulation results to support the proposed control architecture. © 2016 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino, Massimo Caccia, Stefano Caselli, Claudio Melchiorri, Gianluca Antonelli, Andrea Caiti, Giovanni Indiveri, Giorgio Cannata, Enrico Simetti, Sandro Torelli, Alessandro Sperindè, Francesco Wanderlingh, Giovanni Muscolo, Marco Bibuli, Gabriele Bruzzone, Enrica Zereik, Angelo Odetti, Edoardo Spirandelli, Andrea Ranieri, Jacopo Aleotti, Dario Lodi Rizzini, Fabio Oleari, Fabjan Kallasi, Gianluca Palli, Umberto Scarcia, Lorenzo Moriello and Elisabetta Cataldi. Underwater intervention robotics: An outline of the Italian national project Maris.
Marine Technology Society Journal 50(4):98 – 107, 2016.
Abstract The Italian national project MARIS (Marine Robotics for Interventions) pursues the strategic objective of studying, developing, and integrating technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities. These activities are becoming progressively more typical for the underwater offshore industry, for search-and-rescue operations, and for underwater scientific missions. Within such an ambitious objective, the project consortium also intends to demonstrate the achievable operational capabilities at a proof-of-concept level by integrating the results with prototype experimental systems. © 2016, Marine Technology Society Journal. All rights reserved.
URL, DOI BibTeX

@article{Casalino201698,
	author = "Casalino, Giuseppe and Caccia, Massimo and Caselli, Stefano and Melchiorri, Claudio and Antonelli, Gianluca and Caiti, Andrea and Indiveri, Giovanni and Cannata, Giorgio and Simetti, Enrico and Torelli, Sandro and Sperindè, Alessandro and Wanderlingh, Francesco and Muscolo, Giovanni and Bibuli, Marco and Bruzzone, Gabriele and Zereik, Enrica and Odetti, Angelo and Spirandelli, Edoardo and Ranieri, Andrea and Aleotti, Jacopo and Rizzini, Dario Lodi and Oleari, Fabio and Kallasi, Fabjan and Palli, Gianluca and Scarcia, Umberto and Moriello, Lorenzo and Cataldi, Elisabetta",
	title = "Underwater intervention robotics: An outline of the Italian national project Maris",
	year = 2016,
	journal = "Marine Technology Society Journal",
	volume = 50,
	number = 4,
	pages = "98 – 107",
	doi = "10.4031/MTSJ.50.4.7",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84983382271&doi=10.4031%2fMTSJ.50.4.7&partnerID=40&md5=fb0723c6a825b525c791ee76e3cff232",
	abstract = "The Italian national project MARIS (Marine Robotics for Interventions) pursues the strategic objective of studying, developing, and integrating technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities. These activities are becoming progressively more typical for the underwater offshore industry, for search-and-rescue operations, and for underwater scientific missions. Within such an ambitious objective, the project consortium also intends to demonstrate the achievable operational capabilities at a proof-of-concept level by integrating the results with prototype experimental systems. © 2016, Marine Technology Society Journal. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access, Hybrid Gold Open Access"
}

Giovanni Indiveri, Gianluca Antonelli, Filippo Arrichiello, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Nicola Catenacci Volpi, Ivan Bielic Jong, Daniela De Palma, Henrique Duarte, Joao Pedro Gomes, Jonathan Grimsdale, Sergio Jesus, Konstantin Kebkal, Elbert Kelholt, Antonio Pascoal, Daniel Polani, Lorenzo Pollini, Enrico Simetti and Alessio Turetta. Overview and first year progress of the Widely scalable Mobile Underwater Sonar Technology H2020 project.
2016, 430 – 433.
Abstract The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The action's main goal is to develop robotic technologies exploiting Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper briefly describes the project and its state of the art after the first year of activities. © 2016
URL, DOI BibTeX

@conference{Indiveri2016430,
	author = "Indiveri, Giovanni and Antonelli, Gianluca and Arrichiello, Filippo and Caffaz, Andrea and Caiti, Andrea and Casalino, Giuseppe and Volpi, Nicola Catenacci and de Jong, Ivan Bielic and De Palma, Daniela and Duarte, Henrique and Gomes, Joao Pedro and Grimsdale, Jonathan and Jesus, Sergio and Kebkal, Konstantin and Kelholt, Elbert and Pascoal, Antonio and Polani, Daniel and Pollini, Lorenzo and Simetti, Enrico and Turetta, Alessio",
	title = "Overview and first year progress of the Widely scalable Mobile Underwater Sonar Technology H2020 project",
	year = 2016,
	journal = "IFAC-PapersOnLine",
	volume = 49,
	number = 23,
	pages = "430 – 433",
	doi = "10.1016/j.ifacol.2016.10.442",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84994065698&doi=10.1016%2fj.ifacol.2016.10.442&partnerID=40&md5=3184f15d05257c9e29552ce8f7f90d57",
	abstract = "The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The action's main goal is to develop robotic technologies exploiting Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper briefly describes the project and its state of the art after the first year of activities. © 2016",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Paolo Augusto Di Lillo, Enrico Simetti, Daniela De Palma, Elisabetta Cataldi, Giovanni Indiveri, Gianluca Antonelli and Giuseppe Casalino. Advanced ROV autonomy for efficient remote control in the DexROV project.
Marine Technology Society Journal 50(4):67 – 80, 2016.
Abstract In this paper, we present DexROV, an EC Horizon 2020-funded project that proposes to implement novel operation strategies for underwater semiautonomous interventions. These costly and demanding operations are increasingly performed by remotely operated vehicles (ROVs), contributing to risk cutting for human divers. However, ROV operations require offshore structures, hosted on a support vessel with a crew of a significant amount of personnel necessary to properly handle and operate the robotic platform. One of the key goals of DexROV is to delocalize on shore the manned support as much as possible, reducing the crew onboard the support vessel and consequently the costs and risks of the whole operation. The control center is located onshore, far from the actual operation location. Operators interact with the ROV through a simulation environment that exploit 3D models of the environment built online relying on the perception and modeling capabilities of the robotic system and transmitted via satellite communication. Currently, ROVs lack the dexterous capabilities needed to performmany kinds of operations, for which human divers are still necessary. DexROV addresses this problem, equipping the ROV with two 6 DOF (degrees of freedom) dexterous manipulators with anthropomorphic end-effectors and providing semiautonomous capabilities. The control will rely on a multitask priority approach that will help the operator to focus on the main operation, leaving the low-level tasks to be autonomously performed by the ROV. © 2016, Marine Technology Society Journal. All rights reserved.
URL, DOI BibTeX

@article{Di Lillo201667,
	author = "Di Lillo, Paolo Augusto and Simetti, Enrico and De Palma, Daniela and Cataldi, Elisabetta and Indiveri, Giovanni and Antonelli, Gianluca and Casalino, Giuseppe",
	title = "Advanced ROV autonomy for efficient remote control in the DexROV project",
	year = 2016,
	journal = "Marine Technology Society Journal",
	volume = 50,
	number = 4,
	pages = "67 – 80",
	doi = "10.4031/MTSJ.50.4.8",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84983377761&doi=10.4031%2fMTSJ.50.4.8&partnerID=40&md5=5ffd82b552e4bc0251a0e0663754cfc8",
	abstract = "In this paper, we present DexROV, an EC Horizon 2020-funded project that proposes to implement novel operation strategies for underwater semiautonomous interventions. These costly and demanding operations are increasingly performed by remotely operated vehicles (ROVs), contributing to risk cutting for human divers. However, ROV operations require offshore structures, hosted on a support vessel with a crew of a significant amount of personnel necessary to properly handle and operate the robotic platform. One of the key goals of DexROV is to delocalize on shore the manned support as much as possible, reducing the crew onboard the support vessel and consequently the costs and risks of the whole operation. The control center is located onshore, far from the actual operation location. Operators interact with the ROV through a simulation environment that exploit 3D models of the environment built online relying on the perception and modeling capabilities of the robotic system and transmitted via satellite communication. Currently, ROVs lack the dexterous capabilities needed to performmany kinds of operations, for which human divers are still necessary. DexROV addresses this problem, equipping the ROV with two 6 DOF (degrees of freedom) dexterous manipulators with anthropomorphic end-effectors and providing semiautonomous capabilities. The control will rely on a multitask priority approach that will help the operator to focus on the main operation, leaving the low-level tasks to be autonomously performed by the ROV. © 2016, Marine Technology Society Journal. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access, Hybrid Gold Open Access"
}

Giuseppe Conte, David Scaradozzi, Giuseppe Casalino, Enrico Simetti, Alessandro Sperindè and Sandro Torelli. A robotic platform for underwater assisted manipulation.
2016, 491 – 496.
Abstract This paper describes the structure of an innovative robotic platform that integrates a small work-class ROV, a micro-ROV and a dexterous manipulator. The main feature of the robotic structure is to facilitate underwater tele-manipulation by assisting the operator in piloting the manipulator end-effector and by implementing monitoring procedures that increase situation awareness. Automatic control solutions and guidelines in the development of the robotic platform are illustrated and discussed. © Copyright 2016 by the International Society of Offshore and Polar Engineers (ISOPE).
URL BibTeX

@conference{Conte2016491,
	author = "Conte, Giuseppe and Scaradozzi, David and Casalino, Giuseppe and Simetti, Enrico and Sperindè, Alessandro and Torelli, Sandro",
	title = "A robotic platform for underwater assisted manipulation",
	year = 2016,
	journal = "Proceedings of the International Offshore and Polar Engineering Conference",
	volume = "2016-January",
	pages = "491 – 496",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84987912365&partnerID=40&md5=fcc7f1a8c7253ba424ce5d1f3f28bcd9",
	abstract = "This paper describes the structure of an innovative robotic platform that integrates a small work-class ROV, a micro-ROV and a dexterous manipulator. The main feature of the robotic structure is to facilitate underwater tele-manipulation by assisting the operator in piloting the manipulator end-effector and by implementing monitoring procedures that increase situation awareness. Automatic control solutions and guidelines in the development of the robotic platform are illustrated and discussed. © Copyright 2016 by the International Society of Offshore and Polar Engineers (ISOPE).",
	editor = "Wang A.M. and Chung J.S. and Kokkinis T. and Muskulus M.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Davide Fenucci, Andrea Caiti, Enrico Simetti and Giuseppe Casalino. Underwater communication requirements in coordinated autonomous manipulation: The MARIS project.
2016.
Abstract This paper addresses the communication requirements needed within the MARIS project, which involves several Italian institutions. The goal of the MARIS project is to develop technologies for autonomous underwater interventions, in particular to enable two floating manipulators in executing joint grasping and transportation activities. In this context, communication issues are mainly related to the information exchange needed by the cooperation algorithms during all the phases of the mission, in particular in the coordinated transportation. Simulation results show the expected performances of the cooperative algorithm as the communication rate changes. Based on these results, a strategy to meet the requirements imposed by the cooperation and to achieve the mission objective with the available devices is presented. © 2016 IEEE.
URL, DOI BibTeX

@conference{Fenucci2016,
	author = "Fenucci, Davide and Caiti, Andrea and Simetti, Enrico and Casalino, Giuseppe",
	title = "Underwater communication requirements in coordinated autonomous manipulation: The MARIS project",
	year = 2016,
	journal = "3rd Underwater Communications and Networking Conference, Ucomms 2016",
	doi = "10.1109/UComms.2016.7583468",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84994408864&doi=10.1109%2fUComms.2016.7583468&partnerID=40&md5=b772194a33f60a6ed2b45c77f713bbb0",
	abstract = "This paper addresses the communication requirements needed within the MARIS project, which involves several Italian institutions. The goal of the MARIS project is to develop technologies for autonomous underwater interventions, in particular to enable two floating manipulators in executing joint grasping and transportation activities. In this context, communication issues are mainly related to the information exchange needed by the cooperation algorithms during all the phases of the mission, in particular in the coordinated transportation. Simulation results show the expected performances of the cooperative algorithm as the communication rate changes. Based on these results, a strategy to meet the requirements imposed by the cooperation and to achieve the mission objective with the available devices is presented. © 2016 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino, Benedetto Allotta, Gianluca Antonelli, Andrea Caiti, Giuseppe Conte, Giovanni Indiveri, Claudio Melchiorri and Enrico Simetti. ISME research trends: Marine robotics for emergencies at sea.
2016.
Abstract One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical moment, especially in the Mediterranean sea. Within such a dramatic context, the use of robots could certainly provide helpful for the execution of patrolling and detection, identification and classification of interesting elements, such as people to be saved or oil leaks, as well as the successive execution of the intervention/rescue strategy. This paper presents the Key Enabling Technologies as well as some Key Research Areas that are being currently investigated by ISME toward the ambitious objective of employing robotic solutions for the management of emergencies at sea. © 2016 IEEE.
URL, DOI BibTeX

@conference{Casalino2016,
	author = "Casalino, Giuseppe and Allotta, Benedetto and Antonelli, Gianluca and Caiti, Andrea and Conte, Giuseppe and Indiveri, Giovanni and Melchiorri, Claudio and Simetti, Enrico",
	title = "ISME research trends: Marine robotics for emergencies at sea",
	year = 2016,
	journal = "OCEANS 2016 - Shanghai",
	doi = "10.1109/OCEANSAP.2016.7485616",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84978251050&doi=10.1109%2fOCEANSAP.2016.7485616&partnerID=40&md5=2bad44ca126742cb0c3fa9f6c64bf49e",
	abstract = "One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical moment, especially in the Mediterranean sea. Within such a dramatic context, the use of robots could certainly provide helpful for the execution of patrolling and detection, identification and classification of interesting elements, such as people to be saved or oil leaks, as well as the successive execution of the intervention/rescue strategy. This paper presents the Key Enabling Technologies as well as some Key Research Areas that are being currently investigated by ISME toward the ambitious objective of employing robotic solutions for the management of emergencies at sea. © 2016 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

A Caiti, G Casalino and E Simetti. A task-priority based control approach to distributed data-driven ocean sampling.
2016.
Abstract The paper illustrates the basic ideas and relevant algorithmic developments underlying the proposal for a task-priority based control approach to distributed data-driven ocean sampling applications. This approach is deemed allowing a better formalization of the overall motion problem of the involved team of agents; that apart the ultimate mission objective, also result characterized by other different control objectives directly related with both operability and safety aspects of the entire sampling system. Also, the proposed approach, other than leading to a unifying algorithmic structure, also seems allowing to foresee good possibilities for different types of downgrading toward efficient decentralized implementations. © 2016 IEEE.
URL, DOI BibTeX

@conference{Caiti2016,
	author = "Caiti, A. and Casalino, G. and Simetti, E.",
	title = "A task-priority based control approach to distributed data-driven ocean sampling",
	year = 2016,
	journal = "OCEANS 2016 MTS/IEEE Monterey, OCE 2016",
	doi = "10.1109/OCEANS.2016.7761117",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85006920612&doi=10.1109%2fOCEANS.2016.7761117&partnerID=40&md5=5e4c89d36ea51f658fa769a932dbff35",
	abstract = "The paper illustrates the basic ideas and relevant algorithmic developments underlying the proposal for a task-priority based control approach to distributed data-driven ocean sampling applications. This approach is deemed allowing a better formalization of the overall motion problem of the involved team of agents; that apart the ultimate mission objective, also result characterized by other different control objectives directly related with both operability and safety aspects of the entire sampling system. Also, the proposed approach, other than leading to a unifying algorithmic structure, also seems allowing to foresee good possibilities for different types of downgrading toward efficient decentralized implementations. © 2016 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino. Italian marine technology research comes of age.
Marine Technology Society Journal 50(4):11 – 13, 2016.
URL, DOI BibTeX

@article{Casalino201611,
	author = "Casalino, Giuseppe",
	title = "Italian marine technology research comes of age",
	year = 2016,
	journal = "Marine Technology Society Journal",
	volume = 50,
	number = 4,
	pages = "11 – 13",
	doi = "10.4031/MTSJ.50.4.6",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84983382110&doi=10.4031%2fMTSJ.50.4.6&partnerID=40&md5=6a0e49037d704d256b7876897159ced4",
	type = "Note",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Hybrid Gold Open Access"
}

Gianluca Antonelli, Andrea Caffaz, Giuseppe Casalino, Nicola Catenacci Volpi, Ivan Bielic De Jong, Daniela De Palmad, Henrique Duarte, Jonathan Grimsdale, Giovanni Indiveri, Sergio Jesus, Konstantin Kebkal, Antonio Pascoal, Daniel Polani and Lorenzo Pollini. The Widely scalable Mobile Underwater Sonar Technology (WiMUST) H2020 project: First year status.
2016.
Abstract The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper reports about the first year activities and it gives an overview of the main objectives and methods. Results relative to distributed sensor array, cooperative control, mission planning, communications and preliminary experiments are summarized. © 2016 IEEE.
URL, DOI BibTeX

@conference{Antonelli2016,
	author = "Antonelli, Gianluca and Caffaz, Andrea and Casalino, Giuseppe and Volpi, Nicola Catenacci and De Jong, Ivan Bielic and De Palmad, Daniela and Duarte, Henrique and Grimsdale, Jonathan and Indiveri, Giovanni and Jesus, Sergio and Kebkal, Konstantin and Pascoal, Antonio and Polani, Daniel and Pollini, Lorenzo",
	title = "The Widely scalable Mobile Underwater Sonar Technology (WiMUST) H2020 project: First year status",
	year = 2016,
	journal = "OCEANS 2016 - Shanghai",
	doi = "10.1109/OCEANSAP.2016.7485587",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84978245025&doi=10.1109%2fOCEANSAP.2016.7485587&partnerID=40&md5=c7f1d658e9cc6bd6cf5be71dad968f18",
	abstract = "The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper reports about the first year activities and it gives an overview of the main objectives and methods. Results relative to distributed sensor array, cooperative control, mission planning, communications and preliminary experiments are summarized. © 2016 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Jeremi Gancet, Peter Weiss, Gianluca Antonelli, Max Folkert Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Diego Urbina, Shashank Govindaraj, Pierre Letier, Xavier Martinez, Joseph Salini, Bertrand Chemisky, Giovanni Indiveri, Giuseppe Casalino, Paolo Di Lillo, Enrico Simetti, Daniel De Palma, Andreas Birk, Tobias Fromm, Christian Mueller, Ajay Tanwani, Ioannis Havoutis, Andrea Caffaz and Lisa Guilpain. Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project.
2016, 414 – 419.
Abstract The operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme makes provision for advanced dexterous manipulation capabilities, exploiting human expertise from a remote location when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial. After one year, the project specified the system architecture of the system and carried out preliminary technological trade-offs for the subsystems. © 2016
URL, DOI BibTeX

@conference{Gancet2016414,
	author = "Gancet, Jeremi and Weiss, Peter and Antonelli, Gianluca and Pfingsthorn, Max Folkert and Calinon, Sylvain and Turetta, Alessio and Walen, Cees and Urbina, Diego and Govindaraj, Shashank and Letier, Pierre and Martinez, Xavier and Salini, Joseph and Chemisky, Bertrand and Indiveri, Giovanni and Casalino, Giuseppe and Di Lillo, Paolo and Simetti, Enrico and De Palma, Daniel and Birk, Andreas and Fromm, Tobias and Mueller, Christian and Tanwani, Ajay and Havoutis, Ioannis and Caffaz, Andrea and Guilpain, Lisa",
	title = "Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project",
	year = 2016,
	journal = "IFAC-PapersOnLine",
	volume = 49,
	number = 23,
	pages = "414 – 419",
	doi = "10.1016/j.ifacol.2016.10.439",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84994093885&doi=10.1016%2fj.ifacol.2016.10.439&partnerID=40&md5=a66635ef2324be1eef57a834f458177b",
	abstract = "The operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme makes provision for advanced dexterous manipulation capabilities, exploiting human expertise from a remote location when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial. After one year, the project specified the system architecture of the system and carried out preliminary technological trade-offs for the subsystems. © 2016",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Pedro Abreu, Gianluca Antonelli, Filippo Arrichiello, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Nicola Catenacci Volpi, Ivan Bielic De Jong, Daniela De Palma, Henrique Duarte, Joao Pedro Gomes, Jonathan Grimsdale, Giovanni Indiveri, Sergio Jesus, Konstantin Kebkal, Elbert Kelholt, Antonio Pascoal, Daniel Polani, Lorenzo Pollini, Enrico Simetti and Alessio Turetta. Widely scalable mobile underwater sonar technology: An overview of the H2020 WiMUST project.
Marine Technology Society Journal 50(4):42 – 53, 2016.
Abstract The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative autonomous underwater vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper describes the main objectives of the project, gives an overview of the methodologies adopted to achieve them, and summarizes the work done in the first year of R&D work. © 2016, Marine Technology Society Journal. All rights reserved.
URL, DOI BibTeX

@article{Abreu201642,
	author = "Abreu, Pedro and Antonelli, Gianluca and Arrichiello, Filippo and Caffaz, Andrea and Caiti, Andrea and Casalino, Giuseppe and Volpi, Nicola Catenacci and De Jong, Ivan Bielic and De Palma, Daniela and Duarte, Henrique and Gomes, Joao Pedro and Grimsdale, Jonathan and Indiveri, Giovanni and Jesus, Sergio and Kebkal, Konstantin and Kelholt, Elbert and Pascoal, Antonio and Polani, Daniel and Pollini, Lorenzo and Simetti, Enrico and Turetta, Alessio",
	title = "Widely scalable mobile underwater sonar technology: An overview of the H2020 WiMUST project",
	year = 2016,
	journal = "Marine Technology Society Journal",
	volume = 50,
	number = 4,
	pages = "42 – 53",
	doi = "10.4031/MTSJ.50.4.3",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84983466960&doi=10.4031%2fMTSJ.50.4.3&partnerID=40&md5=95cc39490480052b2f862db912420b06",
	abstract = "The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative autonomous underwater vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper describes the main objectives of the project, gives an overview of the methodologies adopted to achieve them, and summarizes the work done in the first year of R&D work. © 2016, Marine Technology Society Journal. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access, Hybrid Gold Open Access"
}

Andrea Caiti, Giuseppe Casalino and Andrea Trucco. Research initiatives in Europe: Cooperation for blue growth.
Marine Technology Society Journal 50(4):5 – 7, 2016.
URL, DOI BibTeX

@article{Caiti20165,
	author = "Caiti, Andrea and Casalino, Giuseppe and Trucco, Andrea",
	title = "Research initiatives in Europe: Cooperation for blue growth",
	year = 2016,
	journal = "Marine Technology Society Journal",
	volume = 50,
	number = 4,
	pages = "5 – 7",
	doi = "10.4031/MTSJ.50.4.1",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84983439521&doi=10.4031%2fMTSJ.50.4.1&partnerID=40&md5=6a32be633a924df9420441e37e8a8932",
	type = "Editorial",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access, Hybrid Gold Open Access"
}

Enrico Simetti and Giuseppe Casalino. A Novel Practical Technique to Integrate Inequality Control Objectives and Task Transitions in Priority Based Control.
Journal of Intelligent and Robotic Systems: Theory and Applications 84(1-4):877 – 902, 2016.
Abstract The task priority based control is a formalism which allows to create complex control laws with nice invariance properties, i.e. lower priority tasks do not affect the execution of higher priority ones. However, the classical task priority framework (Siciliano and Slotine) lacked the ability of enabling and disabling tasks without causing discontinuities. Furthermore, tasks corresponding to inequality control objectives could not be efficiently represented within that framework. In this paper we present a novel technique to integrate both the activation and deactivation of tasks and the inequality control objectives in the priority based control. The technique, called iCAT (inequality control objectives, activations and transitions) task priority framework, exploits novel regularization methods to activate and deactivate any row of a given task in a prioritized hierarchy without incurring in practical discontinuities, while maintaining as much as possible the invariance properties of the other active tasks. Finally, as opposed to other techniques, the proposed approach has a linear cost in the number of tasks. Simulations, experimental results and a time analysis are presented to support the proposed technique. © 2016, Springer Science+Business Media Dordrecht.
URL, DOI BibTeX

@article{Simetti2016877,
	author = "Simetti, Enrico and Casalino, Giuseppe",
	title = "A Novel Practical Technique to Integrate Inequality Control Objectives and Task Transitions in Priority Based Control",
	year = 2016,
	journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
	volume = 84,
	number = "1-4",
	pages = "877 – 902",
	doi = "10.1007/s10846-016-0368-6",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84963657762&doi=10.1007%2fs10846-016-0368-6&partnerID=40&md5=dc0b88beb9287d9421485fff6fc2f89e",
	abstract = "The task priority based control is a formalism which allows to create complex control laws with nice invariance properties, i.e. lower priority tasks do not affect the execution of higher priority ones. However, the classical task priority framework (Siciliano and Slotine) lacked the ability of enabling and disabling tasks without causing discontinuities. Furthermore, tasks corresponding to inequality control objectives could not be efficiently represented within that framework. In this paper we present a novel technique to integrate both the activation and deactivation of tasks and the inequality control objectives in the priority based control. The technique, called iCAT (inequality control objectives, activations and transitions) task priority framework, exploits novel regularization methods to activate and deactivate any row of a given task in a prioritized hierarchy without incurring in practical discontinuities, while maintaining as much as possible the invariance properties of the other active tasks. Finally, as opposed to other techniques, the proposed approach has a linear cost in the number of tasks. Simulations, experimental results and a time analysis are presented to support the proposed technique. © 2016, Springer Science+Business Media Dordrecht.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino. Advanced Manipulation for Underwater Sampling.
2015.
Abstract This entry deals with the kinematic self-coordination aspects to be managed by parts of underwater floating manipulators, whenever employed for sample collections at the seafloor.aaaa Kinematic self-coordination is here intended as the autonomous ability exhibited by the system in closed loop specifying the most appropriate reference velocities for its main constitutive parts (i.e., the supporting vehicle and the arm) in order to execute the sample collection with respect to both safety and best operability conditions for the system while also guaranteeing the needed “execution agility” in performing the task, particularly useful in case of underwater repeated collections. To this end, the devising and employment of a unifying control framework capable of guaranteeing the above properties will be outlined.aaaa Such a framework is however intended to only represent the so-called Kinematic Control Layer (KCL) overlaying a Dynamic Control Layer (DCL), where the overall system dynamic and hydrodynamic effects are suitably accounted for, to the benefit of closed loop tracking of the reference system velocities. Since the DCL design is carried out in a way which is substantially independent from the system mission(s), it will not constitute a specific topic of this entry, even if some orienting references about it will be provided.aaaa At this entry’s end, as a follow-up of the resulting structural invariance of the devised KCL framework, future challenges addressing much wider and complex underwater applications will be foreseen, beyond the here-considered sample collection one. © Springer-Verlag London 2015
URL, DOI BibTeX

@book{Casalino201520,
	author = "Casalino, Giuseppe",
	title = "Advanced Manipulation for Underwater Sampling",
	year = 2015,
	journal = "Encyclopedia of Systems and Control",
	pages = "20 – 28",
	doi = "10.1007/978-1-4471-5058-9_129",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-105013317459&doi=10.1007%2f978-1-4471-5058-9_129&partnerID=40&md5=b8b579a989c12f286b10c372212af9ea",
	abstract = "This entry deals with the kinematic self-coordination aspects to be managed by parts of underwater floating manipulators, whenever employed for sample collections at the seafloor.aaaa Kinematic self-coordination is here intended as the autonomous ability exhibited by the system in closed loop specifying the most appropriate reference velocities for its main constitutive parts (i.e., the supporting vehicle and the arm) in order to execute the sample collection with respect to both safety and best operability conditions for the system while also guaranteeing the needed “execution agility” in performing the task, particularly useful in case of underwater repeated collections. To this end, the devising and employment of a unifying control framework capable of guaranteeing the above properties will be outlined.aaaa Such a framework is however intended to only represent the so-called Kinematic Control Layer (KCL) overlaying a Dynamic Control Layer (DCL), where the overall system dynamic and hydrodynamic effects are suitably accounted for, to the benefit of closed loop tracking of the reference system velocities. Since the DCL design is carried out in a way which is substantially independent from the system mission(s), it will not constitute a specific topic of this entry, even if some orienting references about it will be provided.aaaa At this entry’s end, as a follow-up of the resulting structural invariance of the devised KCL framework, future challenges addressing much wider and complex underwater applications will be foreseen, beyond the here-considered sample collection one. © Springer-Verlag London 2015",
	type = "Book chapter",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Giuseppe Casalino, Ninad Manerikar, Alessandro Sperinde, Sandro Torelli and Francesco Wanderlingh. Cooperation between autonomous underwater vehicle manipulations systems with minimal information exchange.
2015.
Abstract The paper describes a novel cooperative control policy for the transportation of large objects in underwater environments using two UVMS (Underwater Vehicle Manipulator Systems). Due to the low bandwidth available in underwater scenarios, the main feature of the paper lies in the fact that the cooperative transportation of the commonly grasped object is carried out successfully by just exchanging the tool frame velocities at each sampling instant. A disturbance compensation technique is also presented to cope with sea currents and vehicle velocity tracking errors. © 2015 IEEE.
URL, DOI BibTeX

@conference{Simetti2015a,
	author = "Simetti, Enrico and Casalino, Giuseppe and Manerikar, Ninad and Sperinde, Alessandro and Torelli, Sandro and Wanderlingh, Francesco",
	title = "Cooperation between autonomous underwater vehicle manipulations systems with minimal information exchange",
	year = 2015,
	journal = "MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World",
	doi = "10.1109/OCEANS-Genova.2015.7271700",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84957687427&doi=10.1109%2fOCEANS-Genova.2015.7271700&partnerID=40&md5=f2afb05a03a86a22d868ff01e67d9234",
	abstract = "The paper describes a novel cooperative control policy for the transportation of large objects in underwater environments using two UVMS (Underwater Vehicle Manipulator Systems). Due to the low bandwidth available in underwater scenarios, the main feature of the paper lies in the fact that the cooperative transportation of the commonly grasped object is carried out successfully by just exchanging the tool frame velocities at each sampling instant. A disturbance compensation technique is also presented to cope with sea currents and vehicle velocity tracking errors. © 2015 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Enrico Simetti, Sandro Torelli, Giuseppe Casalino and Alessio Turetta. Experimental results on obstacle avoidance for high speed unmanned surface vehicles.
2015.
Abstract This work presents the first experimental results of the real-time motion planner developed within an on-going research project between DIBRIS, University of Genova and Selex-ES, Italy, one of the leading players for providing large systems aimed at security and surveillance. The ultimate goal of the research project is the development of a complete solution for managing and supervising a team of Unmanned Surface Vehicles (USVs), operating in a (semi-)autonomous manner within a civilian harbour. The proposed obstacle avoidance algorithm exploits the kinematic information of the vessels operating in the harbour in order to compute the optimal path to reach the target position, while at the same time avoiding any moving obstacle. The paper recalls the fundamentals of the proposed approach, introduces the developed USV prototypes and finally presents the adaptation of the motion planner for its use on the real tests. Field trials are presented to show the effectiveness of the approach even at high speeds. © 2014 IEEE.
URL, DOI BibTeX

@conference{Simetti2015b,
	author = "Simetti, Enrico and Torelli, Sandro and Casalino, Giuseppe and Turetta, Alessio",
	title = "Experimental results on obstacle avoidance for high speed unmanned surface vehicles",
	year = 2015,
	journal = "2014 Oceans - St. John's, OCEANS 2014",
	doi = "10.1109/OCEANS.2014.7003009",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84921793369&doi=10.1109%2fOCEANS.2014.7003009&partnerID=40&md5=f0f442c8787dab98f5dc12620bdcd327",
	abstract = "This work presents the first experimental results of the real-time motion planner developed within an on-going research project between DIBRIS, University of Genova and Selex-ES, Italy, one of the leading players for providing large systems aimed at security and surveillance. The ultimate goal of the research project is the development of a complete solution for managing and supervising a team of Unmanned Surface Vehicles (USVs), operating in a (semi-)autonomous manner within a civilian harbour. The proposed obstacle avoidance algorithm exploits the kinematic information of the vessels operating in the harbour in order to compute the optimal path to reach the target position, while at the same time avoiding any moving obstacle. The paper recalls the fundamentals of the proposed approach, introduces the developed USV prototypes and finally presents the adaptation of the motion planner for its use on the real tests. Field trials are presented to show the effectiveness of the approach even at high speeds. © 2014 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzokvitz, Peter Weiss, Frederic Gauch, Gianluca Antonelli, Giovanni Indiveri, Giuseppe Casalino, Andreas Birk, Max Folkert Pfingsthorn, Sylvain Calinon, Ajay Tanwani, Alessio Turetta, Cees Walen and Lisa Guilpain. Dexrov: Dexterous undersea inspection and maintenance in presence of communication latencies.
2015, 218 – 223.
Abstract Underwater inspection and maintenance (e.g. in the oil & gas industry) are demanding and costly activities for which ROV based setups are often deployed in addition or in substitution to deep divers - contributing to operations risks and costs cutting. However the operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation capabilities, exploiting human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
URL, DOI BibTeX

@conference{Gancet2015218,
	author = "Gancet, Jeremi and Urbina, Diego and Letier, Pierre and Ilzokvitz, Michel and Weiss, Peter and Gauch, Frederic and Antonelli, Gianluca and Indiveri, Giovanni and Casalino, Giuseppe and Birk, Andreas and Pfingsthorn, Max Folkert and Calinon, Sylvain and Tanwani, Ajay and Turetta, Alessio and Walen, Cees and Guilpain, Lisa",
	title = "Dexrov: Dexterous undersea inspection and maintenance in presence of communication latencies",
	year = 2015,
	journal = "IFAC-PapersOnLine",
	volume = 28,
	number = 2,
	pages = "218 – 223",
	doi = "10.1016/j.ifacol.2015.06.036",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84992521813&doi=10.1016%2fj.ifacol.2015.06.036&partnerID=40&md5=7e960fac3c1aedc02f18af748fac35c4",
	abstract = "Underwater inspection and maintenance (e.g. in the oil & gas industry) are demanding and costly activities for which ROV based setups are often deployed in addition or in substitution to deep divers - contributing to operations risks and costs cutting. However the operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation capabilities, exploiting human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.",
	editor = "Ridao P. and Carreras M. and Ribas D.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Giuseppe Casalino, Enrico Simetti, Ninad Manerikar, Alessandro Sperinde, Sandro Torelli and Francesco Wanderlingh. Cooperative underwater manipulation systems: Control developments within the MARIS project.
2015, 1 – 7.
Abstract A novel co-operative control algorithm has been presented in this paper for the transportation of large objects in underwater scenarios using two free floating vehicles, each one endowed with a 7 d.o.f redundant manipulator. The paper also gives detailed information about the theoretical foundations related to the kinematic and dynamic modelling, and then to the cooperative control, of the overall system. Due to the low bandwidth in underwater scenarios, the algorithm presented in the paper just exchanges six numbers (tool frame velocities) and still gives extremely good results even with such high limitations on the information exchange. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
URL, DOI BibTeX

@conference{Casalino20151,
	author = "Casalino, Giuseppe and Simetti, Enrico and Manerikar, Ninad and Sperinde, Alessandro and Torelli, Sandro and Wanderlingh, Francesco",
	title = "Cooperative underwater manipulation systems: Control developments within the MARIS project",
	year = 2015,
	journal = "IFAC-PapersOnLine",
	volume = 28,
	number = 2,
	pages = "1 – 7",
	doi = "10.1016/j.ifacol.2015.06.001",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84992486741&doi=10.1016%2fj.ifacol.2015.06.001&partnerID=40&md5=1914e5fe3d85145c21366917802c67dd",
	abstract = "A novel co-operative control algorithm has been presented in this paper for the transportation of large objects in underwater scenarios using two free floating vehicles, each one endowed with a 7 d.o.f redundant manipulator. The paper also gives detailed information about the theoretical foundations related to the kinematic and dynamic modelling, and then to the cooperative control, of the overall system. Due to the low bandwidth in underwater scenarios, the algorithm presented in the paper just exchanges six numbers (tool frame velocities) and still gives extremely good results even with such high limitations on the information exchange. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.",
	editor = "Ridao P. and Carreras M. and Ribas D.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Habib Al-Khatib, Gianluca Antonelli, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Ivan Bielic De Jong, Henrique Duarte, Giovanni Indiveri, Sergio Jesus, Konstantin Kebkal, Antonio Pascoal and Daniel Polani. The widely scalable Mobile Underwater Sonar Technology (WiMUST) project: An overview.
2015.
Abstract The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The project will address underwater communication, acoustic distributed sensor array, mission planning and robot navigation, guidance and control issues. The paper gives an overview of the project objectives and methods. © 2015 IEEE.
URL, DOI BibTeX

@conference{Al-Khatib2015,
	author = "Al-Khatib, Habib and Antonelli, Gianluca and Caffaz, Andrea and Caiti, Andrea and Casalino, Giuseppe and De Jong, Ivan Bielic and Duarte, Henrique and Indiveri, Giovanni and Jesus, Sergio and Kebkal, Konstantin and Pascoal, Antonio and Polani, Daniel",
	title = "The widely scalable Mobile Underwater Sonar Technology (WiMUST) project: An overview",
	year = 2015,
	journal = "MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World",
	doi = "10.1109/OCEANS-Genova.2015.7271688",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84957669188&doi=10.1109%2fOCEANS-Genova.2015.7271688&partnerID=40&md5=3a4c73374039e5b4355ca3a45c2321f3",
	abstract = "The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The project will address underwater communication, acoustic distributed sensor array, mission planning and robot navigation, guidance and control issues. The paper gives an overview of the project objectives and methods. © 2015 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

E Simetti and G Casalino. Whole body control of a dual arm underwater vehicle manipulator system.
Annual Reviews in Control 40:191 – 200, 2015.
Abstract This paper presents a whole body control framework for the control of a dual arm underwater vehicle manipulator system developed in the context of the MARIS Italian research project, which deals with the control and coordination of underwater vehicles for manipulation and transportation problems. The proposed framework is the extension of the one used in the successful TRIDENT FP7 project that has been improved to be able to deal with multidimensional inequality control objectives. After the presentation of the mathematical background, the paper presents some simulation results showing the good performances of the proposed algorithm. © 2015 International Federation of Automatic Control. Published by Elsevier Ltd. All rights reserved.
URL, DOI BibTeX

@article{Simetti2015191,
	author = "Simetti, E. and Casalino, G.",
	title = "Whole body control of a dual arm underwater vehicle manipulator system",
	year = 2015,
	journal = "Annual Reviews in Control",
	volume = 40,
	pages = "191 – 200",
	doi = "10.1016/j.arcontrol.2015.09.011",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84950293073&doi=10.1016%2fj.arcontrol.2015.09.011&partnerID=40&md5=e65000f39a8e51518506854510550dda",
	abstract = "This paper presents a whole body control framework for the control of a dual arm underwater vehicle manipulator system developed in the context of the MARIS Italian research project, which deals with the control and coordination of underwater vehicles for manipulation and transportation problems. The proposed framework is the extension of the one used in the successful TRIDENT FP7 project that has been improved to be able to deal with multidimensional inequality control objectives. After the presentation of the mathematical background, the paper presents some simulation results showing the good performances of the proposed algorithm. © 2015 International Federation of Automatic Control. Published by Elsevier Ltd. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzkovitz, Peter Weiss, Fred Gauch, Bertrand Chemisky, Gianluca Antonelli, Giuseppe Casalino, Giovanni Indiveri, Andreas Birk, Max F Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen and Lisa Guilpain. DexROV: Enabling effective dexterous ROV operations in presence of communication latency.
2015.
Abstract Subsea interventions in the oil & gas industry as well as in other domains such as archaeology or geological surveys are demanding and costly activities for which robotic solutions are often deployed in addition or in substitution to human divers - contributing to risks and costs cutting. The operation of ROVs (Remotely Operated Vehicles) nevertheless requires significant off-shore dedicated manpower to handle and operate the robotic platform and the supporting vessel. In order to reduce the footprint of operations, DexROV proposes to implement and evaluate novel operation paradigms with safer, more cost effective and time efficient ROV operations. As a keystone of the proposed approach, manned support will in a large extent be delocalized within an onshore ROV control center, possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation and semi-autonomous capabilities, leveraging human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial in the Mediterranean sea. © 2015 IEEE.
URL, DOI BibTeX

@conference{Gancet2015,
	author = "Gancet, Jeremi and Urbina, Diego and Letier, Pierre and Ilzkovitz, Michel and Weiss, Peter and Gauch, Fred and Chemisky, Bertrand and Antonelli, Gianluca and Casalino, Giuseppe and Indiveri, Giovanni and Birk, Andreas and Pfingsthorn, Max F. and Calinon, Sylvain and Turetta, Alessio and Walen, Cees and Guilpain, Lisa",
	title = "DexROV: Enabling effective dexterous ROV operations in presence of communication latency",
	year = 2015,
	journal = "MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World",
	doi = "10.1109/OCEANS-Genova.2015.7271691",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84957645849&doi=10.1109%2fOCEANS-Genova.2015.7271691&partnerID=40&md5=28849f565deef6281b62e88ce0f39d8b",
	abstract = "Subsea interventions in the oil & gas industry as well as in other domains such as archaeology or geological surveys are demanding and costly activities for which robotic solutions are often deployed in addition or in substitution to human divers - contributing to risks and costs cutting. The operation of ROVs (Remotely Operated Vehicles) nevertheless requires significant off-shore dedicated manpower to handle and operate the robotic platform and the supporting vessel. In order to reduce the footprint of operations, DexROV proposes to implement and evaluate novel operation paradigms with safer, more cost effective and time efficient ROV operations. As a keystone of the proposed approach, manned support will in a large extent be delocalized within an onshore ROV control center, possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation and semi-autonomous capabilities, leveraging human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial in the Mediterranean sea. © 2015 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Ninad Manerikar, Giuseppe Casalino, Enrico Simetti, Sandro Torelli and Alessandro Sperinde. On cooperation between autonomous underwater floating manipulation systems.
2015.
Abstract This paper describes an unifying control framework which has been proposed and successfully employed within the recently concluded TRIDENT EU FP7 project. It further describes the extension of this proposed framework to dual arm free floating control case (single underwater vehicle with two 7 d.o.f redundant manipulators), and even the more challenging cooperative control of two I-AUVs for the transportation of large objects which is part of the currently ongoing Italian national project MARIS. The paper presents simulation results as well as actual experimental trials showing the effectiveness of this proposed control framework. © 2015 IEEE.
URL, DOI BibTeX

@conference{Manerikar2015,
	author = "Manerikar, Ninad and Casalino, Giuseppe and Simetti, Enrico and Torelli, Sandro and Sperinde, Alessandro",
	title = "On cooperation between autonomous underwater floating manipulation systems",
	year = 2015,
	journal = "2015 IEEE Underwater Technology, UT 2015",
	doi = "10.1109/UT.2015.7108310",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84934311970&doi=10.1109%2fUT.2015.7108310&partnerID=40&md5=ddff4ac3372de48921590bda2220db1b",
	abstract = "This paper describes an unifying control framework which has been proposed and successfully employed within the recently concluded TRIDENT EU FP7 project. It further describes the extension of this proposed framework to dual arm free floating control case (single underwater vehicle with two 7 d.o.f redundant manipulators), and even the more challenging cooperative control of two I-AUVs for the transportation of large objects which is part of the currently ongoing Italian national project MARIS. The paper presents simulation results as well as actual experimental trials showing the effectiveness of this proposed control framework. © 2015 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Habib Al-Khatib, Gianluca Antonelli, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Ivan Bielic De Jong, Henrique Duarte, Giovanni Indiveri, Sergio Jesus, Konstantin Kebkala, Antonio Pascoalb and Daniel Polanic. Navigation, guidance and control of underwater vehicles within the widely scalable mobile underwater sonar technology project: An overview.
2015, 189 – 193.
Abstract The WiMUST (Widely scalable Mobile Underwater Sonar Technology) project aims at expanding and improving the functionalities of current cooperative marine robotic systems, effectively enabling distributed acoustic array technologies for geophysical surveying with a view to exploration and geotechnical applications. Recent developments have shown that there is vast potential for groups of marine robots acting in cooperation to drastically improve the methods available for ocean exploration and exploitation. Traditionally seismic reflection surveying is performed by vessel towed streamers of hydrophones acquiring reflected acoustic signals generated by acoustic sources (either towed or onboard a vessel). In this context, geotechnical surveying for civil and commercial applications (e.g., underwater construction, infrastructure monitoring, mapping for natural hazard assessment, environmental mapping, etc.) aims at seafloor and sub-bottom characterization using towed streamers of fixed length that are extremely cumbersome to operate. The vision underlying the WiMUST project is that of developing advanced cooperative and networked control/navigation systems to enable a large number (tens) of marine robots (both on the surface and submerged) to interact by sharing information as a coordinated team (not only in pairs). The WiMUST system may be envisioned as an adaptive variable geometry acoustic array. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
URL, DOI BibTeX

@conference{Al-Khatib2015189,
	author = "Al-Khatib, Habib and Antonelli, Gianluca and Caffaz, Andrea and Caiti, Andrea and Casalino, Giuseppe and De Jong, Ivan Bielic and Duarte, Henrique and Indiveri, Giovanni and Jesus, Sergio and Kebkala, Konstantin and Pascoalb, Antonio and Polanic, Daniel",
	title = "Navigation, guidance and control of underwater vehicles within the widely scalable mobile underwater sonar technology project: An overview",
	year = 2015,
	journal = "IFAC-PapersOnLine",
	volume = 28,
	number = 2,
	pages = "189 – 193",
	doi = "10.1016/j.ifacol.2015.06.031",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84992497944&doi=10.1016%2fj.ifacol.2015.06.031&partnerID=40&md5=46abb181acde8ee044f447c263e9a4ee",
	abstract = "The WiMUST (Widely scalable Mobile Underwater Sonar Technology) project aims at expanding and improving the functionalities of current cooperative marine robotic systems, effectively enabling distributed acoustic array technologies for geophysical surveying with a view to exploration and geotechnical applications. Recent developments have shown that there is vast potential for groups of marine robots acting in cooperation to drastically improve the methods available for ocean exploration and exploitation. Traditionally seismic reflection surveying is performed by vessel towed streamers of hydrophones acquiring reflected acoustic signals generated by acoustic sources (either towed or onboard a vessel). In this context, geotechnical surveying for civil and commercial applications (e.g., underwater construction, infrastructure monitoring, mapping for natural hazard assessment, environmental mapping, etc.) aims at seafloor and sub-bottom characterization using towed streamers of fixed length that are extremely cumbersome to operate. The vision underlying the WiMUST project is that of developing advanced cooperative and networked control/navigation systems to enable a large number (tens) of marine robots (both on the surface and submerged) to interact by sharing information as a coordinated team (not only in pairs). The WiMUST system may be envisioned as an adaptive variable geometry acoustic array. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.",
	editor = "Ridao P. and Carreras M. and Ribas D.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access, Green Open Access"
}

Ninad Manerikar, Giuseppe Casalino, Enrico Simetti, Sandro Torelli and Alessandro Sperindé. On autonomous cooperative Underwater Floating Manipulation Systems.
2015, 523 – 528.
Abstract In this paper we present a novel co-operative control policy purely for the transportation of large objects in underwater environments using two free floating vehicles, each one endowed with a 7 d.o.f redundant manipulator. Due to the presence of harsh conditions in underwater scenarios, it is extremely important to realize algorithms that depend on a minimal amount of explicit information exchanged by the agent, or without any exchange of information at all. To achieve this goal the control policy proposed in the paper only requires the exchange of six numbers at each time instant, while however exhibiting extremely good performances, inspite of the restraints on the information exchange. © 2015 IEEE.
URL, DOI BibTeX

@conference{Manerikar2015523,
	author = "Manerikar, Ninad and Casalino, Giuseppe and Simetti, Enrico and Torelli, Sandro and Sperindé, Alessandro",
	title = "On autonomous cooperative Underwater Floating Manipulation Systems",
	year = 2015,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = "2015-June",
	number = "June",
	pages = "523 – 528",
	doi = "10.1109/ICRA.2015.7139229",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84938225865&doi=10.1109%2fICRA.2015.7139229&partnerID=40&md5=473779d550ca92416d3a6f635786ba18",
	abstract = "In this paper we present a novel co-operative control policy purely for the transportation of large objects in underwater environments using two free floating vehicles, each one endowed with a 7 d.o.f redundant manipulator. Due to the presence of harsh conditions in underwater scenarios, it is extremely important to realize algorithms that depend on a minimal amount of explicit information exchanged by the agent, or without any exchange of information at all. To achieve this goal the control policy proposed in the paper only requires the exchange of six numbers at each time instant, while however exhibiting extremely good performances, inspite of the restraints on the information exchange. © 2015 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giovanni Indiveri, Antonios Tsourdos and Giuseppe Casalino. Foreword.
IFAC-PapersOnLine 28(5):v, 2015.
URL BibTeX

@article{Indiveri2015v,
	author = "Indiveri, Giovanni and Tsourdos, Antonios and Casalino, Giuseppe",
	title = "Foreword",
	year = 2015,
	journal = "IFAC-PapersOnLine",
	volume = 28,
	number = 5,
	pages = "v",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84992500363&partnerID=40&md5=93fd8d2c6a432f4e9034c77ae901df51",
	editor = "Indiveri G.",
	type = "Editorial",
	publication_stage = "Final",
	source = "Scopus"
}

Alessio Turetta, Giuseppe Casalino, Enrico Simetti, Alessandro Sperindè and Sandro Torelli. Analysis of the accuracy of a LBL-based underwater localization procedure.
2015.
Abstract The use of Long Baseline (LBL) systems for localizing underwater vehicles is quite consolidated, as they guarantee a good nominal accuracy, not dependent on the operative depth and almost constant at any point inside the area delimited by the transponders. However the real achievable accuracy can be affected by different factors, mainly related with the knowledge of some environmental parameters (like the speed of sound), the quality of the employed instrumentations, and the level of calibration of the system, after its deployment in water. The paper specifically addresses the accuracy of a LBL-based localization procedure and presents the results of an error budget analysis. For each considered error source, a closed form of the induced localization error is derived and discussed with the intent of enabling the characterization of the real obtainable accuracy within a typical application. The overall study is finally supported and validated by a detailed set of simulative results. © 2014 IEEE.
URL, DOI BibTeX

@conference{Turetta2015,
	author = "Turetta, Alessio and Casalino, Giuseppe and Simetti, Enrico and Sperindè, Alessandro and Torelli, Sandro",
	title = "Analysis of the accuracy of a LBL-based underwater localization procedure",
	year = 2015,
	journal = "2014 Oceans - St. John's, OCEANS 2014",
	doi = "10.1109/OCEANS.2014.7003093",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84921776496&doi=10.1109%2fOCEANS.2014.7003093&partnerID=40&md5=7251243cd63b2ac3418ca6c2125a1dae",
	abstract = "The use of Long Baseline (LBL) systems for localizing underwater vehicles is quite consolidated, as they guarantee a good nominal accuracy, not dependent on the operative depth and almost constant at any point inside the area delimited by the transponders. However the real achievable accuracy can be affected by different factors, mainly related with the knowledge of some environmental parameters (like the speed of sound), the quality of the employed instrumentations, and the level of calibration of the system, after its deployment in water. The paper specifically addresses the accuracy of a LBL-based localization procedure and presents the results of an error budget analysis. For each considered error source, a closed form of the induced localization error is derived and discussed with the intent of enabling the characterization of the real obtainable accuracy within a typical application. The overall study is finally supported and validated by a detailed set of simulative results. © 2014 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Gianluca Antonelli, Filippo Arrichiello, Giuseppe Casalino, Stefano Chiaverini, Alessandro Marino, Enrico Simetti and Sandro Torelli. Harbour protection strategies with multiple autonomous marine vehicles.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8906:241 – 261, 2014.
Abstract This paper presents the ongoing research activities of the Italian Interuniversity Center of Integrated Systems for the Marine Environment, ISME, in the field of harbour protection with autonomous marine vehicles. In particular, two different strategies have been developed in the recent years and have been extensively tested both in numerical simulations and in scale experiments. In the first case, a set of vehicles is positioned around an asset to be protected on the base of an optimization process of two cost functions, namely, the maximization of minimum interception distance and the minimization of maximum interception time. When an intruder is detected, an on-line optimization process selects, among the different vehicles, the one that exhibits the lowest estimated time to the menace. A motion planning algorithm with real-time obstacle avoidance is then used to drive the vehicle toward the intruder. In the second case, a team of vehicles is required to dynamically patrol a certain region by means of a decentralized control approach. The proposed solution is based on the merging of two concepts, the Voronoi tessellations and the Gaussian processes, and it allows robustness with respect to events as temporary communication or vehicle losses. It also exhibits characteristics of flexibility/scalability with respect to the number of team-mates. © Springer International Publishing Switzerland 2014.
URL, DOI BibTeX

@article{Antonelli2014241,
	author = "Antonelli, Gianluca and Arrichiello, Filippo and Casalino, Giuseppe and Chiaverini, Stefano and Marino, Alessandro and Simetti, Enrico and Torelli, Sandro",
	title = "Harbour protection strategies with multiple autonomous marine vehicles",
	year = 2014,
	journal = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
	volume = 8906,
	pages = "241 – 261",
	doi = "10.1007/978-3-319-13823-7_22",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84927741197&doi=10.1007%2f978-3-319-13823-7_22&partnerID=40&md5=627418c923841e73b55f85a77d521c7b",
	abstract = "This paper presents the ongoing research activities of the Italian Interuniversity Center of Integrated Systems for the Marine Environment, ISME, in the field of harbour protection with autonomous marine vehicles. In particular, two different strategies have been developed in the recent years and have been extensively tested both in numerical simulations and in scale experiments. In the first case, a set of vehicles is positioned around an asset to be protected on the base of an optimization process of two cost functions, namely, the maximization of minimum interception distance and the minimization of maximum interception time. When an intruder is detected, an on-line optimization process selects, among the different vehicles, the one that exhibits the lowest estimated time to the menace. A motion planning algorithm with real-time obstacle avoidance is then used to drive the vehicle toward the intruder. In the second case, a team of vehicles is required to dynamically patrol a certain region by means of a decentralized control approach. The proposed solution is based on the merging of two concepts, the Voronoi tessellations and the Gaussian processes, and it allows robustness with respect to events as temporary communication or vehicle losses. It also exhibits characteristics of flexibility/scalability with respect to the number of team-mates. © Springer International Publishing Switzerland 2014.",
	editor = "Hodicky J. and NATO Modelling and Simulation Centre of Excellence, Piazza Villoresi 1, Rome, 00143",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

E Simetti, G Casalino, S Torelli, A Sperindé and A Turetta. Underwater floating manipulation for robotic interventions.
2014, 3358 – 3363.
Abstract The paper introduces the control and coordination problems encountered within the employment of autonomous underwater floating manipulators for object retrieval from the sea floor. To this respect, the employment of unifying control framework, capable of guaranteeing the necessary system agility and flexibility, is outlined. Some experimental results from the TRIDENT FP7 project are presented, along with the possible extension of the proposed framework to the case of dual arm manipulators. © IFAC.
URL, DOI BibTeX

@conference{Simetti20143358,
	author = "Simetti, E. and Casalino, G. and Torelli, S. and Sperindé, A. and Turetta, A.",
	title = "Underwater floating manipulation for robotic interventions",
	year = 2014,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 19,
	pages = "3358 – 3363",
	doi = "10.3182/20140824-6-za-1003.00503",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84929833236&doi=10.3182%2f20140824-6-za-1003.00503&partnerID=40&md5=1dae69c4440ea5596451c586b0a9aa4f",
	abstract = "The paper introduces the control and coordination problems encountered within the employment of autonomous underwater floating manipulators for object retrieval from the sea floor. To this respect, the employment of unifying control framework, capable of guaranteeing the necessary system agility and flexibility, is outlined. Some experimental results from the TRIDENT FP7 project are presented, along with the possible extension of the proposed framework to the case of dual arm manipulators. © IFAC.",
	editor = "Boje E. and Xia X.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Enrico Simetti, Giuseppe Casalino, Sandro Torelli, Alessandro Sperindé and Alessio Turetta. Floating underwater manipulation: Developed control methodology and experimental validation within the TRIDENT project.
Journal of Field Robotics 31(3):364 – 385, 2014.
Abstract This paper presents the control framework that has been proposed and successfully employed within the TRIDENT EU FP7 project, the aim of which is to develop a multipurpose Intervention Autonomous Underwater Vehicle (I-AUV) exhibiting smart manipulation capabilities, for interventions within unstructured underwater environments. In particular, the work focuses on the exploitation of the highly redundant system for achieving a dexterous object grasping, while also satisfying a set of conditions of scalar inequality type to be achieved ultimately. These represent safety and/or operational-enabling conditions for the overall system itself, such as, for instance, respecting joint limits and keeping the object grossly centered in the camera system. Thus the design of a control architecture exhibiting such a property first required an extension of the classical task priority framework, to be performed in such a way as to also account, in a uniform manner, for inequality conditions to be achieved ultimately. Then, following a description on how such an extension has been made, both simulations and experimental trials are successively presented to show how the developed TRIDENT I-AUV system is able to properly exploit all the redundant degrees of freedom for achieving all the established objectives. © 2013 Wiley Periodicals, Inc.
URL, DOI BibTeX

@article{Simetti2014364,
	author = "Simetti, Enrico and Casalino, Giuseppe and Torelli, Sandro and Sperindé, Alessandro and Turetta, Alessio",
	title = "Floating underwater manipulation: Developed control methodology and experimental validation within the TRIDENT project",
	year = 2014,
	journal = "Journal of Field Robotics",
	volume = 31,
	number = 3,
	pages = "364 – 385",
	doi = "10.1002/rob.21497",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84898539328&doi=10.1002%2frob.21497&partnerID=40&md5=ca91ed81b32f99cba35f08c2e13e27a6",
	abstract = "This paper presents the control framework that has been proposed and successfully employed within the TRIDENT EU FP7 project, the aim of which is to develop a multipurpose Intervention Autonomous Underwater Vehicle (I-AUV) exhibiting smart manipulation capabilities, for interventions within unstructured underwater environments. In particular, the work focuses on the exploitation of the highly redundant system for achieving a dexterous object grasping, while also satisfying a set of conditions of scalar inequality type to be achieved ultimately. These represent safety and/or operational-enabling conditions for the overall system itself, such as, for instance, respecting joint limits and keeping the object grossly centered in the camera system. Thus the design of a control architecture exhibiting such a property first required an extension of the classical task priority framework, to be performed in such a way as to also account, in a uniform manner, for inequality conditions to be achieved ultimately. Then, following a description on how such an extension has been made, both simulations and experimental trials are successively presented to show how the developed TRIDENT I-AUV system is able to properly exploit all the redundant degrees of freedom for achieving all the established objectives. © 2013 Wiley Periodicals, Inc.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino, Massimo Caccia, Andrea Caiti, Gianluca Antonelli, Giovanni Indiveri, Claudio Melchiorri and Stefano Caselli. MARIS: A national project on marine robotics for interventions.
2014, 864 – 869.
Abstract The MARIS project arises as initiative of four Departments of Universities which are members of the Inter-University Centre ISME ('Integrated Systems for the Marine Environment'), legally represented by the University of Genoa, and the research unit of Genoa of CNR-ISSIA ('Institute for Studies on Intelligent Systems for Automation?) of the National Council of Research of Italy, with headquarter in Bari. The two institutions qualify for their long-term research experience in the application of ICT to the marine environment, with particular interests directed toward Underwater Robotics, intended in all its methodological, technological and applicative aspects. The initial research consortium has been then enriched by the inclusion of two additional University Departments, which have selected for the highly qualified contributions they can provide to the MARIS project. In this framework, the proposing institutions ISME and CNR-ISSIA have established, as general strategic objective of the project, the one of studying, developing and integrating, technologies and methodologies enabling the development of underwater robotized systems employable for manipulation and transportation activities; within underwater scenarios which are deemed progressively becoming typical for the off-shore industry, for search-and-rescue operations, as well as for underwater scientific missions. Within such ambitious objective, the proposing institutions also intend to demonstrate the achievable operational capabilities, in a proof-of-concept form, by also integrating the results within prototype experimental systems. In fact, on the basis of the knowledge and experiences owned by the consortium; of its available logistic structures, laboratories and equipment; as well on the basis of already available advanced-stage designs for the experimental systems; the consortium is confident on the possibility of coordinately develop all the necessary technological and methodological aspects; while also converging toward their final integration on the mentioned prototype systems; to be in parallel realized; starting from the sub-systems and advanced-stage. © 2014 IEEE.
URL, DOI BibTeX

@conference{Casalino2014864,
	author = "Casalino, Giuseppe and Caccia, Massimo and Caiti, Andrea and Antonelli, Gianluca and Indiveri, Giovanni and Melchiorri, Claudio and Caselli, Stefano",
	title = "MARIS: A national project on marine robotics for interventions",
	year = 2014,
	journal = "2014 22nd Mediterranean Conference on Control and Automation, MED 2014",
	pages = "864 – 869",
	doi = "10.1109/MED.2014.6961482",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84916912305&doi=10.1109%2fMED.2014.6961482&partnerID=40&md5=04644858993cc0129042808cb294c121",
	abstract = "The MARIS project arises as initiative of four Departments of Universities which are members of the Inter-University Centre ISME ('Integrated Systems for the Marine Environment'), legally represented by the University of Genoa, and the research unit of Genoa of CNR-ISSIA ('Institute for Studies on Intelligent Systems for Automation?) of the National Council of Research of Italy, with headquarter in Bari. The two institutions qualify for their long-term research experience in the application of ICT to the marine environment, with particular interests directed toward Underwater Robotics, intended in all its methodological, technological and applicative aspects. The initial research consortium has been then enriched by the inclusion of two additional University Departments, which have selected for the highly qualified contributions they can provide to the MARIS project. In this framework, the proposing institutions ISME and CNR-ISSIA have established, as general strategic objective of the project, the one of studying, developing and integrating, technologies and methodologies enabling the development of underwater robotized systems employable for manipulation and transportation activities; within underwater scenarios which are deemed progressively becoming typical for the off-shore industry, for search-and-rescue operations, as well as for underwater scientific missions. Within such ambitious objective, the proposing institutions also intend to demonstrate the achievable operational capabilities, in a proof-of-concept form, by also integrating the results within prototype experimental systems. In fact, on the basis of the knowledge and experiences owned by the consortium; of its available logistic structures, laboratories and equipment; as well on the basis of already available advanced-stage designs for the experimental systems; the consortium is confident on the possibility of coordinately develop all the necessary technological and methodological aspects; while also converging toward their final integration on the mentioned prototype systems; to be in parallel realized; starting from the sub-systems and advanced-stage. © 2014 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Turetta, G Casalino, E Simetti, A Sperindè and S Torelli. Impact of LBL calibration on the accuracy of underwater localization.
2014, 3376 – 3381.
Abstract The use of Long Baseline (LBL) systems is quite consolidated in the underwater domain, especially within applications where it is important to precisely localize submerged devices close to the sea bottom. Indeed with a LBL acoustic array the nominal positioning accuracy for seabed applications results to be not dependent on the depth and almost constant at any point inside the area delimited by the transponders. Despite the above advantages, the achievable accuracy of LBL systems is actually affected by different factors, mainly related with technical limits of the used instruments and with the level of knowledge of the physical characteristics of the acoustic medium. Another important element, possibly reducing the precision, concerns the way the LBL system is operated, and is related with the calibration of the acoustic array after its deployment on the sea bottom. Indeed if the positions of all the transponders are not perfectly known, errors in the localization procedure unavoidably arise. The paper specifically focuses on this last aspect and investigates the linkage existing between the error on the position of transponders and the resulting error in the localization procedure. A detailed theoretical analysis of the problem is proposed and for some basic transponders geometries a closed form relationship is obtained. Some simulations are finally reported to support the achieved results. © IFAC.
URL BibTeX

@conference{Turetta20143376,
	author = "Turetta, A. and Casalino, G. and Simetti, E. and Sperindè, A. and Torelli, S.",
	title = "Impact of LBL calibration on the accuracy of underwater localization",
	year = 2014,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 19,
	pages = "3376 – 3381",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84929762025&partnerID=40&md5=fdc4171f5886d4eb8771e9d288a159e2",
	abstract = "The use of Long Baseline (LBL) systems is quite consolidated in the underwater domain, especially within applications where it is important to precisely localize submerged devices close to the sea bottom. Indeed with a LBL acoustic array the nominal positioning accuracy for seabed applications results to be not dependent on the depth and almost constant at any point inside the area delimited by the transponders. Despite the above advantages, the achievable accuracy of LBL systems is actually affected by different factors, mainly related with technical limits of the used instruments and with the level of knowledge of the physical characteristics of the acoustic medium. Another important element, possibly reducing the precision, concerns the way the LBL system is operated, and is related with the calibration of the acoustic array after its deployment on the sea bottom. Indeed if the positions of all the transponders are not perfectly known, errors in the localization procedure unavoidably arise. The paper specifically focuses on this last aspect and investigates the linkage existing between the error on the position of transponders and the resulting error in the localization procedure. A detailed theoretical analysis of the problem is proposed and for some basic transponders geometries a closed form relationship is obtained. Some simulations are finally reported to support the achieved results. © IFAC.",
	editor = "Xia X. and Boje E.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Pedro J Sanz, Pere Ridao, Gabriel Oliver, Giuseppe Casalino, Yvan Petillot, Carlos Silvestre, Claudio Melchiorri and Alessio Turetta. TRIDENT An European project targeted to increase the autonomy levels for underwater intervention missions.
2013.
Abstract TRIDENT is the official acronym used for a funded European project entitled: 'Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions'. This project has demonstrated a new approach for multipurpose underwater intervention tasks with diverse potential applications ranging from underwater archaeology and oceanography to the offshore industries. The methods and technologies defined and tested under TRIDENT go beyond present-day methods typically based on manned or purpose-built systems. The project was launched on 1st of March 2010 and has been running for a total of 36 months, achieving the 'excellent' grade in its final review process by the European Commission (May 2013, UJI, Spain). In this paper the last achievements will be discussed, highlighting the main research efforts continuously supported by the consortium till reach its final objectives. In summary, TRIDENT represents a new benchmark for the scientific community, solving the underwater 'search & recovery' problem, in shallow water conditions, with the highest level of autonomy ever seen before. © 2013 MTS.
URL BibTeX

@conference{Sanz2013,
	author = "Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Casalino, Giuseppe and Petillot, Yvan and Silvestre, Carlos and Melchiorri, Claudio and Turetta, Alessio",
	title = "TRIDENT An European project targeted to increase the autonomy levels for underwater intervention missions",
	year = 2013,
	journal = "OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84896355311&partnerID=40&md5=6c441e3f2621fedef1bc894c564db5ce",
	abstract = "TRIDENT is the official acronym used for a funded European project entitled: 'Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions'. This project has demonstrated a new approach for multipurpose underwater intervention tasks with diverse potential applications ranging from underwater archaeology and oceanography to the offshore industries. The methods and technologies defined and tested under TRIDENT go beyond present-day methods typically based on manned or purpose-built systems. The project was launched on 1st of March 2010 and has been running for a total of 36 months, achieving the 'excellent' grade in its final review process by the European Commission (May 2013, UJI, Spain). In this paper the last achievements will be discussed, highlighting the main research efforts continuously supported by the consortium till reach its final objectives. In summary, TRIDENT represents a new benchmark for the scientific community, solving the underwater 'search & recovery' problem, in shallow water conditions, with the highest level of autonomy ever seen before. © 2013 MTS.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Giuseppe Casalino, Sandro Torelli, Alessandro Sperinde and Alessio Turetta. Experimental results on task priority and dynamic programming based approach to underwater floating manipulation.
2013.
Abstract This work presents the experimental results of the control methodology used to tackle the floating underwater manipulation aspects of the EU-FP7 TRIDENT project, whose main goal is to develop a multipurpose I-AUV (Intervention Autonomous Underwater Vehicle). In particular, the work focuses on the coordination aspects of the whole system, aimed at exploiting the high number of degrees of freedom that the arm and the vehicle have, for achieving a dexterous object grasping. To do so, the control strategy must also take into account all of a series of other objectives, both concerning safety and operational enabling aspects. Examples of such objectives are the arm joint limits and keeping the object grossly centered inside the camera frame. The developed methodology is based on the well known task priority based framework, extended to also encompass scalar inequality constraints. Experimental trials supporting the proposed control strategy are presented. In particular, one of the preliminary pool trials is presented, followed by the sea trials of the final demo of the project, carried out in Port Soller, Majorca during October 2012. © 2013 IEEE.
URL, DOI BibTeX

@conference{Simetti2013,
	author = "Simetti, Enrico and Casalino, Giuseppe and Torelli, Sandro and Sperinde, Alessandro and Turetta, Alessio",
	title = "Experimental results on task priority and dynamic programming based approach to underwater floating manipulation",
	year = 2013,
	journal = "OCEANS 2013 MTS/IEEE Bergen: The Challenges of the Northern Dimension",
	doi = "10.1109/OCEANS-Bergen.2013.6608016",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84886427579&doi=10.1109%2fOCEANS-Bergen.2013.6608016&partnerID=40&md5=262b91802d53a06d0b33a76b87463536",
	abstract = "This work presents the experimental results of the control methodology used to tackle the floating underwater manipulation aspects of the EU-FP7 TRIDENT project, whose main goal is to develop a multipurpose I-AUV (Intervention Autonomous Underwater Vehicle). In particular, the work focuses on the coordination aspects of the whole system, aimed at exploiting the high number of degrees of freedom that the arm and the vehicle have, for achieving a dexterous object grasping. To do so, the control strategy must also take into account all of a series of other objectives, both concerning safety and operational enabling aspects. Examples of such objectives are the arm joint limits and keeping the object grossly centered inside the camera frame. The developed methodology is based on the well known task priority based framework, extended to also encompass scalar inequality constraints. Experimental trials supporting the proposed control strategy are presented. In particular, one of the preliminary pool trials is presented, followed by the sea trials of the final demo of the project, carried out in Port Soller, Majorca during October 2012. © 2013 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, E Zereik, E Simetti, S Torelli, A Sperindé and A Turetta. A task priority and dynamic programming based approach to agile underwater floating manipulation.
2012, 176 – 181.
Abstract The present paper deals with a specific part of the activities performed within the currently on going EU-FP7 funded project TRIDENT (http://www.irs.uji. es/trident), whose objectives include the development of a multipurpose Intervention Autonomous Underwa-ter Vehicle (I-AUV) exhibiting smart manipulation capabilities within unstructured underwater environments. The considered activities are those developed within WP 5 of the project, aiming to design the functional and algorithmic real-time control architecture (and the relative real-time control software) in charge of coordinating both vehicle and arm motions in a concurrent way; this is done to improve the overall performances via the system agility obtained by reducing at most the need for separate sequential motions, while also guaranteeing the fulfilment of all the enabling and safety system conditions. © IFAC.
URL, DOI BibTeX

@conference{Casalino2012176,
	author = "Casalino, G. and Zereik, E. and Simetti, E. and Torelli, S. and Sperindé, A. and Turetta, A.",
	title = "A task priority and dynamic programming based approach to agile underwater floating manipulation",
	year = 2012,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 45,
	number = "27 PART 1",
	pages = "176 – 181",
	doi = "10.3182/20120919-3-IT-2046.00030",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84900481769&doi=10.3182%2f20120919-3-IT-2046.00030&partnerID=40&md5=08f0b93ecdb31bfff0e463d1cc6d07c5",
	abstract = "The present paper deals with a specific part of the activities performed within the currently on going EU-FP7 funded project TRIDENT (http://www.irs.uji. es/trident), whose objectives include the development of a multipurpose Intervention Autonomous Underwa-ter Vehicle (I-AUV) exhibiting smart manipulation capabilities within unstructured underwater environments. The considered activities are those developed within WP 5 of the project, aiming to design the functional and algorithmic real-time control architecture (and the relative real-time control software) in charge of coordinating both vehicle and arm motions in a concurrent way; this is done to improve the overall performances via the system agility obtained by reducing at most the need for separate sequential motions, while also guaranteeing the fulfilment of all the enabling and safety system conditions. © IFAC.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Pedro J Sanz, Pere Ridao, Gabriel Oliver, Giuseppe Casalino, Carlos Insaurralde, Carlos Silvestre, Claudio Melchiorri and Alessio Turetta. TRIDENT: Recent improvements about autonomous underwater intervention missions.
2012, 355 – 360.
Abstract The need for intervention in underwater environments is significantly increasing in the last years. Possible applications include maintenance intervention in permanent observatories and offshore scenarios, and search & recovery for collecting objects of interest for different application domains like biology, fishery, or marine rescue just to name a few. Nowadays, these kind of tasks are usually solved with "work class" ROVs (i.e. Remote Operated Vehicles) that are launched from support vessels, and remotely operated by expert pilots through an umbilical communications cable and complex control interfaces. These solutions present several drawbacks. Firstly, ROVs are normally large and heavy vehicles that need significant logistics for its transportation and handling. Secondly, the complex user interfaces and control methods require skilled pilots for their use. These two facts significantly increase the cost of the applications. Moreover, the need of an umbilical cable introduces additional problems of control, or range limitation. The fatigue and high stress that users of remotely operated systems normally suffer supposes another serious drawback. All the pointed questions justify the need of more autonomous, cheap and easy-to-use solutions for underwater intervention missions, and this is the aim of the current FP7-TRIDENT project. So, in this paper an overview concerning the main research ongoing under this project will be presented and discussed.
URL BibTeX

@conference{Sanz2012355,
	author = "Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Casalino, Giuseppe and Insaurralde, Carlos and Silvestre, Carlos and Melchiorri, Claudio and Turetta, Alessio",
	title = "TRIDENT: Recent improvements about autonomous underwater intervention missions",
	year = 2012,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 3,
	number = "PART 1",
	pages = "355 – 360",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84880903161&partnerID=40&md5=3c4bfaf03e1cdaa2985ba8962bbccf02",
	abstract = {The need for intervention in underwater environments is significantly increasing in the last years. Possible applications include maintenance intervention in permanent observatories and offshore scenarios, and search & recovery for collecting objects of interest for different application domains like biology, fishery, or marine rescue just to name a few. Nowadays, these kind of tasks are usually solved with "work class" ROVs (i.e. Remote Operated Vehicles) that are launched from support vessels, and remotely operated by expert pilots through an umbilical communications cable and complex control interfaces. These solutions present several drawbacks. Firstly, ROVs are normally large and heavy vehicles that need significant logistics for its transportation and handling. Secondly, the complex user interfaces and control methods require skilled pilots for their use. These two facts significantly increase the cost of the applications. Moreover, the need of an umbilical cable introduces additional problems of control, or range limitation. The fatigue and high stress that users of remotely operated systems normally suffer supposes another serious drawback. All the pointed questions justify the need of more autonomous, cheap and easy-to-use solutions for underwater intervention missions, and this is the aim of the current FP7-TRIDENT project. So, in this paper an overview concerning the main research ongoing under this project will be presented and discussed.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, E Zereik, E Simetti, S Torelli, A Sperindé and A Turetta. A task & subsystem priority based control strategy for underwater floating manipulators.
2012, 170 – 177.
Abstract The need for actual autonomy in underwater vehicle is rapidly increasing. Many challenging issues derive from such a trend, one in all the need of controlling the motion of an I-AUV to accomplish complex tasks. To this aim, this work presents a control coordination strategy based on Task Priorities and Dynamic Programming techniques for an I-AUV endowed with a redundant manipulator. The resulting algorithmic structure is able to manage prioritized tasks of both equality and inequality type, while also establishing motion priorities among the composing mechanical subsystems. Simulative results are presented with respect to the floating manipulator which is currently under development within the EU-FP7 funded TRIDENT project.
URL, DOI BibTeX

@conference{Casalino2012170,
	author = "Casalino, G. and Zereik, E. and Simetti, E. and Torelli, S. and Sperindé, A. and Turetta, A.",
	title = "A task & subsystem priority based control strategy for underwater floating manipulators",
	year = 2012,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 3,
	number = "PART 1",
	pages = "170 – 177",
	doi = "10.3182/20120410-3-pt-4028.00029",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84880867927&doi=10.3182%2f20120410-3-pt-4028.00029&partnerID=40&md5=7ee08315f0571b705bec552a8b0d549b",
	abstract = "The need for actual autonomy in underwater vehicle is rapidly increasing. Many challenging issues derive from such a trend, one in all the need of controlling the motion of an I-AUV to accomplish complex tasks. To this aim, this work presents a control coordination strategy based on Task Priorities and Dynamic Programming techniques for an I-AUV endowed with a redundant manipulator. The resulting algorithmic structure is able to manage prioritized tasks of both equality and inequality type, while also establishing motion priorities among the composing mechanical subsystems. Simulative results are presented with respect to the floating manipulator which is currently under development within the EU-FP7 funded TRIDENT project.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

E Simetti, A Turetta, S Torelli and G Casalino. Civilian harbour protection: Interception of suspect vessels with unmanned surface vehicles.
2012, 435 – 440.
Abstract In the last decade, the security of civilian transportation hubs has received an increasing focus. Civilian harbors are no exception, and to this aim Unmanned Surface Vehicles could be exploited for patrolling purposes and to investigate suspect situations, increasing the effectiveness of the harbor protection system while lowering the number of humans directly exposed to threats. The use of a team of USVs for the security of civilian harbors is the subject of an on-going research project between DIST and Selex-SI, a leading player for homeland security systems. This paper presents the latest results of the project, which are centered on the problem of intercepting a suspect vehicle. Both the off-line optimization of the positioning of the USV eet and the on-line selection of the most suitable USV are tackled. © IFAC.
URL, DOI BibTeX

@conference{Simetti2012435,
	author = "Simetti, E. and Turetta, A. and Torelli, S. and Casalino, G.",
	title = "Civilian harbour protection: Interception of suspect vessels with unmanned surface vehicles",
	year = 2012,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 45,
	number = "27 PART 1",
	pages = "435 – 440",
	doi = "10.3182/20120919-3-IT-2046.00074",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84900470387&doi=10.3182%2f20120919-3-IT-2046.00074&partnerID=40&md5=28b3832fbcb5caf835ec0a15dd6cb042",
	abstract = "In the last decade, the security of civilian transportation hubs has received an increasing focus. Civilian harbors are no exception, and to this aim Unmanned Surface Vehicles could be exploited for patrolling purposes and to investigate suspect situations, increasing the effectiveness of the harbor protection system while lowering the number of humans directly exposed to threats. The use of a team of USVs for the security of civilian harbors is the subject of an on-going research project between DIST and Selex-SI, a leading player for homeland security systems. This paper presents the latest results of the project, which are centered on the problem of intercepting a suspect vehicle. Both the off-line optimization of the positioning of the USV eet and the on-line selection of the most suitable USV are tackled. © IFAC.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Andreas Birk, Antonio Pascoal, Gianluca Antonelli, Andrea Caiti, Giuseppe Casalino, Giovanni Indiveri and Andrea Caffaz. Cooperative cognitive control for autonomous underwater vehicles (CO 3AUVs): Overview and progresses in the 3rd project year.
2012, 361 – 366.
Abstract The paper describes the "Cooperative Cognitive Control for Autonomous Underwater Vehicles (Co3AUVs)" EU-project. This is a 7 th Framework Program STREP project under the theme: Information and Communication Technologies Cognitive Systems, Interaction, Robotics. The project duration is February 2009 to January 2012. The aim of Co3AUVs is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects are investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. This paper presents an overview of the project with a focus on results from the final 3rd project year.
URL, DOI BibTeX

@conference{Birk2012361,
	author = "Birk, Andreas and Pascoal, Antonio and Antonelli, Gianluca and Caiti, Andrea and Casalino, Giuseppe and Indiveri, Giovanni and Caffaz, Andrea",
	title = "Cooperative cognitive control for autonomous underwater vehicles (CO 3AUVs): Overview and progresses in the 3rd project year",
	year = 2012,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 3,
	number = "PART 1",
	pages = "361 – 366",
	doi = "10.3182/20120410-3-pt-4028.00060",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84880869866&doi=10.3182%2f20120410-3-pt-4028.00060&partnerID=40&md5=888ce3b566d19291ae4bc27e428fb79b",
	abstract = {The paper describes the "Cooperative Cognitive Control for Autonomous Underwater Vehicles (Co3AUVs)" EU-project. This is a 7 th Framework Program STREP project under the theme: Information and Communication Technologies Cognitive Systems, Interaction, Robotics. The project duration is February 2009 to January 2012. The aim of Co3AUVs is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects are investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. This paper presents an overview of the project with a focus on results from the final 3rd project year.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Andrea Caffaz, Andrea Caiti, Vincenzo Calabrò, Giuseppe Casalino, Piero Guerrini, Alain Maguer, Andrea Munafò, John R Potter, Harold Tay and Alessio Turetta. The enhanced Folaga: A hybrid AUV with modular payloads.
2012.
Abstract The chapter describes the development of a payload-carrying capability on the Folaga vehicles (eFolaga). In the eFolaga design, lightweight, small dimensions, low-cost characteristics have all been maintained, as well as high manoeuvrability and hovering capacities. A general methodology to derive lumped parameter models of eFolaga like vehicles has been described, where the identification of the eFolaga buoyancy change and mass displacement actuators has also been reported. By judicious design, it is possible to lift the eFolaga modularity also at the software level, and indeed to have intelligent payloads implementing specific autonomous behaviours setting up a dialogue with the native eFolaga GNC. © 2012 The Institution of Engineering and Technology.
URL, DOI BibTeX

@book{Caffaz2012309,
	author = "Caffaz, Andrea and Caiti, Andrea and Calabrò, Vincenzo and Casalino, Giuseppe and Guerrini, Piero and Maguer, Alain and Munafò, Andrea and Potter, John R. and Tay, Harold and Turetta, Alessio",
	title = "The enhanced Folaga: A hybrid AUV with modular payloads",
	year = 2012,
	journal = "Further Advances in Unmanned Marine Vehicles",
	pages = "309 – 330",
	doi = "10.1049/PBCE077E_ch14",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84900521301&doi=10.1049%2fPBCE077E_ch14&partnerID=40&md5=f2e88de6aa65ea63627ff15ca1fce962",
	abstract = "The chapter describes the development of a payload-carrying capability on the Folaga vehicles (eFolaga). In the eFolaga design, lightweight, small dimensions, low-cost characteristics have all been maintained, as well as high manoeuvrability and hovering capacities. A general methodology to derive lumped parameter models of eFolaga like vehicles has been described, where the identification of the eFolaga buoyancy change and mass displacement actuators has also been reported. By judicious design, it is possible to lift the eFolaga modularity also at the software level, and indeed to have intelligent payloads implementing specific autonomous behaviours setting up a dialogue with the native eFolaga GNC. © 2012 The Institution of Engineering and Technology.",
	type = "Book chapter",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, E Zereik, E Simetti, S Torelli, A Sperindé and A Turetta. Agility for underwater floating manipulation: Task & subsystem priority based control strategy.
2012, 1772 – 1779.
Abstract The need for actual autonomy in underwater robotic systems is rapidly increasing. Many challenging issues derive from such a trend, one in all the requirement of coordinately controlling the motion of an underwater floating I-AUV endowing a robotic arm, to accomplish complex manipulation tasks. This work is aimed to present a strategy based on the prioritization of tasks of equality and inequality type, once combined with Dynamic Programming techniques, for coordinately controlling the motion of such I-AUV. A general algorithmic framework is developed and simulative results supporting its resulting effectiveness are presented. © 2012 IEEE.
URL, DOI BibTeX

@conference{Casalino20121772,
	author = "Casalino, G. and Zereik, E. and Simetti, E. and Torelli, S. and Sperindé, A. and Turetta, A.",
	title = "Agility for underwater floating manipulation: Task & subsystem priority based control strategy",
	year = 2012,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	pages = "1772 – 1779",
	doi = "10.1109/IROS.2012.6386127",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84872340068&doi=10.1109%2fIROS.2012.6386127&partnerID=40&md5=f2aab8d01023f8f8d45e324aa05928ab",
	abstract = "The need for actual autonomy in underwater robotic systems is rapidly increasing. Many challenging issues derive from such a trend, one in all the requirement of coordinately controlling the motion of an underwater floating I-AUV endowing a robotic arm, to accomplish complex manipulation tasks. This work is aimed to present a strategy based on the prioritization of tasks of equality and inequality type, once combined with Dynamic Programming techniques, for coordinately controlling the motion of such I-AUV. A general algorithmic framework is developed and simulative results supporting its resulting effectiveness are presented. © 2012 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, E Zereik, E Simetti, S Torelli, A Sperinde and A Turetta. Development and implementation of algorithms for advanced rover guidance navigation and control.
2012, 2038 – 2047.
Abstract Robotics plays a key role in space exploration activities, as autonomous mobile manipulators can relieve humans from dangerous tasks and accomplish difficult operations. Many capabilities are needed by such systems: from navigation and localization issues, to data fusion for robust motion estimation and environment perception. To this aim, techniques such as effective visual odometry and Kalman-like filters for data fusion are exploited and real-time implemented within such rover architectures. Moreover artificial vision is exploited for working area reconstruction and mapping, in such a way to obtain a more robust interaction with the external environment and thus a more effective robot behavior. Work done about these aspects (even within different projects) will be described in the paper, together with a preliminary methodology to intrinsically improve visual odometry via the exploitation of state and sequence estimators. Once that such robotic skills have been addressed, investigated and implemented, a strong need arises: All robot capabilities must interact among them (e.g. exchanging data) and, above all, high level robot behaviors must be integrated with lower level issues (of different nature, such as communication problems or actuator piloting,...). To this aim, a framework that offers higher level services to the programmer (thus easing the programming process and making it less error prone) has been developed at Graal Lab. Such a framework has been implemented on RTAI, QNX Neutrino and RTEMS and will be described in the paper, in relation to the development of some of the rover functionalities, needed for space exploration missions. Conclusions about the experiences at Graal Lab in Genoa about control algorithms and robotics for space exploration are drawn. Copyright © (2012) by the International Astronautical Federation.
URL BibTeX

@conference{Casalino20122038,
	author = "Casalino, G. and Zereik, E. and Simetti, E. and Torelli, S. and Sperinde, A. and Turetta, A.",
	title = "Development and implementation of algorithms for advanced rover guidance navigation and control",
	year = 2012,
	journal = "Proceedings of the International Astronautical Congress, IAC",
	volume = 3,
	pages = "2038 – 2047",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84883521497&partnerID=40&md5=10116f730dcc20911764cd5598979dc5",
	abstract = "Robotics plays a key role in space exploration activities, as autonomous mobile manipulators can relieve humans from dangerous tasks and accomplish difficult operations. Many capabilities are needed by such systems: from navigation and localization issues, to data fusion for robust motion estimation and environment perception. To this aim, techniques such as effective visual odometry and Kalman-like filters for data fusion are exploited and real-time implemented within such rover architectures. Moreover artificial vision is exploited for working area reconstruction and mapping, in such a way to obtain a more robust interaction with the external environment and thus a more effective robot behavior. Work done about these aspects (even within different projects) will be described in the paper, together with a preliminary methodology to intrinsically improve visual odometry via the exploitation of state and sequence estimators. Once that such robotic skills have been addressed, investigated and implemented, a strong need arises: All robot capabilities must interact among them (e.g. exchanging data) and, above all, high level robot behaviors must be integrated with lower level issues (of different nature, such as communication problems or actuator piloting,...). To this aim, a framework that offers higher level services to the programmer (thus easing the programming process and making it less error prone) has been developed at Graal Lab. Such a framework has been implemented on RTAI, QNX Neutrino and RTEMS and will be described in the paper, in relation to the development of some of the rover functionalities, needed for space exploration missions. Conclusions about the experiences at Graal Lab in Genoa about control algorithms and robotics for space exploration are drawn. Copyright © (2012) by the International Astronautical Federation.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Andrea Munafò, Enrico Simetti, Alessio Turetta, Andrea Caiti and Giuseppe Casalino. Autonomous underwater vehicle teams for adaptive ocean sampling: A data-driven approach.
Ocean Dynamics 61(11):1981 – 1994, 2011.
Abstract The current technological developments in autonomous underwater vehicles (AUVs) and underwater communication have nowadays allowed to push the original idea of autonomous ocean sampling network even further, with the possibility of using each agent of the network not only as an operative component driven by external commands (model-driven) but as a reactive element able to act in response to changing conditions as measured during the exploration (data-driven). With this paper, we propose a novel data-driven algorithm for AUVs team for adaptive sampling of oceanic regions, where each agent shares its knowledge of the environment with its teammates and autonomously takes decision in order to reconstruct the desired oceanic field. In particular, sampling point selection is made in order to minimize the uncertainty in the estimated field while keeping communication contact with the rest of the team and avoiding to repeatedly sampling sub-regions already explored. The proposed approach is based on the use of the emergent behaviour technique and on the use of artificial potential functions (interest functions) to achieve the desired goal at the end of the mission. In this way, there is no explicit minimization of a cost functional at each decision step. The oceanic field is reconstructed by the application of radial basis functions interpolation of irregularly spaced data. A simulative example for the estimation of a salinity field with sea data obtained using the Mediterranean Sea Forecasting System is shown in the paper, in order to investigate the effect of the different uncertainty sources, including sea currents, on the behaviour of the exploration team and ultimately on the reconstruction of the salinity field. © 2011 Springer-Verlag.
URL, DOI BibTeX

@article{Munafò20111981,
	author = "Munafò, Andrea and Simetti, Enrico and Turetta, Alessio and Caiti, Andrea and Casalino, Giuseppe",
	title = "Autonomous underwater vehicle teams for adaptive ocean sampling: A data-driven approach",
	year = 2011,
	journal = "Ocean Dynamics",
	volume = 61,
	number = 11,
	pages = "1981 – 1994",
	doi = "10.1007/s10236-011-0464-x",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-81155134045&doi=10.1007%2fs10236-011-0464-x&partnerID=40&md5=37731b5685252dcb89a60a89c3581728",
	abstract = "The current technological developments in autonomous underwater vehicles (AUVs) and underwater communication have nowadays allowed to push the original idea of autonomous ocean sampling network even further, with the possibility of using each agent of the network not only as an operative component driven by external commands (model-driven) but as a reactive element able to act in response to changing conditions as measured during the exploration (data-driven). With this paper, we propose a novel data-driven algorithm for AUVs team for adaptive sampling of oceanic regions, where each agent shares its knowledge of the environment with its teammates and autonomously takes decision in order to reconstruct the desired oceanic field. In particular, sampling point selection is made in order to minimize the uncertainty in the estimated field while keeping communication contact with the rest of the team and avoiding to repeatedly sampling sub-regions already explored. The proposed approach is based on the use of the emergent behaviour technique and on the use of artificial potential functions (interest functions) to achieve the desired goal at the end of the mission. In this way, there is no explicit minimization of a cost functional at each decision step. The oceanic field is reconstructed by the application of radial basis functions interpolation of irregularly spaced data. A simulative example for the estimation of a salinity field with sea data obtained using the Mediterranean Sea Forecasting System is shown in the paper, in order to investigate the effect of the different uncertainty sources, including sea currents, on the behaviour of the exploration team and ultimately on the reconstruction of the salinity field. © 2011 Springer-Verlag.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino, Alessio Turetta, Enrico Simetti and Andrea Caiti. Simulative validations of RT2: A Real-Time Ray-Tracing technique for acoustic-based range evaluation.
2011.
Abstract This paper presents simulations and a sensitivity analysis of a Real-Time Ray-Tracing (RT2) technique for acoustic-based range evaluation. The RT2 is an algorithm that evaluates the range of an acoustic receiver from the emitter, while taking into account the anisotropy of the underwater medium, exploiting the knowledge of the depth information of both the emitter and the receiver, and the depth-dependent sound speed profile. This technique allows the vehicle itself to know its position, unlike COTS systems that are usually conceived for tracking the underwater devices. Moreover, the required hardware is only an acoustic modem, which is already necessary for communication, thus the algorithm can be easily implemented even on low-cost vehicles. The sensitivity analysis here presented shows that, even when the sound speed profile is not known exactly, the algorithm achieves a good precision when compared to straight ray propagation assumption, especially in the presence of the so called acoustic channels. Despite the presence of few outliers, and few limited zones when the algorithm performs worse than a straight ray assumption, in average the simulations shows an increase of one order of magnitude of precision. © 2011 MTS.
URL, DOI BibTeX

@conference{Casalino2011,
	author = "Casalino, Giuseppe and Turetta, Alessio and Simetti, Enrico and Caiti, Andrea",
	title = "Simulative validations of RT2: A Real-Time Ray-Tracing technique for acoustic-based range evaluation",
	year = 2011,
	journal = "OCEANS'11 - MTS/IEEE Kona, Program Book",
	doi = "10.23919/oceans.2011.6106960",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84855767436&doi=10.23919%2foceans.2011.6106960&partnerID=40&md5=c43913b915e6b1d93c62f8e4be737875",
	abstract = "This paper presents simulations and a sensitivity analysis of a Real-Time Ray-Tracing (RT2) technique for acoustic-based range evaluation. The RT2 is an algorithm that evaluates the range of an acoustic receiver from the emitter, while taking into account the anisotropy of the underwater medium, exploiting the knowledge of the depth information of both the emitter and the receiver, and the depth-dependent sound speed profile. This technique allows the vehicle itself to know its position, unlike COTS systems that are usually conceived for tracking the underwater devices. Moreover, the required hardware is only an acoustic modem, which is already necessary for communication, thus the algorithm can be easily implemented even on low-cost vehicles. The sensitivity analysis here presented shows that, even when the sound speed profile is not known exactly, the algorithm achieves a good precision when compared to straight ray propagation assumption, especially in the presence of the so called acoustic channels. Despite the presence of few outliers, and few limited zones when the algorithm performs worse than a straight ray assumption, in average the simulations shows an increase of one order of magnitude of precision. © 2011 MTS.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Andreas Birk, Gianluca Antonelli, Andrea Caiti, Giuseppe Casalino, Giovanni Indiveri, Antonio Pascoal and Andrea Caffaz. The CO3AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) project: Overview and current progresses.
2011.
Abstract "Cooperative Cognitive Control for Autonomous Underwater Vehicles" (Co3AUVs) is Collaborative Project (STREP) funded by the European Commission (EC) under the Seventh Framework Programme (FP7), "Information and Communication technologies" (ICT) Challenge 2: "Cognitive Systems, Interaction, Robotics". The aim of Co 3AUVs is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects are investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. This paper presents results from the first two years of the project, including the simulator, the development of vehicles and components, 2D as well as 3D underwater mapping, cooperative navigation and motion control, and cooperative skills. © 2011 IEEE.
URL, DOI BibTeX

@conference{Birk2011,
	author = "Birk, Andreas and Antonelli, Gianluca and Caiti, Andrea and Casalino, Giuseppe and Indiveri, Giovanni and Pascoal, Antonio and Caffaz, Andrea",
	title = "The CO3AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) project: Overview and current progresses",
	year = 2011,
	journal = "OCEANS 2011 IEEE - Spain",
	doi = "10.1109/Oceans-Spain.2011.6003552",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80052951706&doi=10.1109%2fOceans-Spain.2011.6003552&partnerID=40&md5=a2a071291c7bdab3f8fbf7da10694db2",
	abstract = {"Cooperative Cognitive Control for Autonomous Underwater Vehicles" (Co3AUVs) is Collaborative Project (STREP) funded by the European Commission (EC) under the Seventh Framework Programme (FP7), "Information and Communication technologies" (ICT) Challenge 2: "Cognitive Systems, Interaction, Robotics". The aim of Co 3AUVs is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects are investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. This paper presents results from the first two years of the project, including the simulator, the development of vehicles and components, 2D as well as 3D underwater mapping, cooperative navigation and motion control, and cooperative skills. © 2011 IEEE.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino, Andrea Caiti, Alessio Turetta and Enrico Simetti. RT2: Real-time ray-tracing for underwater range evaluation.
Intelligent Service Robotics 4(4):259 – 270, 2011.
Abstract The paper deals with the distributed acoustic localization of teams of autonomous underwater vehicles (AUVs) and proposes a novel algorithm, real-time ray-tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficient handling of the distorted and reflected acoustic ray paths. The proposed algorithm can be easily implemented on-board of low-cost AUVs, requiring the presence, on each vehicle, of an acoustic modem and a pair of look-up tables, a-priori built on the basis of the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can compute its distance w. r. t. to any other neighbor team member, through time-of-flight measurements and the exchanges of depth information only. © 2011 Springer-Verlag.
URL, DOI BibTeX

@article{Casalino2011259,
	author = "Casalino, Giuseppe and Caiti, Andrea and Turetta, Alessio and Simetti, Enrico",
	title = "RT2: Real-time ray-tracing for underwater range evaluation",
	year = 2011,
	journal = "Intelligent Service Robotics",
	volume = 4,
	number = 4,
	pages = "259 – 270",
	doi = "10.1007/s11370-011-0093-8",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80052932919&doi=10.1007%2fs11370-011-0093-8&partnerID=40&md5=1097c3fcca62773722779042f9b693ba",
	abstract = "The paper deals with the distributed acoustic localization of teams of autonomous underwater vehicles (AUVs) and proposes a novel algorithm, real-time ray-tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficient handling of the distorted and reflected acoustic ray paths. The proposed algorithm can be easily implemented on-board of low-cost AUVs, requiring the presence, on each vehicle, of an acoustic modem and a pair of look-up tables, a-priori built on the basis of the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can compute its distance w. r. t. to any other neighbor team member, through time-of-flight measurements and the exchanges of depth information only. © 2011 Springer-Verlag.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Enrica Zereik, Andrea Sorbara, Andrea Merlo, Enrico Simetti, Giuseppe Casalino and Frederic Didot. Space robotics supporting exploration missions: Vision, force control and coordination strategy for crew assistants.
Intelligent Service Robotics 4(1):39 – 60, 2011.
Abstract Many research activities are being carried out about space exploration missions, in order to strongly improve man's working conditions in planetary environments. Along this line, this work presents some results obtained within the development of an effective robotic crew assistant. This robot can execute a number of operations, both in a completely autonomous manner (i. e. without requiring human supervision) and in a strict cooperation with the astronauts; thus supporting and helping them in executing operations otherwise very difficult or unfeasible to be accomplished. The developed and then adopted functional and algorithmic control architecture for the considered robot assistant, also including vision and force feedback, is described with some details in the present paper. © 2010 Springer-Verlag.
URL, DOI BibTeX

@article{Zereik201139,
	author = "Zereik, Enrica and Sorbara, Andrea and Merlo, Andrea and Simetti, Enrico and Casalino, Giuseppe and Didot, Frederic",
	title = "Space robotics supporting exploration missions: Vision, force control and coordination strategy for crew assistants",
	year = 2011,
	journal = "Intelligent Service Robotics",
	volume = 4,
	number = 1,
	pages = "39 – 60",
	doi = "10.1007/s11370-010-0084-1",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-78651312950&doi=10.1007%2fs11370-010-0084-1&partnerID=40&md5=362e56bc5c70097f8902d56264810d81",
	abstract = "Many research activities are being carried out about space exploration missions, in order to strongly improve man's working conditions in planetary environments. Along this line, this work presents some results obtained within the development of an effective robotic crew assistant. This robot can execute a number of operations, both in a completely autonomous manner (i. e. without requiring human supervision) and in a strict cooperation with the astronauts; thus supporting and helping them in executing operations otherwise very difficult or unfeasible to be accomplished. The developed and then adopted functional and algorithmic control architecture for the considered robot assistant, also including vision and force feedback, is described with some details in the present paper. © 2010 Springer-Verlag.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Enrica Zereik, Alessandro Sperindé, Sandro Torelli, Davide Ducco, Fabio Frassinelli, Alessio Turetta and Giuseppe Casalino. A new software architecture for developing and testing algorithms for space exploration missions.
Intelligent Service Robotics 4(2):135 – 146, 2011.
Abstract In recent years, planet exploration has received an increasing interest due to the possibility of exploiting planet resources and assuring a human-robotic colonized presence on suitable planetary surfaces. These goals can be reached through the development of smart robots, which are able to work on their own and without requiring a constant human supervision but, at the same time, assuring a great level of safety and reliability. To this aim, the development of effective architectures, concerning both software and hardware issues, could represent a great improvement toward this ambitious objective. This paper presents a novel modular architecture called Test Bench for Robotics and Autonomy (TBRA), the main objective of which is to create a test bench for rover autonomy missions where different implementations of a particular subsystem can be easily tested, while keeping the rest of the system unchanged. Thus, it allows the developers to be able to compare the results of tests and understand which version works better. Such architecture has been built on top of the Workframe, a generic middleware for real-time robotics. This two-layered approach allows the final user to deal only with the TBRA interface, which is designed to be extremely simple to use and takes care of most real-time programming problems, while allowing flexibility in the development, maintenance and future extension of the TBRA itself. © 2011 Springer-Verlag.
URL, DOI BibTeX

@article{Simetti2011135,
	author = "Simetti, Enrico and Zereik, Enrica and Sperindé, Alessandro and Torelli, Sandro and Ducco, Davide and Frassinelli, Fabio and Turetta, Alessio and Casalino, Giuseppe",
	title = "A new software architecture for developing and testing algorithms for space exploration missions",
	year = 2011,
	journal = "Intelligent Service Robotics",
	volume = 4,
	number = 2,
	pages = "135 – 146",
	doi = "10.1007/s11370-011-0086-7",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-79952897914&doi=10.1007%2fs11370-011-0086-7&partnerID=40&md5=d1e78258ebf02d83a2be787c6ede2082",
	abstract = "In recent years, planet exploration has received an increasing interest due to the possibility of exploiting planet resources and assuring a human-robotic colonized presence on suitable planetary surfaces. These goals can be reached through the development of smart robots, which are able to work on their own and without requiring a constant human supervision but, at the same time, assuring a great level of safety and reliability. To this aim, the development of effective architectures, concerning both software and hardware issues, could represent a great improvement toward this ambitious objective. This paper presents a novel modular architecture called Test Bench for Robotics and Autonomy (TBRA), the main objective of which is to create a test bench for rover autonomy missions where different implementations of a particular subsystem can be easily tested, while keeping the rest of the system unchanged. Thus, it allows the developers to be able to compare the results of tests and understand which version works better. Such architecture has been built on top of the Workframe, a generic middleware for real-time robotics. This two-layered approach allows the final user to deal only with the TBRA interface, which is designed to be extremely simple to use and takes care of most real-time programming problems, while allowing flexibility in the development, maintenance and future extension of the TBRA itself. © 2011 Springer-Verlag.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Alessio Turetta, Giuseppe Casalino, Enrico Simetti and Alessandro Sperinde. Experimental validation of an acoustic-based localization technique for AUVs in the absence of information on the speed of sound profile.
2011.
Abstract The paper deals with the problem of underwater localization for Autonomous Underwater Vehicles (AUVs) by using a set of acoustic transponders located in known fixed positions. More specifically, the work proposes an effective technique for enabling an AUV to on-line estimate its 3D position, by only employing the measurements of the Time-of-Flights (ToFs) of the signals exchanged with the transponders, without any a-priori information on the Speed of Sound (SoS) of the considered water area. The value of SoS is indeed considered as an additional unknown parameter within the estimation procedure. For any set of received ToFs, a cost function (dependent on the AUV coordinates and the SoS value) is defined and minimized via a standard gradient-descent technique. The optimization process exhibits very good properties in terms of speed of convergence, thanks to the simple structure of the considered cost function. The algorithm has been first tested in a simulated environment and then experimentally validated on an eFOLAGA AUV interrogating four Hydroid transponders. © 2011 MTS.
URL, DOI BibTeX

@conference{Turetta2011,
	author = "Turetta, Alessio and Casalino, Giuseppe and Simetti, Enrico and Sperinde, Alessandro",
	title = "Experimental validation of an acoustic-based localization technique for AUVs in the absence of information on the speed of sound profile",
	year = 2011,
	journal = "OCEANS'11 - MTS/IEEE Kona, Program Book",
	doi = "10.23919/oceans.2011.6107010",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84855820348&doi=10.23919%2foceans.2011.6107010&partnerID=40&md5=3300ec4b17a7c04af332b62605e42f59",
	abstract = "The paper deals with the problem of underwater localization for Autonomous Underwater Vehicles (AUVs) by using a set of acoustic transponders located in known fixed positions. More specifically, the work proposes an effective technique for enabling an AUV to on-line estimate its 3D position, by only employing the measurements of the Time-of-Flights (ToFs) of the signals exchanged with the transponders, without any a-priori information on the Speed of Sound (SoS) of the considered water area. The value of SoS is indeed considered as an additional unknown parameter within the estimation procedure. For any set of received ToFs, a cost function (dependent on the AUV coordinates and the SoS value) is defined and minimized via a standard gradient-descent technique. The optimization process exhibits very good properties in terms of speed of convergence, thanks to the simple structure of the considered cost function. The algorithm has been first tested in a simulated environment and then experimentally validated on an eFOLAGA AUV interrogating four Hydroid transponders. © 2011 MTS.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Matteo Cresta, Enrico Storti, Enrico Simetti and Giuseppe Casalino. Archimede: Integrated network-centric harbour protection system.
2010.
Abstract Confined/inshore waters may represent the best type of environment for the conduct of clandestine operations, especially from the sea: the features of such an environment weaken the detection and identification processes carried out by the defenders, while allowing the covert execution of illegal activities, as well as a better exploitation of surprise. The most significant illegal activities conducted in such an environment include infiltration, drugs/weapons smuggling, sabotage/disruption of infrastructures, up to terrorist acts; these activities are accomplished through the use of a variety of means of transportation, which include cigarette boats and power boats, rigid hull inflatable boats (RHIBs), fishing vessels, sailing/leisure boats, midgets, swimmers/divers (with open/closed breathing systems), and swimmer delivery vehicles (SDV). Requirements as flexibility, rapid reaction, resilience, fast deployment, high level automation, modularity, plug & play have a key role in modern surveillance architecture definition. The paper will describe the guidelines adopted to develop a CIP (Critical Infrastructure Protection) tactical architecture in accordance with the previous requirements. The CIP system integrates different types of sensors (e.g. radar, IR, TV, SONAR, underwater acoustic network) and classes of vehicles (Surface, Underwater, Air Unmanned Vehicles) which cooperate in a multi environmental scenario (above water, under water, sea surface, ground and air). The focus is to develop the following functionalities: fuse, classify, identify and present all the data provided by the sensors and consequently generate warnings on the Command and Control (C2) and interact automatically with the console. The integration is performed to guarantee flexibility and modularity by means of tactical gateways developed in order to decouple the C2 system from sensor systems and vehicles. In particular, these gateways are designed to translate the subsystem proprietary data in a unique format. This allows integrating every kind and numbers of systems tailoring each time the specific gateway without modifying sensors, vehicles or C2. The system shows Network-Centric features and a wide set of growth above capabilities, even vehicles/sensors swarms, due to the gateway implementing a flexible middleware oriented to publisher/subscriber philosophy.
URL, DOI BibTeX

@conference{Cresta2010,
	author = "Cresta, Matteo and Storti, Enrico and Simetti, Enrico and Casalino, Giuseppe",
	title = "Archimede: Integrated network-centric harbour protection system",
	year = 2010,
	journal = "2010 International Waterside Security Conference, WSS 2010",
	doi = "10.1109/WSSC.2010.5730236",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-79953744211&doi=10.1109%2fWSSC.2010.5730236&partnerID=40&md5=aae3c49616d1698851f8bdff281d2d48",
	abstract = "Confined/inshore waters may represent the best type of environment for the conduct of clandestine operations, especially from the sea: the features of such an environment weaken the detection and identification processes carried out by the defenders, while allowing the covert execution of illegal activities, as well as a better exploitation of surprise. The most significant illegal activities conducted in such an environment include infiltration, drugs/weapons smuggling, sabotage/disruption of infrastructures, up to terrorist acts; these activities are accomplished through the use of a variety of means of transportation, which include cigarette boats and power boats, rigid hull inflatable boats (RHIBs), fishing vessels, sailing/leisure boats, midgets, swimmers/divers (with open/closed breathing systems), and swimmer delivery vehicles (SDV). Requirements as flexibility, rapid reaction, resilience, fast deployment, high level automation, modularity, plug & play have a key role in modern surveillance architecture definition. The paper will describe the guidelines adopted to develop a CIP (Critical Infrastructure Protection) tactical architecture in accordance with the previous requirements. The CIP system integrates different types of sensors (e.g. radar, IR, TV, SONAR, underwater acoustic network) and classes of vehicles (Surface, Underwater, Air Unmanned Vehicles) which cooperate in a multi environmental scenario (above water, under water, sea surface, ground and air). The focus is to develop the following functionalities: fuse, classify, identify and present all the data provided by the sensors and consequently generate warnings on the Command and Control (C2) and interact automatically with the console. The integration is performed to guarantee flexibility and modularity by means of tactical gateways developed in order to decouple the C2 system from sensor systems and vehicles. In particular, these gateways are designed to translate the subsystem proprietary data in a unique format. This allows integrating every kind and numbers of systems tailoring each time the specific gateway without modifying sensors, vehicles or C2. The system shows Network-Centric features and a wide set of growth above capabilities, even vehicles/sensors swarms, due to the gateway implementing a flexible middleware oriented to publisher/subscriber philosophy.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

Giuseppe Casalino, Alessio Turetta and Claudio Melchiorri. Guidelines for a distributed functional and algorithmic control architecture for underwater free-flying multi-manipulators.
2010, 475 – 478.
Abstract The paper deals with the problem of suitably coordinating the maneuvers of a non-holonomic underwater vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. Results are obtained by merging together some recent ones, relevant to the field of non-holonomic vehicle guidance and maneuvering, with those concerning the coordination of fixed base multiarm manipulation systems.
URL BibTeX

@conference{Casalino2010475,
	author = "Casalino, Giuseppe and Turetta, Alessio and Melchiorri, Claudio",
	title = "Guidelines for a distributed functional and algorithmic control architecture for underwater free-flying multi-manipulators",
	year = 2010,
	journal = "Proceedings Elmar - International Symposium Electronics in Marine",
	pages = "475 – 478",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-78650090143&partnerID=40&md5=c8b3a2191641a9e3217c25b71ff69f60",
	abstract = "The paper deals with the problem of suitably coordinating the maneuvers of a non-holonomic underwater vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. Results are obtained by merging together some recent ones, relevant to the field of non-holonomic vehicle guidance and maneuvering, with those concerning the coordination of fixed base multiarm manipulation systems.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

E Simetti, G Casalino, A Turetta, E Storti and M Cresta. Towards the use of a team of USVs for civilian harbour protection: USV interception of detected menaces.
2010, 145 – 150.
Abstract The protection of civilian harbours has received an increasing interest after September 11th. One of the areas currently under major investigation is the use of a team of Unmanned Surface Vehicles (USVs), which could be exploited for patrolling purposes and to investigate suspect situations, increasing the efectiveness of the harbor protection system while lowering the number of humans directly exposed to threats. To achieve such aims, the USVs must be properly coordinated by an intelligent Swarm Management Unit (SMU), whose realization is the goal of an on-going research project carried out by the authors' organizations. This paper presents the latest results of the SMU project, i.e. a menace interception system, that of-line optimizes the positioning of the USV team and on-line selects the most suitable USV for intercepting any possible menace.
URL, DOI BibTeX

@conference{Simetti2010145,
	author = "Simetti, E. and Casalino, G. and Turetta, A. and Storti, E. and Cresta, M.",
	title = "Towards the use of a team of USVs for civilian harbour protection: USV interception of detected menaces",
	year = 2010,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 7,
	number = "PART 1",
	pages = "145 – 150",
	doi = "10.3182/20100906-3-it-2019.00027",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80051954548&doi=10.3182%2f20100906-3-it-2019.00027&partnerID=40&md5=c8eaae8d25b5cbb09465ddeeb7dfae23",
	abstract = "The protection of civilian harbours has received an increasing interest after September 11th. One of the areas currently under major investigation is the use of a team of Unmanned Surface Vehicles (USVs), which could be exploited for patrolling purposes and to investigate suspect situations, increasing the efectiveness of the harbor protection system while lowering the number of humans directly exposed to threats. To achieve such aims, the USVs must be properly coordinated by an intelligent Swarm Management Unit (SMU), whose realization is the goal of an on-going research project carried out by the authors' organizations. This paper presents the latest results of the SMU project, i.e. a menace interception system, that of-line optimizes the positioning of the USV team and on-line selects the most suitable USV for intercepting any possible menace.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Alessio Turetta, Giuseppe Casalino and Matteo Cresta. Towards the use of a team of USVs for civilian harbour protection: The problem of intercepting detected menaces.
2010.
Abstract Protecting civilian harbours is a field which has received increasing interest after the attack of September 11th. Exploiting a team of Unmanned Surface Vehicles (USVs) for the protection of harbours is one of the areas under major investigation. Indeed the USVs could be used to perform patrolling around the crucial waterways or to investigate possible suspect vessels, increasing the effectiveness of the security system, while at the same time decreasing the number of human beings directly exposed to threats. The coordination of such a team of USVs is the goal of an on-going joint research project, the Swarm Management Unit (SMU), between the authors' organization. This work presents the latest results of the SMU project, i.e. a menace interception system composed by the on-line selection of the best interceptor coupled with the off-line optimization of the positioning of the team of USVs. © 2010 IEEE.
URL, DOI BibTeX

@conference{Simetti2010,
	author = "Simetti, Enrico and Turetta, Alessio and Casalino, Giuseppe and Cresta, Matteo",
	title = "Towards the use of a team of USVs for civilian harbour protection: The problem of intercepting detected menaces",
	year = 2010,
	journal = "OCEANS'10 IEEE Sydney, OCEANSSYD 2010",
	doi = "10.1109/OCEANSSYD.2010.5603868",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-78349284448&doi=10.1109%2fOCEANSSYD.2010.5603868&partnerID=40&md5=630314464ae13a0a2c41634406292865",
	abstract = "Protecting civilian harbours is a field which has received increasing interest after the attack of September 11th. Exploiting a team of Unmanned Surface Vehicles (USVs) for the protection of harbours is one of the areas under major investigation. Indeed the USVs could be used to perform patrolling around the crucial waterways or to investigate possible suspect vessels, increasing the effectiveness of the security system, while at the same time decreasing the number of human beings directly exposed to threats. The coordination of such a team of USVs is the goal of an on-going joint research project, the Swarm Management Unit (SMU), between the authors' organization. This work presents the latest results of the SMU project, i.e. a menace interception system composed by the on-line selection of the best interceptor coupled with the off-line optimization of the positioning of the team of USVs. © 2010 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino, Alessio Turetta, Enrico Simetti and Andrea Caiti. RT2: A Real-Time Ray-Tracing method for acoustic distance evaluations among cooperating AUVs.
2010.
Abstract The paper deals with the problem of distributed acoustic localization of teams of Autonomous Underwater Vehicles (AUVs) and proposes a novel algorithm, Real-Time Ray-Tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficiently handling the distorted and reflected acoustic ray paths, induced by the anisotropy of the underwater medium. Further it can be easily implemented on-board of low-cost AUVs. Indeed it just requires the presence, on each vehicle, of a simple acoustic modem and a pair of look-up tables, a-priori constructed via the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can easily on-line compute its distance w.r.t. to any other neighbour team member, through time-of-flight measurements and the exchanges of depth information only. Further, since the proposed RT2 algorithm makes available accurate distance evaluations (despite the distorted acoustic rays), the effective filtering techniques normally used by terrestrial mobile robots for distributed localization are expected to be transferable to the underwater field. © 2010 IEEE.
URL, DOI BibTeX

@conference{Casalino2010,
	author = "Casalino, Giuseppe and Turetta, Alessio and Simetti, Enrico and Caiti, Andrea",
	title = "RT2: A Real-Time Ray-Tracing method for acoustic distance evaluations among cooperating AUVs",
	year = 2010,
	journal = "OCEANS'10 IEEE Sydney, OCEANSSYD 2010",
	doi = "10.1109/OCEANSSYD.2010.5603869",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-78349269194&doi=10.1109%2fOCEANSSYD.2010.5603869&partnerID=40&md5=744f3e33ec5444955542a6829d068f76",
	abstract = "The paper deals with the problem of distributed acoustic localization of teams of Autonomous Underwater Vehicles (AUVs) and proposes a novel algorithm, Real-Time Ray-Tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficiently handling the distorted and reflected acoustic ray paths, induced by the anisotropy of the underwater medium. Further it can be easily implemented on-board of low-cost AUVs. Indeed it just requires the presence, on each vehicle, of a simple acoustic modem and a pair of look-up tables, a-priori constructed via the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can easily on-line compute its distance w.r.t. to any other neighbour team member, through time-of-flight measurements and the exchanges of depth information only. Further, since the proposed RT2 algorithm makes available accurate distance evaluations (despite the distorted acoustic rays), the effective filtering techniques normally used by terrestrial mobile robots for distributed localization are expected to be transferable to the underwater field. © 2010 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Pedro J Sanz, Pere Ridao, Gabriel Oliver, Claudio Melchiorri, Giuseppe Casalino, Carlos Silvestre, Yvan Petillot and Alessio Turetta. TRIDENT: A framework for autonomous underwater intervention missions with dexterous manipulation capabilities.
2010, 187 – 192.
Abstract TRIDENT is a STREP project recently approved by the European Commission whose proposal was submitted to the ICT call 4 of the 7th Framework Program. The project proposes a new methodology for multipurpose underwater intervention tasks. To that end, a cooperative team formed with an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle will be used. The proposed methodology splits the mission in two stages mainly devoted to survey and intervention tasks, respectively. The project brings together research skills specific to the marine environments in navigation and mapping for underwater robotics, multi-sensory perception, intelligent control architectures, vehiclemanipulator systems and dexterous manipulation. TRIDENT is a three years project and its start is planned by first months of 2010.
URL, DOI BibTeX

@conference{Sanz2010187,
	author = "Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, Claudio and Casalino, Giuseppe and Silvestre, Carlos and Petillot, Yvan and Turetta, Alessio",
	title = "TRIDENT: A framework for autonomous underwater intervention missions with dexterous manipulation capabilities",
	year = 2010,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 7,
	number = "PART 1",
	pages = "187 – 192",
	doi = "10.3182/20100906-3-it-2019.00034",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80052013357&doi=10.3182%2f20100906-3-it-2019.00034&partnerID=40&md5=fefe867f61fd798847e9461611ae631f",
	abstract = "TRIDENT is a STREP project recently approved by the European Commission whose proposal was submitted to the ICT call 4 of the 7th Framework Program. The project proposes a new methodology for multipurpose underwater intervention tasks. To that end, a cooperative team formed with an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle will be used. The proposed methodology splits the mission in two stages mainly devoted to survey and intervention tasks, respectively. The project brings together research skills specific to the marine environments in navigation and mapping for underwater robotics, multi-sensory perception, intelligent control architectures, vehiclemanipulator systems and dexterous manipulation. TRIDENT is a three years project and its start is planned by first months of 2010.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Caiti, A Turetta and E Simetti. Real-time ray-tracing for underwater distance evaluation with application to distributed localization of AUV teams.
2010, 211 – 216.
Abstract The paper deals with distributed acoustic localization of teams of Autonomous Underwater Vehicles (AUVs) and proposes a novel algorithm, Real-TimeRay-Tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficient handling of the distorted and reflected acoustic ray paths. The proposed algorithm can be easily implemented on-board of low-cost AUVs, requiring the presence, on each vehicle, of an acoustic modem and a pair of look-up tables, a-priori built on the basis of the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can compute its distance w.r.t. to any other neighbour team member, through time-of-flight measurements and the exchanges of depth information only.
URL, DOI BibTeX

@conference{Casalino2010211,
	author = "Casalino, G. and Caiti, A. and Turetta, A. and Simetti, E.",
	title = "Real-time ray-tracing for underwater distance evaluation with application to distributed localization of AUV teams",
	year = 2010,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 7,
	number = "PART 1",
	pages = "211 – 216",
	doi = "10.3182/20100906-3-it-2019.00038",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80051965444&doi=10.3182%2f20100906-3-it-2019.00038&partnerID=40&md5=b078dfaa3a7ccfb350b9271c46ac16af",
	abstract = "The paper deals with distributed acoustic localization of teams of Autonomous Underwater Vehicles (AUVs) and proposes a novel algorithm, Real-TimeRay-Tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficient handling of the distorted and reflected acoustic ray paths. The proposed algorithm can be easily implemented on-board of low-cost AUVs, requiring the presence, on each vehicle, of an acoustic modem and a pair of look-up tables, a-priori built on the basis of the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can compute its distance w.r.t. to any other neighbour team member, through time-of-flight measurements and the exchanges of depth information only.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Indiveriy, G Antonelli, A Caiti, G Casalino, A Birk, A Pascoal and A Caffaz. The CO3AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) project: Overview and current progresses.
2010, 235 – 239.
Abstract The paper describes the CO3AUVs - Cooperative Cognitive Control for Autonomous Underwater Vehicles - European Commission Project. This is seventh Framework Programme STREP project under the theme: Information and Communication Technologies Cognitive Systems, Interaction, Robotics. The project started in December 2008. After an overview of the project objectives and consortium composition, the paper describes the project activities. Copyright © 2010 IFAC.
URL BibTeX

@conference{Indiveriy2010235,
	author = "Indiveriy, G. and Antonelli, G. and Caiti, A. and Casalino, G. and Birk, A. and Pascoal, A. and Caffaz, A.",
	title = "The CO3AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) project: Overview and current progresses",
	year = 2010,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 7,
	number = "PART 1",
	pages = "235 – 239",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80052001719&partnerID=40&md5=abe459af66dc24eec44d1f5342fd6ef0",
	abstract = "The paper describes the CO3AUVs - Cooperative Cognitive Control for Autonomous Underwater Vehicles - European Commission Project. This is seventh Framework Programme STREP project under the theme: Information and Communication Technologies Cognitive Systems, Interaction, Robotics. The project started in December 2008. After an overview of the project objectives and consortium composition, the paper describes the project activities. Copyright © 2010 IFAC.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Alessio Turetta and Giuseppe Casalino. USV-Based security system for civilian harbors.
Sea Technology 51(11):41 – 43, 2010.
Abstract The use of a team of unmanned surface vehicles (USV) represents a promising solution for reducing harbor vulnerability in the context of NATO's Defense Against Terrorism program indicating harbor security as one of its ten main areas of work. Civilian harbors are instead dynamic scenarios where ship traffic may be intense and not totally known beforehand. The SMU, which is integrated into a command and control center developed by SELEX, provides decision support to supervisors by suggesting the optimal USV and the optimal path to intercept a suspect vessel. The most recent phase of the project to be completed is the offline problem of deciding the optimal size and placement of the USV fleet. SMU is a tool for controlling the operations of a team of USVs performing surveillance activities within civilian harbors.
URL BibTeX

@article{Simetti201041,
	author = "Simetti, Enrico and Turetta, Alessio and Casalino, Giuseppe",
	title = "USV-Based security system for civilian harbors",
	year = 2010,
	journal = "Sea Technology",
	volume = 51,
	number = 11,
	pages = "41 – 43",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-78650139575&partnerID=40&md5=6dfe2b098f4ad37fac31fc6c0124e82d",
	abstract = "The use of a team of unmanned surface vehicles (USV) represents a promising solution for reducing harbor vulnerability in the context of NATO's Defense Against Terrorism program indicating harbor security as one of its ten main areas of work. Civilian harbors are instead dynamic scenarios where ship traffic may be intense and not totally known beforehand. The SMU, which is integrated into a command and control center developed by SELEX, provides decision support to supervisors by suggesting the optimal USV and the optimal path to intercept a suspect vessel. The most recent phase of the project to be completed is the offline problem of deciding the optimal size and placement of the USV fleet. SMU is a tool for controlling the operations of a team of USVs performing surveillance activities within civilian harbors.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Andrea Caffaz, Andrea Caiti, Giuseppe Casalino and Alessio Turetta. The hybrid glider/AUV folaga: Field experience at the GLINT'08 experiment.
IEEE Robotics and Automation Magazine 17(1):31 – 44, 2010.
Abstract This article reviewed the design development behind the evolution toward the hybrid glider/AUV vehicle Folaga III and also the ongoing progress in terms of vehicle improvement and networking infrastructure development. The discussion of the C & C architecture has highlighted the methodological approach, some benefits and also some drawbacks, as in particular, the presence of a nonnegligible Munk moment effect. The participation in the GLINT'08 experiment has shown that the current version of the vehicle already has operational capacity in terms of oceanographic sampling, autonomous behavior, communication capabilities, endurance, and failure proofness. The experimental data have also shown some vehicle dynamic behaviors that, although not critical for the oceanographic missions, clearly indicate the kind of improvements that still have to be introduced at the lowest control level, via accurate control algorithm redesign. In particular, the presence of the additional actuation mechanism for fine pitch control seems unavoidable if pitch error below few degrees is required. The same also holds for the vehicle diving mode, where the use of the same additional actuation mechanisms has to be studied in conjunction with a substantial refinement in terms of optimal bang-bang control of the annexed ballast control subsystem. © 2006 IEEE.
URL, DOI BibTeX

@article{Caffaz201031,
	author = "Caffaz, Andrea and Caiti, Andrea and Casalino, Giuseppe and Turetta, Alessio",
	title = "The hybrid glider/AUV folaga: Field experience at the GLINT'08 experiment",
	year = 2010,
	journal = "IEEE Robotics and Automation Magazine",
	volume = 17,
	number = 1,
	pages = "31 – 44",
	doi = "10.1109/MRA.2010.935791",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-77949604607&doi=10.1109%2fMRA.2010.935791&partnerID=40&md5=0b0751e4f12adfcdf7bf0140a1dcd06f",
	abstract = "This article reviewed the design development behind the evolution toward the hybrid glider/AUV vehicle Folaga III and also the ongoing progress in terms of vehicle improvement and networking infrastructure development. The discussion of the C & C architecture has highlighted the methodological approach, some benefits and also some drawbacks, as in particular, the presence of a nonnegligible Munk moment effect. The participation in the GLINT'08 experiment has shown that the current version of the vehicle already has operational capacity in terms of oceanographic sampling, autonomous behavior, communication capabilities, endurance, and failure proofness. The experimental data have also shown some vehicle dynamic behaviors that, although not critical for the oceanographic missions, clearly indicate the kind of improvements that still have to be introduced at the lowest control level, via accurate control algorithm redesign. In particular, the presence of the additional actuation mechanism for fine pitch control seems unavoidable if pitch error below few degrees is required. The same also holds for the vehicle diving mode, where the use of the same additional actuation mechanisms has to be studied in conjunction with a substantial refinement in terms of optimal bang-bang control of the annexed ballast control subsystem. © 2006 IEEE.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Turetta, A Sorbara and E Simetti. Self-organizing control of reconfigurable manipulators: A distributed dynamic programming based approach.
2009, 632 – 640.
Abstract In the present work modular reconfigurable complex kinematic chains, characterized by the presence of an embedded distributed control system will be considered. More specifically, every single joint of the structure is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall structure geometry and kinematics.
URL BibTeX

@conference{Casalino2009632,
	author = "Casalino, G. and Turetta, A. and Sorbara, A. and Simetti, E.",
	title = "Self-organizing control of reconfigurable manipulators: A distributed dynamic programming based approach",
	year = 2009,
	journal = "Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009",
	pages = "632 – 640",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-70449107830&partnerID=40&md5=bcba85ab989a7e9f2d398037904f8c3b",
	abstract = {In the present work modular reconfigurable complex kinematic chains, characterized by the presence of an embedded distributed control system will be considered. More specifically, every single joint of the structure is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall structure geometry and kinematics.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Caffaz, A Caiti, G Casalino, L Gualdesi and A Turetta. Fòlaga: A low cost AUV/glider for coastal environmental sampling.
Underwater Technology 28(4):151 – 157, 2009.
Abstract The paper describes the current evolution of the class of Fòlaga underwater vehicles, whose actuation mechanism is a hybrid between oceanographic gliders and standard, self-propelled autonomous underwater vehicles (AUVs). The Fòlaga vehicles have been designed for coastal oceanography and environmental sampling; the application-oriented design approach has resulted in light-weight, low-cost, low-maintenance vehicles. A description of the vehicles' design and guidance, navigation and control capabilities is given, together with data from recent experimental trials.
URL, DOI BibTeX

@article{Caffaz2009151,
	author = "Caffaz, A. and Caiti, A. and Casalino, G. and Gualdesi, L. and Turetta, A.",
	title = "Fòlaga: A low cost AUV/glider for coastal environmental sampling",
	year = 2009,
	journal = "Underwater Technology",
	volume = 28,
	number = 4,
	pages = "151 – 157",
	doi = "10.3723/ut.28.151",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-72149118435&doi=10.3723%2fut.28.151&partnerID=40&md5=b2d4db9be14344d652fa8addf8de61c4",
	abstract = "The paper describes the current evolution of the class of Fòlaga underwater vehicles, whose actuation mechanism is a hybrid between oceanographic gliders and standard, self-propelled autonomous underwater vehicles (AUVs). The Fòlaga vehicles have been designed for coastal oceanography and environmental sampling; the application-oriented design approach has resulted in light-weight, low-cost, low-maintenance vehicles. A description of the vehicles' design and guidance, navigation and control capabilities is given, together with data from recent experimental trials.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

A Alvarez, A Caffaz, A Caiti, G Casalino, L Gualdesi, A Turetta and R Viviani. Fòlaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities.
Ocean Engineering 36(1):24 – 38, 2009.
Abstract The paper describes the current developments of a class of low-cost, light-weight autonomous underwater vehicles for coastal oceanographic applications; the vehicle class is named Fòlaga, the Italian name of an aquatic bird that swims on the water surface and dives to catch fish. The main design characteristics of the most recent vehicle of the class, the Fòlaga III, are reviewed. Navigation and control system design are discussed, with particular attention to the diving phase, which is accomplished as in oceanographic gliders by varying the vehicle buoyancy and attitude. Experimental results show that the PID robust controllers implemented are effective in the diving control phase. Finally, a distributed cooperation algorithm to be applied by a team of Fòlaga-like vehicles in adaptive oceanographic sampling applications is described. The algorithm optimizes area coverage while taking into account the accuracy in the reconstruction of the oceanographic field and inter-vehicle communication through a range constraint. The resulting dynamic programming algorithm can be implemented in a distributed fashion among the team components. © 2008 Elsevier Ltd. All rights reserved.
URL, DOI BibTeX

@article{Alvarez200924,
	author = "Alvarez, A. and Caffaz, A. and Caiti, A. and Casalino, G. and Gualdesi, L. and Turetta, A. and Viviani, R.",
	title = "Fòlaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities",
	year = 2009,
	journal = "Ocean Engineering",
	volume = 36,
	number = 1,
	pages = "24 – 38",
	doi = "10.1016/j.oceaneng.2008.08.014",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-58149528054&doi=10.1016%2fj.oceaneng.2008.08.014&partnerID=40&md5=a3999efc4bbcde0a8c9bf3481f4d8183",
	abstract = "The paper describes the current developments of a class of low-cost, light-weight autonomous underwater vehicles for coastal oceanographic applications; the vehicle class is named Fòlaga, the Italian name of an aquatic bird that swims on the water surface and dives to catch fish. The main design characteristics of the most recent vehicle of the class, the Fòlaga III, are reviewed. Navigation and control system design are discussed, with particular attention to the diving phase, which is accomplished as in oceanographic gliders by varying the vehicle buoyancy and attitude. Experimental results show that the PID robust controllers implemented are effective in the diving control phase. Finally, a distributed cooperation algorithm to be applied by a team of Fòlaga-like vehicles in adaptive oceanographic sampling applications is described. The algorithm optimizes area coverage while taking into account the accuracy in the reconstruction of the oceanographic field and inter-vehicle communication through a range constraint. The resulting dynamic programming algorithm can be implemented in a distributed fashion among the team components. © 2008 Elsevier Ltd. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Enrico Simetti, Alessio Turetta and Giuseppe Casalino. Distributed control and coordination of cooperative mobile manipulator systems.
2009, 315 – 324.
Abstract The paper deals with the problem of suitably coordinating the movement of two mobile manipulators in order to accomplish a given task in a cooperative way, avoiding the arms' singular postures and joint limits. A dynamic programming approach is used for accomplishing such avoidance specifications.
URL, DOI BibTeX

@conference{Simetti2009315,
	author = "Simetti, Enrico and Turetta, Alessio and Casalino, Giuseppe",
	title = "Distributed control and coordination of cooperative mobile manipulator systems",
	year = 2009,
	journal = "Distributed Autonomous Robotic Systems 8",
	pages = "315 – 324",
	doi = "10.1007/978-3-642-00644-9_28",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84878579862&doi=10.1007%2f978-3-642-00644-9_28&partnerID=40&md5=22e0d3341b27414c9e50c584a5fb8945",
	abstract = "The paper deals with the problem of suitably coordinating the movement of two mobile manipulators in order to accomplish a given task in a cooperative way, avoiding the arms' singular postures and joint limits. A dynamic programming approach is used for accomplishing such avoidance specifications.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino, Alessio Turetta and Enrico Simetti. A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields.
2009.
Abstract The use of unmanned vehicles in the field of underwater and marine applications is increasing significantly in recent years. Autonomous vehicles (like AUVs and gliders) or teleoperated ones (like ROVs) are currently employed for executing a number of different underwater tasks, like inspecting submerged pipes, executing maintenance interventions on underwater gas- or oil-platforms, collecting environmental or oceanographic data, performing surveys on sites of archeological interest. In parallel with the development of underwater vehicles, unmanned surface vehicles (USVs), are they also witnessing an increasing interest from the robotic community, especially with the goal of performing surveillance applications, like patrolling and maintaining safeguarded against intruders harbours or other "crucial" sites. The potential benefits offered by automated vessels equipped with sensors such as cameras or sonars are quite evident, since they could be used to quickly identify the level of menace of unknown radar track without exposing any human operators to possible threats. However USVs, unlike in the underwater case, have to face the problem of avoiding other vessels which in most cases are manned ones. This is a crucial point especially in that kind of application, where the automated vessel has to move quickly towards a possible menace while at the same time avoiding all the other boats normally operating in the harbour area. Unfortunately, at the current state of art, a reliable methodology to avoid the other vessels and the availability of effective and accurate obstacle detection sensors is still missing. This paper focus its attention on the case of USV used for security applications within a harbour, devising a solution that can be real-time implemented for the obstacle avoidance problem under critical situations where the vehicle as to reach its target as fast as possible while guaranteeing the safety of the other vessels. The presented solution is based on a three layered hierarchical architecture: the first layer computes a global path taking into account static obstacles known a priori, the second layer modifies this path in a locally optimal way (under certain assumptions) exploiting kinematic data of the moving obstacles, while the last layer reactively avoids obstacles for which such data is not available. The paper will be therefore organized as follows: in the first section an introduction and state of art are presented, in the successive section the work will discuss the first layer and the methods for the static obstacles avoidance, while in the third the paper will focus on the moving obstacles and the proposed avoidance algorithm, while also presenting many different detailed simulation results regarding the performances achievable by the overall architecture. Finally a concluding section will also indicate some still open problems and future work directions to be developed. ©2009 IEEE.
URL, DOI BibTeX

@conference{Casalino2009,
	author = "Casalino, Giuseppe and Turetta, Alessio and Simetti, Enrico",
	title = "A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields",
	year = 2009,
	journal = "OCEANS '09 IEEE Bremen: Balancing Technology with Future Needs",
	doi = "10.1109/OCEANSE.2009.5278104",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-71249148443&doi=10.1109%2fOCEANSE.2009.5278104&partnerID=40&md5=cecb0b55da32f2671e46930da8d50250",
	abstract = {The use of unmanned vehicles in the field of underwater and marine applications is increasing significantly in recent years. Autonomous vehicles (like AUVs and gliders) or teleoperated ones (like ROVs) are currently employed for executing a number of different underwater tasks, like inspecting submerged pipes, executing maintenance interventions on underwater gas- or oil-platforms, collecting environmental or oceanographic data, performing surveys on sites of archeological interest. In parallel with the development of underwater vehicles, unmanned surface vehicles (USVs), are they also witnessing an increasing interest from the robotic community, especially with the goal of performing surveillance applications, like patrolling and maintaining safeguarded against intruders harbours or other "crucial" sites. The potential benefits offered by automated vessels equipped with sensors such as cameras or sonars are quite evident, since they could be used to quickly identify the level of menace of unknown radar track without exposing any human operators to possible threats. However USVs, unlike in the underwater case, have to face the problem of avoiding other vessels which in most cases are manned ones. This is a crucial point especially in that kind of application, where the automated vessel has to move quickly towards a possible menace while at the same time avoiding all the other boats normally operating in the harbour area. Unfortunately, at the current state of art, a reliable methodology to avoid the other vessels and the availability of effective and accurate obstacle detection sensors is still missing. This paper focus its attention on the case of USV used for security applications within a harbour, devising a solution that can be real-time implemented for the obstacle avoidance problem under critical situations where the vehicle as to reach its target as fast as possible while guaranteeing the safety of the other vessels. The presented solution is based on a three layered hierarchical architecture: the first layer computes a global path taking into account static obstacles known a priori, the second layer modifies this path in a locally optimal way (under certain assumptions) exploiting kinematic data of the moving obstacles, while the last layer reactively avoids obstacles for which such data is not available. The paper will be therefore organized as follows: in the first section an introduction and state of art are presented, in the successive section the work will discuss the first layer and the methods for the static obstacles avoidance, while in the third the paper will focus on the moving obstacles and the proposed avoidance algorithm, while also presenting many different detailed simulation results regarding the performances achievable by the overall architecture. Finally a concluding section will also indicate some still open problems and future work directions to be developed. ©2009 IEEE.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Caiti, G Casalino, A Munafò and A Turetta. Cooperating Auv teams: Adaptive area coverage with space-varying communication constraints.
2009.
Abstract This contribution addresses the problem of area coverage by a team of Autonomous Underwater Vehicle. The case addressed is the one in which the area map is not known in advance but adaptively estimated on-line by the vehicles themselves as they move along the area. The approach proposed is distributed, i.e., the vehicles in the team exchange information among themselves and autonomously take individual decisions on where to move next on the basis of the available information. Communication constraints among the vehicles, in terms of communication range and bandwidth, are explicitly taken into account by the algorithm, and can be dependent by the spatial position in the covered area. The paper proposes a series of algorithms for adaptive sampling with communication constraints in which the communication constraints are expressed in terms of connectivity of the graph of the vehicles. Depending on the structure of the graph (ordered serial graph, ordered tree graph, etc.) the algorithms take the structure of a distributed dynamic programming approach or of minimum spanning tree graph searching. ©2009 IEEE.
URL, DOI BibTeX

@conference{Caiti2009,
	author = "Caiti, A. and Casalino, G. and Munafò, A. and Turetta, A.",
	title = "Cooperating Auv teams: Adaptive area coverage with space-varying communication constraints",
	year = 2009,
	journal = "OCEANS '09 IEEE Bremen: Balancing Technology with Future Needs",
	doi = "10.1109/OCEANSE.2009.5278255",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-71249101477&doi=10.1109%2fOCEANSE.2009.5278255&partnerID=40&md5=8c3b382323e698f4d41a15629a7e19c4",
	abstract = "This contribution addresses the problem of area coverage by a team of Autonomous Underwater Vehicle. The case addressed is the one in which the area map is not known in advance but adaptively estimated on-line by the vehicles themselves as they move along the area. The approach proposed is distributed, i.e., the vehicles in the team exchange information among themselves and autonomously take individual decisions on where to move next on the basis of the available information. Communication constraints among the vehicles, in terms of communication range and bandwidth, are explicitly taken into account by the algorithm, and can be dependent by the spatial position in the covered area. The paper proposes a series of algorithms for adaptive sampling with communication constraints in which the communication constraints are expressed in terms of connectivity of the graph of the vehicles. Depending on the structure of the graph (ordered serial graph, ordered tree graph, etc.) the algorithms take the structure of a distributed dynamic programming approach or of minimum spanning tree graph searching. ©2009 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Green Open Access"
}

E Zereik, A Sorbara, G Casalino and F Didot. Autonomous dual-arm mobile manipulator crew assistant for surface operations: Force/vision-guided grasping.
2009, 710 – 715.
Abstract Objective of the overall system is that of understanding (and demonstrating) what are the tasks that a robotic crew assistant must be able to execute, in order to be effective for space exploration missions. One of the most important tasks to be accomplished is the autonomous grasping of objects, which has been achieved through a vision and force-based control strategy. This paper deals with the completion of the autonomous grasping task previously described. © 2009 IEEE.
URL, DOI BibTeX

@conference{Zereik2009710,
	author = "Zereik, E. and Sorbara, A. and Casalino, G. and Didot, F.",
	title = "Autonomous dual-arm mobile manipulator crew assistant for surface operations: Force/vision-guided grasping",
	year = 2009,
	journal = "RAST 2009 - Proceedings of 4th International Conference on Recent Advances Space Technologies",
	pages = "710 – 715",
	doi = "10.1109/RAST.2009.5158284",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-70350413759&doi=10.1109%2fRAST.2009.5158284&partnerID=40&md5=87656de980557659c8a80b40580a387c",
	abstract = "Objective of the overall system is that of understanding (and demonstrating) what are the tasks that a robotic crew assistant must be able to execute, in order to be effective for space exploration missions. One of the most important tasks to be accomplished is the autonomous grasping of objects, which has been achieved through a vision and force-based control strategy. This paper deals with the completion of the autonomous grasping task previously described. © 2009 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

E Zereik, G Casalino, A Sorbara and F Didot. Force/vision-guided grasping for an autonomous dual-arm mobile manipulator crew assistant for space exploration missions.
2009, 109 – 116.
Abstract In this paper we present a mixed force-vision control system for the realization of a grasping task to be performed by a dual-arm mobile manipulator; this robot will be employed as a crew assistant for surface operations in space exploration missions. The overall system will be described in details throughout the paper, together with the proposed control strategy; we will then present the simulations, essential to validate the algorithm, and also some preliminary experimental results.
URL BibTeX

@conference{Zereik2009109,
	author = "Zereik, E. and Casalino, G. and Sorbara, A. and Didot, F.",
	title = "Force/vision-guided grasping for an autonomous dual-arm mobile manipulator crew assistant for space exploration missions",
	year = 2009,
	journal = "International Conference on Automation, Robotics and Control Systems 2009, ARCS 2009",
	pages = "109 – 116",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84878118349&partnerID=40&md5=a9d8b525ae552b62cc7aba7e37166d10",
	abstract = "In this paper we present a mixed force-vision control system for the realization of a grasping task to be performed by a dual-arm mobile manipulator; this robot will be employed as a crew assistant for surface operations in space exploration missions. The overall system will be described in details throughout the paper, together with the proposed control strategy; we will then present the simulations, essential to validate the algorithm, and also some preliminary experimental results.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Turetta, G Casalino and A Sorbara. Distributed control architecture for self-reconfigurable manipulators.
International Journal of Robotics Research 27(3-4):481 – 504, 2008.
Abstract In recent years self-reconfigurable modular robots have gained increasing interest from part of the international robotic community. Although recent robots of this type are characterized by advanced electro-mechanical designs, the development of their supporting control techniques have only registered strong results in the field of locomotion problems, while the manipulation capabilities of existing systems still appear to be quite limited. Aiming to provide a contribution along this latter direction, in this paper we propose a computationally distributed technique for controlling the motion of any tree-structured chain resulting from reconfiguration in its operational space. The presented strategy, which could actually be adopted when dealing with any kind of chain-based modular robotic system, turns out to be particularly well suited to self-reconfigurable structures for three main reasons: (i) it is not based on any explicit role assignment; all of the modules can be added, removed or exchanged online as required, with no impact on the overall control architecture; (ii) each module has only a very limited set of local information that must be known a priori and can be totally unaware of the remaining part of the chain; (iii) no external centralized controller is necessary; basic local processing and communication units onboard every module and a simple man-machine interface providing high-level commands are enough. A global self-coordinating behavior is automatically exhibited by the proposed technique at power-on or immediately after any configuration change as the result of a number of repeated data exchanges, performed online along the chain at every sampling interval. Although achievable performances depend on the available communication bandwidth, the convergence towards a final position error of zero is, however, always guaranteed. Moreover, because the computational burden required by every module is extremely light, the proposed technique represents an effective control solution that can be easily implemented onboard many of the low-cost and small control platforms available on existing self-reconfigurable robots. ©SAGE Publications 2008.
URL, DOI BibTeX

@article{Turetta2008481,
	author = "Turetta, A. and Casalino, G. and Sorbara, A.",
	title = "Distributed control architecture for self-reconfigurable manipulators",
	year = 2008,
	journal = "International Journal of Robotics Research",
	volume = 27,
	number = "3-4",
	pages = "481 – 504",
	doi = "10.1177/0278364907085565",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-40049093430&doi=10.1177%2f0278364907085565&partnerID=40&md5=4b0622b0a0e72a59dec1ba29f8f8717c",
	abstract = "In recent years self-reconfigurable modular robots have gained increasing interest from part of the international robotic community. Although recent robots of this type are characterized by advanced electro-mechanical designs, the development of their supporting control techniques have only registered strong results in the field of locomotion problems, while the manipulation capabilities of existing systems still appear to be quite limited. Aiming to provide a contribution along this latter direction, in this paper we propose a computationally distributed technique for controlling the motion of any tree-structured chain resulting from reconfiguration in its operational space. The presented strategy, which could actually be adopted when dealing with any kind of chain-based modular robotic system, turns out to be particularly well suited to self-reconfigurable structures for three main reasons: (i) it is not based on any explicit role assignment; all of the modules can be added, removed or exchanged online as required, with no impact on the overall control architecture; (ii) each module has only a very limited set of local information that must be known a priori and can be totally unaware of the remaining part of the chain; (iii) no external centralized controller is necessary; basic local processing and communication units onboard every module and a simple man-machine interface providing high-level commands are enough. A global self-coordinating behavior is automatically exhibited by the proposed technique at power-on or immediately after any configuration change as the result of a number of repeated data exchanges, performed online along the chain at every sampling interval. Although achievable performances depend on the available communication bandwidth, the convergence towards a final position error of zero is, however, always guaranteed. Moreover, because the computational burden required by every module is extremely light, the proposed technique represents an effective control solution that can be easily implemented onboard many of the low-cost and small control platforms available on existing self-reconfigurable robots. ©SAGE Publications 2008.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

A Caiti, G Casalino, C Raciti, A Turetta and R Viviani. Underwater pipeline survey with a towed semi-autonomous vehicle.
2007.
Abstract In this paper a towed semi-autonomous system for automatic tracking of underwater pipeline is presented together with some experimental tests of the pipeline sensing apparatus. This paper focuses, in particular, on the development of a new guidance system based on the differential magnetometers which is the output measurements in the feedback loop. © 2007 IEEE.
URL, DOI BibTeX

@conference{Caiti2007,
	author = "Caiti, A. and Casalino, G. and Raciti, C. and Turetta, A. and Viviani, R.",
	title = "Underwater pipeline survey with a towed semi-autonomous vehicle",
	year = 2007,
	journal = "OCEANS 2007 - Europe",
	doi = "10.1109/oceanse.2007.4302241",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-36348967687&doi=10.1109%2foceanse.2007.4302241&partnerID=40&md5=e805907d2d5ad78506752576a627398f",
	abstract = "In this paper a towed semi-autonomous system for automatic tracking of underwater pipeline is presented together with some experimental tests of the pipeline sensing apparatus. This paper focuses, in particular, on the development of a new guidance system based on the differential magnetometers which is the output measurements in the feedback loop. © 2007 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Turetta and A Sorbara. Distributed kinematic inversion technique for self-reconfigurable modular robots.
2007, 33 – 38.
Abstract In recent years self-reconflgurable modular robots have witnessed an increasing interest by part of the robotic community. Despite recent robots exhibit advanced electromechanical designs, in the field of supporting control techniques, strong results have been registered only within locomotion, while the manipulation capabilities of existing systems are still quite limited. Aiming to provide a contribution along such a direction, the present paper proposes a computationally distributed control technique allowing to control the motion of the end-effector of any considered modular kinematic chain in its operational space. The proposed strategy is not based on explicit roles assignment: all the modules are regarded in the same manner and can therefore be on-line inter-exchanged on wish. Each module just knows its physical parameters and is totally unaware of the characteristics of the overall chain (including the number of its d.o.f.'s). All the information needed for coordinating purposes are on-line obtained through data exchanges with the other modules. In this way a global self-coordinating behaviour is autonomously established along the chain by solely exploiting the control and communication capabilities provided by on-board low-cost local processing units. No additional centralized external control hardware with global knowledge of robot geometry or kinematics is necessary. Just a simple MMI for sending high-level commands and monitoring their execution. © 2007 IEEE.
URL, DOI BibTeX

@conference{Casalino200733,
	author = "Casalino, G. and Turetta, A. and Sorbara, A.",
	title = "Distributed kinematic inversion technique for self-reconfigurable modular robots",
	year = 2007,
	journal = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",
	pages = "33 – 38",
	doi = "10.1109/ICMA.2007.4303512",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-37049014282&doi=10.1109%2fICMA.2007.4303512&partnerID=40&md5=3c6a4286f9b3f85a957a3f41d3f73777",
	abstract = "In recent years self-reconflgurable modular robots have witnessed an increasing interest by part of the robotic community. Despite recent robots exhibit advanced electromechanical designs, in the field of supporting control techniques, strong results have been registered only within locomotion, while the manipulation capabilities of existing systems are still quite limited. Aiming to provide a contribution along such a direction, the present paper proposes a computationally distributed control technique allowing to control the motion of the end-effector of any considered modular kinematic chain in its operational space. The proposed strategy is not based on explicit roles assignment: all the modules are regarded in the same manner and can therefore be on-line inter-exchanged on wish. Each module just knows its physical parameters and is totally unaware of the characteristics of the overall chain (including the number of its d.o.f.'s). All the information needed for coordinating purposes are on-line obtained through data exchanges with the other modules. In this way a global self-coordinating behaviour is autonomously established along the chain by solely exploiting the control and communication capabilities provided by on-board low-cost local processing units. No additional centralized external control hardware with global knowledge of robot geometry or kinematics is necessary. Just a simple MMI for sending high-level commands and monitoring their execution. © 2007 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Turetta and A Sorbara. Distributed kinematic inversion technique for modular robotic systems.
2007, 2368 – 2374.
Abstract The present work considers modular robotic structures equipped with an embedded control architecture and proposes a distributed kinematic inversion technique enabling the execution of manipulation operations. The presented strategy is not based on role assignments; all the modules are identical from the control point of view and can be therefore added, removed or exchanged on wish, with no impact on the overall control architecture. In addition every module has just to a-priori know a very limited set of local information while can be totally unaware about the characteristics of the remaining part of the chain. All the information needed for coordination are indeed on-line obtained through communication with other modules. No external centralized controller knowing the overall robot geometry and kinematics is necessary. More simply a global self-coordinating behaviour is autonomously established and propagated along the chain through data-exchanges ©2007 IEEE.
URL, DOI BibTeX

@conference{Casalino20072368,
	author = "Casalino, G. and Turetta, A. and Sorbara, A.",
	title = "Distributed kinematic inversion technique for modular robotic systems",
	year = 2007,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	pages = "2368 – 2374",
	doi = "10.1109/IROS.2007.4399037",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-51349104951&doi=10.1109%2fIROS.2007.4399037&partnerID=40&md5=5d15750c449b01304bf2c78a9958a434",
	abstract = "The present work considers modular robotic structures equipped with an embedded control architecture and proposes a distributed kinematic inversion technique enabling the execution of manipulation operations. The presented strategy is not based on role assignments; all the modules are identical from the control point of view and can be therefore added, removed or exchanged on wish, with no impact on the overall control architecture. In addition every module has just to a-priori know a very limited set of local information while can be totally unaware about the characteristics of the remaining part of the chain. All the information needed for coordination are indeed on-line obtained through communication with other modules. No external centralized controller knowing the overall robot geometry and kinematics is necessary. More simply a global self-coordinating behaviour is autonomously established and propagated along the chain through data-exchanges ©2007 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Caiti, G Casalino, G Conte and S M Zanoli. Innovative technologies in underwater archaeology: Field experience, open problems, and research lines.
Chemistry and Ecology 22(SUPPL. 1):S383–S396, 2006.
Abstract The exploitation of marine technological innovations in the field of underwater archaeology has been mainly associated in the past with the exploration phase, in a sort of 'treasure-hunt' fashion. However, the combined progress in such diverse fields as underwater acoustics, robotics, image processing, computer graphics, and decision support systems has not yet been directed towards the need for underwater archaeological research. Starting from the field experience gathered in a series of archaeological cruises in the North Tyrrhenian Sea, in which the combined use of state-of-the-art underwater tethered robots and sonar systems has been tested by a multidisciplinary group, the paper reviews some ongoing technological developments that may be merged toward the final goal of fully automated detection and inspection of an archaeological site. In particular, current advances in 3-D acoustic backscattering measurements for remote inspection of buried artefacts and vision-based robot control methodologies for fine positioning and accurate site survey are described.
URL, DOI BibTeX

@article{Caiti2006S383,
	author = "Caiti, A. and Casalino, G. and Conte, G. and Zanoli, S.M.",
	title = "Innovative technologies in underwater archaeology: Field experience, open problems, and research lines",
	year = 2006,
	journal = "Chemistry and Ecology",
	volume = 22,
	number = "SUPPL. 1",
	pages = "S383–S396",
	doi = "10.1080/02757540600572321",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-33748328020&doi=10.1080%2f02757540600572321&partnerID=40&md5=6192e7d17ab02c986c61c5fb69a361ac",
	abstract = "The exploitation of marine technological innovations in the field of underwater archaeology has been mainly associated in the past with the exploration phase, in a sort of 'treasure-hunt' fashion. However, the combined progress in such diverse fields as underwater acoustics, robotics, image processing, computer graphics, and decision support systems has not yet been directed towards the need for underwater archaeological research. Starting from the field experience gathered in a series of archaeological cruises in the North Tyrrhenian Sea, in which the combined use of state-of-the-art underwater tethered robots and sonar systems has been tested by a multidisciplinary group, the paper reviews some ongoing technological developments that may be merged toward the final goal of fully automated detection and inspection of an archaeological site. In particular, current advances in 3-D acoustic backscattering measurements for remote inspection of buried artefacts and vision-based robot control methodologies for fine positioning and accurate site survey are described.",
	type = "Review",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Turetta and A Sorbara. Distributed control and coordination technique for complex robotic systems.
2006.
Abstract The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a DP-based computationally distributed kinematic inversion technique that, based on a moderate data exchange among the processing units, allows the establishment of a global self-organizing behavior. In this way it becomes possible to execute any motion task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall structure geometry and kinematics.
URL, DOI BibTeX

@conference{Casalino2006b,
	author = "Casalino, G. and Turetta, A. and Sorbara, A.",
	title = "Distributed control and coordination technique for complex robotic systems",
	year = 2006,
	journal = "14th Mediterranean Conference on Control and Automation, MED'06",
	doi = "10.1109/MED.2006.328874",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-35948985214&doi=10.1109%2fMED.2006.328874&partnerID=40&md5=8bd3812eea53f5035299baae7f597088",
	abstract = {The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a DP-based computationally distributed kinematic inversion technique that, based on a moderate data exchange among the processing units, allows the establishment of a global self-organizing behavior. In this way it becomes possible to execute any motion task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall structure geometry and kinematics.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Turetta and A Sorbara. Operational space control of complex modular robotic structures via DP based kinematic inversion techniques.
2006.
Abstract The work deals with modular complex kinematic chains governed by an embedded distributed control system. More precisely, every joint of is assumed equipped with a simple local processing unit for properly driving its motion. As a consequence, each one of them plus the associated link is considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the others, in order to accomplish to a common task specified in the operational space. In this framework the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of dynamic programming (based on a moderate data exchange among the processing units), allows the establishment of a global selforganizing behaviour; thus allowing the task execution by solely exploiting the control capabilities of each local processing unit, while also not requiring any acknowledge about the overall structure geometry and kinematics. Copyright © 2006 IFAC.
URL, DOI BibTeX

@conference{Casalino2006a,
	author = "Casalino, G. and Turetta, A. and Sorbara, A.",
	title = "Operational space control of complex modular robotic structures via DP based kinematic inversion techniques",
	year = 2006,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 8,
	number = "PART 1",
	doi = "10.3182/20060906-3-it-2910.00026",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-80051595159&doi=10.3182%2f20060906-3-it-2910.00026&partnerID=40&md5=1619ae756c79273b9e5bea50dd587741",
	abstract = {The work deals with modular complex kinematic chains governed by an embedded distributed control system. More precisely, every joint of is assumed equipped with a simple local processing unit for properly driving its motion. As a consequence, each one of them plus the associated link is considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the others, in order to accomplish to a common task specified in the operational space. In this framework the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of dynamic programming (based on a moderate data exchange among the processing units), allows the establishment of a global selforganizing behaviour; thus allowing the task execution by solely exploiting the control capabilities of each local processing unit, while also not requiring any acknowledge about the overall structure geometry and kinematics. Copyright © 2006 IFAC.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, A Turetta and A Sorbara. Dynamic programming based computationally distributed kynematic inversion technique.
2006, 1092 – 1098.
Abstract The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a DP-based computationally distributed kinematic inversion technique that, based on a moderate data exchange among the processing units, allows the establishment of a global self-organizing behavior. In this way it becomes possible to execute any motion task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall structure geometry and kinematics. ©2006 IEEE.
URL, DOI BibTeX

@conference{Casalino20061092,
	author = "Casalino, G. and Turetta, A. and Sorbara, A.",
	title = "Dynamic programming based computationally distributed kynematic inversion technique",
	year = 2006,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	pages = "1092 – 1098",
	doi = "10.1109/IROS.2006.281816",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-34250620079&doi=10.1109%2fIROS.2006.281816&partnerID=40&md5=c340af9a586f994a0478cf4d623721a4",
	abstract = {The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a DP-based computationally distributed kinematic inversion technique that, based on a moderate data exchange among the processing units, allows the establishment of a global self-organizing behavior. In this way it becomes possible to execute any motion task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall structure geometry and kinematics. ©2006 IEEE.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino and A Turetta. Computationally distributed, self-organizing control of manipulators in the operational space.
2005, 1168 – 1174.
Abstract The present work deals with manipulator arms characterized by the presence of an embedded distributed control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints in order to accomplish a global common task specified in the operational space. In this context, the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to optimally execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall arm geometry and kinematics. © 2005 IEEE.
URL, DOI BibTeX

@conference{Casalino20051168,
	author = "Casalino, G. and Turetta, A.",
	title = "Computationally distributed, self-organizing control of manipulators in the operational space",
	year = 2005,
	journal = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
	pages = "1168 – 1174",
	doi = "10.1109/IROS.2005.1545480",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-79958004420&doi=10.1109%2fIROS.2005.1545480&partnerID=40&md5=756b985d6ada5f87464883419e06f585",
	abstract = {The present work deals with manipulator arms characterized by the presence of an embedded distributed control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints in order to accomplish a global common task specified in the operational space. In this context, the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to optimally execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall arm geometry and kinematics. © 2005 IEEE.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino and Alessio Turetta. Self-organizing control techniques for modular robotic ARMS within space applications.
2005, 293 – 300.
Abstract The present work deals with modular manipulator arms where each joint is equipped with a simple local processing unit for properly driving its motion. As a consequence, all joints and associated links are each one considered as a defective "1-dof only" atomic manipulators, which are required to act in cooperation, in order to accomplish global common tasks specified in the operational space. To this aim the paper proposes a computationally distributed kinematic inversion technique that, based on the on-line application of a dynamic programming technique (actually requiring a moderate data exchange among the processing units) naturally induces the emergence of a global self-organizing behavior, which allows the optimal execution of the task by solely exploiting the control capabilities the local processing units.
URL BibTeX

@conference{Casalino2005293,
	author = "Casalino, Giuseppe and Turetta, Alessio",
	title = "Self-organizing control techniques for modular robotic ARMS within space applications",
	year = 2005,
	journal = "European Space Agency, (Special Publication) ESA SP",
	number = 603,
	pages = "293 – 300",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-28744447413&partnerID=40&md5=553abc93446158f5c142dc8846a086cb",
	abstract = {The present work deals with modular manipulator arms where each joint is equipped with a simple local processing unit for properly driving its motion. As a consequence, all joints and associated links are each one considered as a defective "1-dof only" atomic manipulators, which are required to act in cooperation, in order to accomplish global common tasks specified in the operational space. To this aim the paper proposes a computationally distributed kinematic inversion technique that, based on the on-line application of a dynamic programming technique (actually requiring a moderate data exchange among the processing units) naturally induces the emergence of a global self-organizing behavior, which allows the optimal execution of the task by solely exploiting the control capabilities the local processing units.},
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

A Alvarez, A Caffaz, A Caiti, G Casalino, E Clerici, F Giorgi, L Gualdesi, A Turetta and R Viviani. Folaga: A very low cost autonomous underwater vehicle for coastal oceanography.
2005, 31 – 36.
Abstract The Fòlaga second version, a very low cost prototypal AUV for coastal oceanographic purposes, is introduced. The vehicle has the mission of collecting oceanographic data over vertical ocean section at selected geographical points. For this reason, it can navigate on the sea surface, and dive only when measurements are needed. This behaviour is similar to that of aquatic birds that swim on the water surface and dive occasionally in search of food. The paper concentrates on the vehicle communication and mission planning modules, and on the analysis of field data to test the vehicle maneuvrability. Copyright © 2005 IFAC.
URL, DOI BibTeX

@conference{Alvarez200531,
	author = "Alvarez, A. and Caffaz, A. and Caiti, A. and Casalino, G. and Clerici, E. and Giorgi, F. and Gualdesi, L. and Turetta, A. and Viviani, R.",
	title = "Folaga: A very low cost autonomous underwater vehicle for coastal oceanography",
	year = 2005,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 38,
	number = 1,
	pages = "31 – 36",
	doi = "10.3182/20050703-6-cz-1902.01947",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-79960743496&doi=10.3182%2f20050703-6-cz-1902.01947&partnerID=40&md5=5370bc5e6d1b5e6edef58e75de9fc487",
	abstract = "The Fòlaga second version, a very low cost prototypal AUV for coastal oceanographic purposes, is introduced. The vehicle has the mission of collecting oceanographic data over vertical ocean section at selected geographical points. For this reason, it can navigate on the sea surface, and dive only when measurements are needed. This behaviour is similar to that of aquatic birds that swim on the water surface and dive occasionally in search of food. The paper concentrates on the vehicle communication and mission planning modules, and on the analysis of field data to test the vehicle maneuvrability. Copyright © 2005 IFAC.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino and A Turetta. Dynamic programming based, computationally distributed control of modular manipulators in the operational space.
2005, 1460 – 1467.
Abstract The present work deals with manipulator arms characterized by the presence of an embedded distributed control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to optimally execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall arm geometry and kinematics. © 2005 IEEE.
URL BibTeX

@conference{Casalino20051460,
	author = "Casalino, G. and Turetta, A.",
	title = "Dynamic programming based, computationally distributed control of modular manipulators in the operational space",
	year = 2005,
	journal = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",
	pages = "1460 – 1467",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-27744572547&partnerID=40&md5=7080be42ea12f256ab6b9095ef99c098",
	abstract = {The present work deals with manipulator arms characterized by the presence of an embedded distributed control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately controlled atomic manipulator, which is required to act in team with all the other joints, in order to accomplish a global common task specified in the operational space. In this context the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to optimally execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall arm geometry and kinematics. © 2005 IEEE.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino and A Turetta. A computationally distributed self-organizing algorithm for the control of manipulators in the operational space.
2005, 4050 – 4055.
Abstract The present work deals with manipulator arms characterized by the presence of an internal, totally distributed, embedded control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit devoted to properly drive its motion, thus allowing to consider each pair constituted by a single joint and the associated link as a defective "1-dof-only", separately controlled, atomic manipulator. In this perspective, the paper proposes an effective, computationally distributed, control technique that, based on a repeated data exchange among the processing units, establishes a global self-organizing behaviour among the joints which allows to control the motion of the end-effector of the overall arm in the operational space, by solely exploiting the control capabilities of every local processing unit, while not requiring any centralized global knowledge about the overall arm geometry and kinematics. ©2005 IEEE.
URL, DOI BibTeX

@conference{Casalino20054050,
	author = "Casalino, G. and Turetta, A.",
	title = "A computationally distributed self-organizing algorithm for the control of manipulators in the operational space",
	year = 2005,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 2005,
	pages = "4050 – 4055",
	doi = "10.1109/ROBOT.2005.1570741",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-33846165438&doi=10.1109%2fROBOT.2005.1570741&partnerID=40&md5=e324cfc00b41c259b21923050aace9df",
	abstract = {The present work deals with manipulator arms characterized by the presence of an internal, totally distributed, embedded control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit devoted to properly drive its motion, thus allowing to consider each pair constituted by a single joint and the associated link as a defective "1-dof-only", separately controlled, atomic manipulator. In this perspective, the paper proposes an effective, computationally distributed, control technique that, based on a repeated data exchange among the processing units, establishes a global self-organizing behaviour among the joints which allows to control the motion of the end-effector of the overall arm in the operational space, by solely exploiting the control capabilities of every local processing unit, while not requiring any centralized global knowledge about the overall arm geometry and kinematics. ©2005 IEEE.},
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino and Alessio Turetta. Self-coordination technique for mobile manipulators.
2004, 191 – 196.
Abstract The paper deals with the problem of suitably coordinating the manoeuvring of a nonholonomic vehicle and the motion of a supported manipulator when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of exploiting the extra dof's offered by the vehicle for cooperatively accomplishing to tasks that otherwise could not be executed by the arm only. Results are obtained by devising an effective technique that, while preserving system modularity, also allows system self-coordination, without explicitly keeping into account the kinematic structure of the underlying subsystems. © 2004 IFAC
URL BibTeX

@conference{Casalino2004191,
	author = "Casalino, Giuseppe and Turetta, Alessio",
	title = "Self-coordination technique for mobile manipulators",
	year = 2004,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 37,
	number = 8,
	pages = "191 – 196",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85083282572&partnerID=40&md5=c0b741702f6467700c1d15ba2cf1f3c0",
	abstract = "The paper deals with the problem of suitably coordinating the manoeuvring of a nonholonomic vehicle and the motion of a supported manipulator when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of exploiting the extra dof's offered by the vehicle for cooperatively accomplishing to tasks that otherwise could not be executed by the arm only. Results are obtained by devising an effective technique that, while preserving system modularity, also allows system self-coordination, without explicitly keeping into account the kinematic structure of the underlying subsystems. © 2004 IFAC",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino and Alessio Turetta. Modular composition and self-coordination technique for mobile manipulators.
2004, 1586 – 1592.
Abstract The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulator when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of exploiting the extra dof's offered by the vehicle for cooperatively accomplishing to tasks that otherwise could not be executed by the arm only. Results are obtained by devising an effective technique that, while preserving system modularity, also allows system self-coordination, without explicitly keeping into account the kinematic structure of the underlying subsystems.
URL, DOI BibTeX

@conference{Casalino20041586,
	author = "Casalino, Giuseppe and Turetta, Alessio",
	title = "Modular composition and self-coordination technique for mobile manipulators",
	year = 2004,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 2004,
	number = 2,
	pages = "1586 – 1592",
	doi = "10.1109/robot.2004.1308050",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-3042626825&doi=10.1109%2frobot.2004.1308050&partnerID=40&md5=7550d512e22a0b7a15acdc9e4b05a412",
	abstract = "The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulator when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of exploiting the extra dof's offered by the vehicle for cooperatively accomplishing to tasks that otherwise could not be executed by the arm only. Results are obtained by devising an effective technique that, while preserving system modularity, also allows system self-coordination, without explicitly keeping into account the kinematic structure of the underlying subsystems.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Fabio Giorgi, Andrea Caffaz, Giuseppe Casalino and Alessio Turetta. Modular control technology for antropomorphic robotic hands.
2004, 503 – 509.
Abstract This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular approach to the relevant motion control problem features is provided. Finally the most significant implementation issues related to the candidate distributed control architecture are presented.
URL BibTeX

@conference{Giorgi2004503,
	author = "Giorgi, Fabio and Caffaz, Andrea and Casalino, Giuseppe and Turetta, Alessio",
	title = "Modular control technology for antropomorphic robotic hands",
	year = 2004,
	journal = "Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC",
	pages = "503 – 509",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-32844471720&partnerID=40&md5=947147933c581a46462a7e55b40411a5",
	abstract = "This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular approach to the relevant motion control problem features is provided. Finally the most significant implementation issues related to the candidate distributed control architecture are presented.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino and Alessio Turetta. Coordination and control of multiarm nonholonomic mobile manipulators.
Springer Tracts in Advanced Robotics 10:171 – 190, 2004.
Abstract This chapter deals with the problem of suitably coordinating the manoeuvring of a nonholonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The goal is that of suitably exploiting the extra degrees of freedom offered by the vehicle for better accomplishing the assigned task in a cooperative way. © Springer-Verlag Berlin Heidelberg 2004.
URL, DOI BibTeX

@article{Casalino2004171,
	author = "Casalino, Giuseppe and Turetta, Alessio",
	title = "Coordination and control of multiarm nonholonomic mobile manipulators",
	year = 2004,
	journal = "Springer Tracts in Advanced Robotics",
	volume = 10,
	pages = "171 – 190",
	doi = "10.1007/978-3-540-44410-7_8",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-78651314732&doi=10.1007%2f978-3-540-44410-7_8&partnerID=40&md5=bed240ea10c60fb2924ec96ec87a2b74",
	abstract = "This chapter deals with the problem of suitably coordinating the manoeuvring of a nonholonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The goal is that of suitably exploiting the extra degrees of freedom offered by the vehicle for better accomplishing the assigned task in a cooperative way. © Springer-Verlag Berlin Heidelberg 2004.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

A Alvarez, A Caffaz, A Caiti, G Casalino, E Clerici, F Giorgi, L Gualdesi and A Turetta. Design and realization of a very low cost prototypal autonomous vehicle for coastal ocenographic missions.
2004, 471 – 476.
Abstract The design and main features of a very low cost underwater vehicle for coastal oceanographic applications are illustrated. The key to a low cost but still effective design, in this case, is the limitation of the vehicle features and capabilities solely to those strictly required for the fullfillment of the mission. In terms of navigation and control capabilities, in particular, this allows for the use of GPS-driven algorithms when transiting from one sampling location to another, and the use of a robust closed-loop steering law automatically generating smooth transit trajectories. Copyright © 2004 IFAC.
URL, DOI BibTeX

@conference{Alvarez2004471,
	author = "Alvarez, A. and Caffaz, A. and Caiti, A. and Casalino, G. and Clerici, E. and Giorgi, F. and Gualdesi, L. and Turetta, A.",
	title = "Design and realization of a very low cost prototypal autonomous vehicle for coastal ocenographic missions",
	year = 2004,
	journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
	volume = 37,
	number = 10,
	pages = "471 – 476",
	doi = "10.1016/S1474-6670(17)31777-9",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-79956222670&doi=10.1016%2fS1474-6670%2817%2931777-9&partnerID=40&md5=68d87bb5f45e79e5b67d837f5c495bfb",
	abstract = "The design and main features of a very low cost underwater vehicle for coastal oceanographic applications are illustrated. The key to a low cost but still effective design, in this case, is the limitation of the vehicle features and capabilities solely to those strictly required for the fullfillment of the mission. In terms of navigation and control capabilities, in particular, this allows for the use of GPS-driven algorithms when transiting from one sampling location to another, and the use of a robust closed-loop steering law automatically generating smooth transit trajectories. Copyright © 2004 IFAC.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Fabio Giorgi, Andrea Caffaz, Giuseppe Casalino and Alessio Turetta. FPGA-based technology for modular control of anthropomorphic robotic hands.
2004, 387 – 391.
Abstract This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular approach to the relevant motion control problem features is provided. Finally the most significant implementation issues related to the candidate distributed control architecture are presented.
URL BibTeX

@conference{Giorgi2004387,
	author = "Giorgi, Fabio and Caffaz, Andrea and Casalino, Giuseppe and Turetta, Alessio",
	title = "FPGA-based technology for modular control of anthropomorphic robotic hands",
	year = 2004,
	journal = "Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04",
	pages = "387 – 391",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-13944281726&partnerID=40&md5=cdbd03647bca16966d7ab19a3c94a556",
	abstract = "This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular approach to the relevant motion control problem features is provided. Finally the most significant implementation issues related to the candidate distributed control architecture are presented.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino and Alessio Turetta. Coordination and Control of Multiarm, Non-Holonomic Mobile Manipulators.
2003, 2203 – 2210.
Abstract The problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system was discussed. The aim was to suitably exploit the extra degrees of freedom offered by the vehicle for better accomplishing the assigned task in a cooperative way. The adopted approach was of purely kinematics type. The related algorithms generated the set of coordination signals for the underlying structures.
URL BibTeX

@conference{Casalino20032203,
	author = "Casalino, Giuseppe and Turetta, Alessio",
	title = "Coordination and Control of Multiarm, Non-Holonomic Mobile Manipulators",
	year = 2003,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	volume = 3,
	pages = "2203 – 2210",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0346778976&partnerID=40&md5=504817c449ae857e49c39cf9cd524e9b",
	abstract = "The problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system was discussed. The aim was to suitably exploit the extra degrees of freedom offered by the vehicle for better accomplishing the assigned task in a cooperative way. The adopted approach was of purely kinematics type. The related algorithms generated the set of coordination signals for the underlying structures.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino, Fabio Giorgi, Alessio Turetta and Andrea Caffaz. Embedded FPGA-based control of a multifingered robotic hand.
2003, 2786 – 2791.
Abstract This paper describes the most significant design issues related with the development of an embedded FPGA-based control system for a human-like robotic hand. Specific features of the mechanical design of the system are discussed firstly, then a general approach to the problem of controlling the motion of the robotic device is provided. Finally a candidate distributed control architecture is presented.
URL BibTeX

@conference{Casalino20032786,
	author = "Casalino, Giuseppe and Giorgi, Fabio and Turetta, Alessio and Caffaz, Andrea",
	title = "Embedded FPGA-based control of a multifingered robotic hand",
	year = 2003,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 2,
	pages = "2786 – 2791",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0344877156&partnerID=40&md5=371f94e52718d6d1c6b709f66982615a",
	abstract = "This paper describes the most significant design issues related with the development of an embedded FPGA-based control system for a human-like robotic hand. Specific features of the mechanical design of the system are discussed firstly, then a general approach to the problem of controlling the motion of the robotic device is provided. Finally a candidate distributed control architecture is presented.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino and G Indiveri. Steering marine vehicles: A drag coefficient modulation approach.
2001, 361 – 365.
Abstract The position and orientation control of an underwater planar vehicle, actuated by rear thrusters with longitudinal control was considered in dynamic setting. The maneuvring control of the vehicle allowed the drag coefficient modulation in the sway direction. The trajectory of the marine vehicle was compared with that of the terrestrial case. It was found that the modulation function increased its action as the sway velocity increased with respect to the absolute distance.
URL BibTeX

@conference{Aicardi2001361,
	author = "Aicardi, M. and Casalino, G. and Indiveri, G.",
	title = "Steering marine vehicles: A drag coefficient modulation approach",
	year = 2001,
	journal = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
	volume = 1,
	pages = "361 – 365",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034870138&partnerID=40&md5=80dfe3b28e043047abc3d1fab0c123de",
	abstract = "The position and orientation control of an underwater planar vehicle, actuated by rear thrusters with longitudinal control was considered in dynamic setting. The maneuvring control of the vehicle allowed the drag coefficient modulation in the sway direction. The trajectory of the marine vehicle was compared with that of the terrestrial case. It was found that the modulation function increased its action as the sway velocity increased with respect to the absolute distance.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino, Giorgio Cannata, Giorgio Panin and Andrea Caffaz. On a two-level hierarchical structure for the dynamic control of multifingered manipulation.
Proceedings - IEEE International Conference on Robotics and Automation 1:77 – 84, 2001.
Abstract The problem of grasping and manipulating rigid objects using a multifingered robotic system is dealt with in this paper. A hierarchical two-level closed-loop trajectory tracking control strategy is presented here, in order to achieve the manipulation task, together with a complimentary force control, for the object grasping, which makes use of a recent formulation of grasping forces decomposition.
URL, DOI BibTeX

@article{Casalino200177,
	author = "Casalino, Giuseppe and Cannata, Giorgio and Panin, Giorgio and Caffaz, Andrea",
	title = "On a two-level hierarchical structure for the dynamic control of multifingered manipulation",
	year = 2001,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 1,
	pages = "77 – 84",
	doi = "10.1109/ROBOT.2001.932533",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034868183&doi=10.1109%2fROBOT.2001.932533&partnerID=40&md5=2b3c996862b8f5aa4e4c751d944a9b3b",
	abstract = "The problem of grasping and manipulating rigid objects using a multifingered robotic system is dealt with in this paper. A hierarchical two-level closed-loop trajectory tracking control strategy is presented here, in order to achieve the manipulation task, together with a complimentary force control, for the object grasping, which makes use of a recent formulation of grasping forces decomposition.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino and G Indiveri. Closed loop control of 3D underactuated vehicles via velocity field tracking.
2001, 355 – 360.
Abstract A novel strategy to design time invariant motion controllers for underactuated mobile systems is applied to the position and attitude control of an underactuated 3D vehicle. The idea consists in defining a velocity vector field such that an ideal, fully actuated system would exponentially achieve the control objective by simply following such field. Then a steering law for the given underactuated system is designed such that it is exponentially stabilized parallel to the above mentioned velocity vector field. For the particular problem here addressed, due to the use of polar like coordinates, this method yields a discontinuous control law. Both the design process and the resulting solution have a most clear physical interpretation. Important practical requirements as approaching the target on a null curvature path, avoiding cusps in the whole path and moving in only one given forward direction are easily satisfied within this framework.
URL BibTeX

@conference{Aicardi2001355,
	author = "Aicardi, M. and Casalino, G. and Indiveri, G.",
	title = "Closed loop control of 3D underactuated vehicles via velocity field tracking",
	year = 2001,
	journal = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
	volume = 1,
	pages = "355 – 360",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034864090&partnerID=40&md5=7664156bd959eb1b293de983b83de6f5",
	abstract = "A novel strategy to design time invariant motion controllers for underactuated mobile systems is applied to the position and attitude control of an underactuated 3D vehicle. The idea consists in defining a velocity vector field such that an ideal, fully actuated system would exponentially achieve the control objective by simply following such field. Then a steering law for the given underactuated system is designed such that it is exponentially stabilized parallel to the above mentioned velocity vector field. For the particular problem here addressed, due to the use of polar like coordinates, this method yields a discontinuous control law. Both the design process and the resulting solution have a most clear physical interpretation. Important practical requirements as approaching the target on a null curvature path, avoiding cusps in the whole path and moving in only one given forward direction are easily satisfied within this framework.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, D Angeletti, T Bozzo and G Marani. Dexterous underwater object manipulation via multirobot cooperating systems.
2001, 3220 – 3225.
Abstract The complete design and realization of an underwater manipulation system composed by two cooperating arms has been one of the main goals which has been recently attained at the end of the AMADEUS Phase II project: a three years lasting reserch activity, funded by the European Community within the framework of the MAST III program on Marine Technology development. Within this paper, the lines and methodologies followed within the design of the complete functional and algorithmic control architecture for the workcell will be presented in some details, by mainly focusing on its various aspects of modularity, scalability and composability, which presently allow the execution of many different, cooperative, object manipulation tasks.
URL BibTeX

@conference{Casalino20013220,
	author = "Casalino, G. and Angeletti, D. and Bozzo, T. and Marani, G.",
	title = "Dexterous underwater object manipulation via multirobot cooperating systems",
	year = 2001,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 4,
	pages = "3220 – 3225",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034867403&partnerID=40&md5=a43eecc7e5b43e5cd9cb6b9bd8a3b488",
	abstract = "The complete design and realization of an underwater manipulation system composed by two cooperating arms has been one of the main goals which has been recently attained at the end of the AMADEUS Phase II project: a three years lasting reserch activity, funded by the European Community within the framework of the MAST III program on Marine Technology development. Within this paper, the lines and methodologies followed within the design of the complete functional and algorithmic control architecture for the workcell will be presented in some details, by mainly focusing on its various aspects of modularity, scalability and composability, which presently allow the execution of many different, cooperative, object manipulation tasks.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino and G Indiveri. Planar motion steering of underwater vehicles by exploiting drag coefficient modulation.
2001, 915 – 919.
Abstract Planar motion steering of underwater vehicles was studied by exploiting drag coefficient modulation. Modulation of longitudinal control surfaces resulted in suitability of controlling the sway velocity for the asymptotic convergence toward the desired final position and attitude of the vehicle. Simulation results compared with purely kinematics case showed the effectiveness of the proposed dynamic control technique.
URL BibTeX

@conference{Aicardi2001915,
	author = "Aicardi, M. and Casalino, G. and Indiveri, G.",
	title = "Planar motion steering of underwater vehicles by exploiting drag coefficient modulation",
	year = 2001,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 1,
	pages = "915 – 919",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034865491&partnerID=40&md5=9211ddd903caf179a1f7022158fbb763",
	abstract = "Planar motion steering of underwater vehicles was studied by exploiting drag coefficient modulation. Modulation of longitudinal control surfaces resulted in suitability of controlling the sway velocity for the asymptotic convergence toward the desired final position and attitude of the vehicle. Simulation results compared with purely kinematics case showed the effectiveness of the proposed dynamic control technique.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giorgio Cannata, Giuseppe Casalino and Giovanni Indiveri. Cusp-free, time-invariant, 3D feedback control law for a nonholonomic floating robot.
International Journal of Robotics Research 20(4):300 – 311, 2001.
Abstract In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law guarantees almost global exponential convergence of the configuration error to zero with paths that do not exhibit any cusps, thus satisfying a major requirement for the application of such results on real systems that are not allowed or desired to move in both the forward and backward directions.
URL, DOI BibTeX

@article{Aicardi2001300,
	author = "Aicardi, Michele and Cannata, Giorgio and Casalino, Giuseppe and Indiveri, Giovanni",
	title = "Cusp-free, time-invariant, 3D feedback control law for a nonholonomic floating robot",
	year = 2001,
	journal = "International Journal of Robotics Research",
	volume = 20,
	number = 4,
	pages = "300 – 311",
	doi = "10.1177/02783640122067417",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0035303010&doi=10.1177%2f02783640122067417&partnerID=40&md5=77b902e75376f81f4c42133aff3f2243",
	abstract = "In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law guarantees almost global exponential convergence of the configuration error to zero with paths that do not exhibit any cusps, thus satisfying a major requirement for the application of such results on real systems that are not allowed or desired to move in both the forward and backward directions.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino and G Indiveri. Closed loop time invariant control of 3D underactuated underwater vehicles.
2001, 903 – 908.
Abstract A novel strategy to design time invariant motion controllers for underactuated mobile systems is applied to the position and attitude control of an underactuated 3D vehicle. The idea consists in defining a velocity vector field such that an ideal, fully actuated system would exponentially achieve the control objective by simply following such field. Then a steering law for the given underactuated system is designed such that it is exponentially stabilized parallel to the above mentioned velocity vector field. For the particular problem here addressed, due to the use of polar like coordinates, this method yields a discontinuous control law. Both the design process and the resulting solution have a most clear physical interpretation. Important practical requirements as approaching the target on a null curvature path, avoiding cusps in the whole path and moving in only one given forward direction are easily satisfied within this framework.
URL, DOI BibTeX

@conference{Aicardi2001903,
	author = "Aicardi, M. and Casalino, G. and Indiveri, G.",
	title = "Closed loop time invariant control of 3D underactuated underwater vehicles",
	year = 2001,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 1,
	pages = "903 – 908",
	doi = "10.1109/ROBOT.2001.932665",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034876306&doi=10.1109%2fROBOT.2001.932665&partnerID=40&md5=65d1ddb89491551375a8b3ef37c62b51",
	abstract = "A novel strategy to design time invariant motion controllers for underactuated mobile systems is applied to the position and attitude control of an underactuated 3D vehicle. The idea consists in defining a velocity vector field such that an ideal, fully actuated system would exponentially achieve the control objective by simply following such field. Then a steering law for the given underactuated system is designed such that it is exponentially stabilized parallel to the above mentioned velocity vector field. For the particular problem here addressed, due to the use of polar like coordinates, this method yields a discontinuous control law. Both the design process and the resulting solution have a most clear physical interpretation. Important practical requirements as approaching the target on a null curvature path, avoiding cusps in the whole path and moving in only one given forward direction are easily satisfied within this framework.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino and G Indiveri. On a closed loop time invariant position control solution for an underactuated 3D underwater vehicle: Implementation, stability and robustness considerations.
2000, 485 – 490.
Abstract Two discontinuous solutions for the kinematic position and attitude closed loop control problem of an underactuated floating body are considered. The first is derived on the basis of Lyapunov's stability theory while the second is designed exploiting a novel idea: first a vector field is defined such that an ideal point free to move in any direction would exponentially converge to the desired configuration and then a steering law for the underactuated vehicle is derived such that it is exponentially parallel to the above mentioned field. Both solutions yield cusp-free and asymptotically null curvature paths which is a major practical constraint in real world applications. © 2000 IEEE.
URL, DOI BibTeX

@conference{Aicardi2000485,
	author = "Aicardi, M. and Casalino, G. and Indiveri, G.",
	title = "On a closed loop time invariant position control solution for an underactuated 3D underwater vehicle: Implementation, stability and robustness considerations",
	year = 2000,
	journal = "Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000",
	pages = "485 – 490",
	doi = "10.1109/UT.2000.852592",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84960324241&doi=10.1109%2fUT.2000.852592&partnerID=40&md5=56e6e15da2c77cd56359dddb022b30e2",
	abstract = "Two discontinuous solutions for the kinematic position and attitude closed loop control problem of an underactuated floating body are considered. The first is derived on the basis of Lyapunov's stability theory while the second is designed exploiting a novel idea: first a vector field is defined such that an ideal point free to move in any direction would exponentially converge to the desired configuration and then a steering law for the underactuated vehicle is derived such that it is exponentially parallel to the above mentioned field. Both solutions yield cusp-free and asymptotically null curvature paths which is a major practical constraint in real world applications. © 2000 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giovanni Indiveri, Michele Aicardi and Giuseppe Casalino. Robust global stabilization of an underactuated marine vehicle on a linear course by smooth time-invariant feedback.
Proceedings of the IEEE Conference on Decision and Control 3:2156 – 2161, 2000.
Abstract The stabilization of an underactuated marine vehicle on a linear course is considered. In spite of being controllable and that Brocketts Theorem does not prevent the existence of a smooth pure feedback control solution, standard tools of nonlinear control as feedback linearization cannot be applied. A smooth, time invariant, globally converging control solution is designed on the basis of a simple and novel idea to derive motion control laws for underactuated systems. Robustness with respect to model parameter uncertainty and state measurement errors is discussed both analytically and through simulations.
URL, DOI BibTeX

@article{Indiveri20002156,
	author = "Indiveri, Giovanni and Aicardi, Michele and Casalino, Giuseppe",
	title = "Robust global stabilization of an underactuated marine vehicle on a linear course by smooth time-invariant feedback",
	year = 2000,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 3,
	pages = "2156 – 2161",
	doi = "10.1109/CDC.2000.914114",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034438456&doi=10.1109%2fCDC.2000.914114&partnerID=40&md5=8c1fbeeb124d0a36e199675c0f25638b",
	abstract = "The stabilization of an underactuated marine vehicle on a linear course is considered. In spite of being controllable and that Brocketts Theorem does not prevent the existence of a smooth pure feedback control solution, standard tools of nonlinear control as feedback linearization cannot be applied. A smooth, time invariant, globally converging control solution is designed on the basis of a simple and novel idea to derive motion control laws for underactuated systems. Robustness with respect to model parameter uncertainty and state measurement errors is discussed both analytically and through simulations.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giorgio Cannata and Giuseppe Casalino. Attitude feedback control: unconstrained and nonholonomic constrained cases.
Journal of Guidance, Control, and Dynamics 23(4):657 – 664, 2000.
Abstract The problem is considered of asymptotically driving, the attitude of a spacecraft via feedback control. First, a simple feedback control structure based on the measure of the equivalent angle axis is determined for a fully actuated system. Then, the same reasoning is used to find the solution for a spacecraft operating in failure mode, that is, whenever the angular velocity vector is constrained to lie in one of the spacecraft's coordinate planes. The basic aim is to show that with a simple choice for the attitude parameterization, a simple and effective structure for the feedback control law can be obtained.
URL, DOI BibTeX

@article{Aicardi2000657,
	author = "Aicardi, Michele and Cannata, Giorgio and Casalino, Giuseppe",
	title = "Attitude feedback control: unconstrained and nonholonomic constrained cases",
	year = 2000,
	journal = "Journal of Guidance, Control, and Dynamics",
	volume = 23,
	number = 4,
	pages = "657 – 664",
	doi = "10.2514/2.4581",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0034230068&doi=10.2514%2f2.4581&partnerID=40&md5=df893313e94bdd71bc86e434fc1a1ca3",
	abstract = "The problem is considered of asymptotically driving, the attitude of a spacecraft via feedback control. First, a simple feedback control structure based on the measure of the equivalent angle axis is determined for a fully actuated system. Then, the same reasoning is used to find the solution for a spacecraft operating in failure mode, that is, whenever the angular velocity vector is constrained to lie in one of the spacecraft's coordinate planes. The basic aim is to show that with a simple choice for the attitude parameterization, a simple and effective structure for the feedback control law can be obtained.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

D M Lane, G Bartolini, O Cannata, G Casalino, J B C Davies, G Veruggio, M Canals and C Smith. Advanced MAnipulation for DEep Underwater Sampling: The AMADEUS research project.
1998, 1068 – 1073.
Abstract This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. AMADEUS is a programme of work focused on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with end users. This paper summarize the major achievements obtained within the program.
URL BibTeX

@conference{Lane19981068,
	author = "Lane, D.M. and Bartolini, G. and Cannata, O. and Casalino, G. and Davies, J.B.C. and Veruggio, G. and Canals, M. and Smith, C.",
	title = "Advanced MAnipulation for DEep Underwater Sampling: The AMADEUS research project",
	year = 1998,
	journal = "IEEE Conference on Control Applications - Proceedings",
	volume = 2,
	pages = "1068 – 1073",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032304441&partnerID=40&md5=0ff18aa8ce537c12eddb487f831cb3b7",
	abstract = "This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. AMADEUS is a programme of work focused on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with end users. This paper summarize the major achievements obtained within the program.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

D Angeletti, G Bruzzone, M Caccia, G Cannata, G Casalino, S Reto and G Veruggio. AMADEUS: Dual-arm workcell for co-ordinated and dexterous manipulation.
1998, 947 – 952.
Abstract The AMADEUS research project aims at the improvement of the dexterity and sensory abilities of underwater manipulation systems, in support of marine geology and benthic science. Of particular interest in phase II of the project is the study of the co-ordinated control of two underwater 7 degrees of freedom electro-mechanical arms. This testbed, which will be used for grasping and manipulation of large and heavy objects, will be suitably sensorized with underwater force/torque and tactile sensors. The system will be operated by a human operator through a tele-assisted control architecture.
URL BibTeX

@conference{Angeletti1998947,
	author = "Angeletti, D. and Bruzzone, G. and Caccia, M. and Cannata, G. and Casalino, G. and Reto, S. and Veruggio, G.",
	title = "AMADEUS: Dual-arm workcell for co-ordinated and dexterous manipulation",
	year = 1998,
	journal = "Oceans Conference Record (IEEE)",
	volume = 2,
	pages = "947 – 952",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032279123&partnerID=40&md5=9b7cdcda415b608820926f449ae68caa",
	abstract = "The AMADEUS research project aims at the improvement of the dexterity and sensory abilities of underwater manipulation systems, in support of marine geology and benthic science. Of particular interest in phase II of the project is the study of the co-ordinated control of two underwater 7 degrees of freedom electro-mechanical arms. This testbed, which will be used for grasping and manipulation of large and heavy objects, will be suitably sensorized with underwater force/torque and tactile sensors. The system will be operated by a human operator through a tele-assisted control architecture.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Caccia, G Casalino, R Cristi and G Veruggio. Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment.
Control Engineering Practice 6(5):661 – 670, 1998.
Abstract The problem of identification and navigation, guidance and control in unmanned underwater vehicles (UUVs) is addressed in this paper. A task-function-based guidance system and an acoustic motion estimation module have been integrated with a conventional UUV autopilot within a two-layered hierarchical architecture for closed-loop control. Basic techniques to estimate the robot dynamics using the sensors mounted on the vehicle have been investigated. The proposed identification techniques and navigation, guidance and control (NGC) system have been tested on Roby2, a UUV developed at the Istituto Automazione Navale of the Italian C.N.R. The experimental set-up, as well as the modalities and results, are discussed.
URL, DOI BibTeX

@article{Caccia1998661,
	author = "Caccia, M. and Casalino, G. and Cristi, R. and Veruggio, G.",
	title = "Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment",
	year = 1998,
	journal = "Control Engineering Practice",
	volume = 6,
	number = 5,
	pages = "661 – 670",
	doi = "10.1016/S0967-0661(98)00057-4",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032075957&doi=10.1016%2fS0967-0661%2898%2900057-4&partnerID=40&md5=3dd7f7210767deacc5cb9b0fbdea3a23",
	abstract = "The problem of identification and navigation, guidance and control in unmanned underwater vehicles (UUVs) is addressed in this paper. A task-function-based guidance system and an acoustic motion estimation module have been integrated with a conventional UUV autopilot within a two-layered hierarchical architecture for closed-loop control. Basic techniques to estimate the robot dynamics using the sensors mounted on the vehicle have been investigated. The proposed identification techniques and navigation, guidance and control (NGC) system have been tested on Roby2, a UUV developed at the Istituto Automazione Navale of the Italian C.N.R. The experimental set-up, as well as the modalities and results, are discussed.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Damiano Angeletti, Giorgio Cannata and Giuseppe Casalino. The control architecture of the AMADEUS gripper.
International Journal of Systems Science 29(5):485 – 496, 1998.
Abstract Some fundamental issues are presented related to the design and implementation aspects of advanced control techniques for robotic systems; extension and application to controlling the AMADEUS gripper, which is a special underwater device developed at the Heriot-Watt University of Edinburgh, are shown. Control objectives have been achieved through the application of the so-called Task-Function concept. This theory allows one to specify a complete task level closed loop hierarchical control architecture, and provides important guidelines for the implementation of actual task based control systems for robots. © 1998 Taylor and Francis Group, LLC.
URL, DOI BibTeX

@article{Angeletti1998485,
	author = "Angeletti, Damiano and Cannata, Giorgio and Casalino, Giuseppe",
	title = "The control architecture of the AMADEUS gripper",
	year = 1998,
	journal = "International Journal of Systems Science",
	volume = 29,
	number = 5,
	pages = "485 – 496",
	doi = "10.1080/00207729808929539",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032072065&doi=10.1080%2f00207729808929539&partnerID=40&md5=c6decc836be213fe4c1affbe74ba5bc2",
	abstract = "Some fundamental issues are presented related to the design and implementation aspects of advanced control techniques for robotic systems; extension and application to controlling the AMADEUS gripper, which is a special underwater device developed at the Heriot-Watt University of Edinburgh, are shown. Control objectives have been achieved through the application of the so-called Task-Function concept. This theory allows one to specify a complete task level closed loop hierarchical control architecture, and provides important guidelines for the implementation of actual task based control systems for robots. © 1998 Taylor and Francis Group, LLC.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

D M Lane, J B C Davies, G Robinson, D J O'Brien, M Pickett, D Jones, E Scott, Y Wang, G Casalino, G Bartolini, G Cannata, A Ferrara, D Angelleti, M Coccoli and G Veruggio. AMADEUS: Advanced MAnipulator for DEep Underwater Sampling.
1997, 2145 – 2151.
Abstract AMADEUS is a dextrous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, co-ordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modelling/planning for supervisory `blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users. This paper summarizes the developments in phase I. Further details for each area of investigation are referenced.
URL BibTeX

@conference{Lane19972145,
	author = "Lane, D.M. and Davies, J.B.C. and Robinson, G. and O'Brien, D.J. and Pickett, M. and Jones, D. and Scott, E. and Wang, Y. and Casalino, G. and Bartolini, G. and Cannata, G. and Ferrara, A. and Angelleti, D. and Coccoli, M. and Veruggio, G.",
	title = "AMADEUS: Advanced MAnipulator for DEep Underwater Sampling",
	year = 1997,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 3,
	pages = "2145 – 2151",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030703757&partnerID=40&md5=c3d6ae4bcee6f8e3b5d385d5cf8da28d",
	abstract = "AMADEUS is a dextrous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, co-ordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modelling/planning for supervisory `blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users. This paper summarizes the developments in phase I. Further details for each area of investigation are referenced.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giuseppe Casalino and Giorgio Cannata. Contact force canonical decomposition and the role of internal forces in robust grasp planning problems.
International Journal of Satellite Communications 15(4):351 – 364, 1997.
Abstract This article addresses the problem of grasping rigid objects using robot hands. A new formalism is presented that is suitable for representing the space of the contact forces that allow a grasped object to perform an assigned motion, and emphasis is placed on the advantages to be gained from this formalism when planning a "robust grasp." In particular, α "canonical " representation of the space of so-called internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasping and manipulation forces.
URL BibTeX

@article{Aicardi1997351,
	author = "Aicardi, Michele and Casalino, Giuseppe and Cannata, Giorgio",
	title = "Contact force canonical decomposition and the role of internal forces in robust grasp planning problems",
	year = 1997,
	journal = "International Journal of Satellite Communications",
	volume = 15,
	number = 4,
	pages = "351 – 364",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-3943089892&partnerID=40&md5=aa1a9e08a2c423950af15d36692ed6ae",
	abstract = {This article addresses the problem of grasping rigid objects using robot hands. A new formalism is presented that is suitable for representing the space of the contact forces that allow a grasped object to perform an assigned motion, and emphasis is placed on the advantages to be gained from this formalism when planning a "robust grasp." In particular, α "canonical " representation of the space of so-called internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasping and manipulation forces.},
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

A Caffaz, S Bernieri, G Cannata and G Casalino. DIST-HAND robot.
1997.
Abstract The DIST ROBOTIC HAND is developed for the analysis and the experimental study of robotic grasping and manipulation, as well as a device for possible applications in the area of telemanipulation. The hand is formed by a palm supporting four fingers. Each finger has four rotational degrees of freedom, and is equipped with custom build position sensors using Hall-effect transducers. The actuation of each finger is done using six tendons driven by five computer controlled DC motors. Various design objectives have been pursued during the development of the prototype.
URL BibTeX

@conference{Caffaz1997,
	author = "Caffaz, A. and Bernieri, S. and Cannata, G. and Casalino, G.",
	title = "DIST-HAND robot",
	year = 1997,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	volume = 3,
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0031347063&partnerID=40&md5=b38d85fe4c67965f3d4ef1fef6443b15",
	abstract = "The DIST ROBOTIC HAND is developed for the analysis and the experimental study of robotic grasping and manipulation, as well as a device for possible applications in the area of telemanipulation. The hand is formed by a palm supporting four fingers. Each finger has four rotational degrees of freedom, and is equipped with custom build position sensors using Hall-effect transducers. The actuation of each finger is done using six tendons driven by five computer controlled DC motors. Various design objectives have been pursued during the development of the prototype.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

D M Lane, D J O'Brien, M Pickett, J B C Davies, G Robinson, D Jones, E Scott, G Casalino, G Bartolini, G Cannata, A Ferrara, D Angelleti, M Coccoli, G Veruggio, R Bono, P Virgili, M Canals, R Pallas, E Gracia and C Smith. AMADEUS: Advanced Manipulation for Deep Underwater Sampling.
IEEE Robotics and Automation Magazine 4(4):34 – 45, 1997.
Abstract AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory 'blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.
URL, DOI BibTeX

@article{Lane199734,
	author = "Lane, D.M. and O'Brien, D.J. and Pickett, M. and Davies, J.B.C. and Robinson, G. and Jones, D. and Scott, E. and Casalino, G. and Bartolini, G. and Cannata, G. and Ferrara, A. and Angelleti, D. and Coccoli, M. and Veruggio, G. and Bono, R. and Virgili, P. and Canals, M. and Pallas, R. and Gracia, E. and Smith, C.",
	title = "AMADEUS: Advanced Manipulation for Deep Underwater Sampling",
	year = 1997,
	journal = "IEEE Robotics and Automation Magazine",
	volume = 4,
	number = 4,
	pages = "34 – 45",
	doi = "10.1109/100.637804",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0031375208&doi=10.1109%2f100.637804&partnerID=40&md5=ea699b8326be54d3e25f0728cb5c1337",
	abstract = "AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory 'blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Caccia, G Veruggio, G Casalino, S Alloisio, C Grosso and R Cristi. Sonar-based bottom estimation in UUVs adopting a multi-hypothesis extended Kalman filter.
1997, 745 – 750.
Abstract High precision bottom estimation techniques in Unmanned Underwater Vehicles (UUVs) are examined in this paper. Environment sensing is performed by a high-frequency pencil beam profiling sonar mounted on Roby2, a small prototype UUV developed at C.N.R. - Istituto Automazione Navale. A multi-hypothesis Extended Kalman Filter to estimate the bottom slope and its distance from the vehicle is presented. Results obtained by applying this algorithm to real data collected with the vehicle moving in a high-diving pool are discussed. Algorithm improvements based on active sensing and `focusing attention' techniques are suggested.
URL BibTeX

@conference{Caccia1997745,
	author = "Caccia, M. and Veruggio, G. and Casalino, G. and Alloisio, S. and Grosso, C. and Cristi, R.",
	title = "Sonar-based bottom estimation in UUVs adopting a multi-hypothesis extended Kalman filter",
	year = 1997,
	journal = "International Conference on Advanced Robotics, Proceedings, ICAR",
	pages = "745 – 750",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030717114&partnerID=40&md5=91f514ea057e78caa603ae0544528f18",
	abstract = "High precision bottom estimation techniques in Unmanned Underwater Vehicles (UUVs) are examined in this paper. Environment sensing is performed by a high-frequency pencil beam profiling sonar mounted on Roby2, a small prototype UUV developed at C.N.R. - Istituto Automazione Navale. A multi-hypothesis Extended Kalman Filter to estimate the bottom slope and its distance from the vehicle is presented. Results obtained by applying this algorithm to real data collected with the vehicle moving in a high-diving pool are discussed. Algorithm improvements based on active sensing and `focusing attention' techniques are suggested.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Caiti, G Cannata, G Casalino and S Reto. Teleoperations with shared explicit contact force control.
1997, 53 – 64.
Abstract In this paper the developement of a master-slave robotics system is presented. This developement is part of a research project devoted to the intelligent automation of in-service inspection of welded seams in nuclear plants using non-destructive ultrasonic based techniques. The main feature of the system is a shared explicit control scheme of the contact force during the interaction of the end-effector with the remote environment. This unilateral master-slave operational scheme does not suffer from the drawbacks of the bilateral force reflection based implementation. Moreover it avoids the operator from damaging the remote manipulator during wrong manoeuvres due to imperfect video feedback. The paper describes the control structure applied (belonging to the class of explicit force control) and the hardware-software architecture of the system. Experimental results are given on the Ansaldo OLASAND manipulator.
URL, DOI BibTeX

@conference{Caiti199753,
	author = "Caiti, A. and Cannata, G. and Casalino, G. and Reto, S.",
	title = "Teleoperations with shared explicit contact force control",
	year = 1997,
	journal = "Proceedings of SPIE - The International Society for Optical Engineering",
	volume = 3206,
	pages = "53 – 64",
	doi = "10.1117/12.295588",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-57749089667&doi=10.1117%2f12.295588&partnerID=40&md5=61fc135c5e82e9bd1532e45e60c01fc8",
	abstract = "In this paper the developement of a master-slave robotics system is presented. This developement is part of a research project devoted to the intelligent automation of in-service inspection of welded seams in nuclear plants using non-destructive ultrasonic based techniques. The main feature of the system is a shared explicit control scheme of the contact force during the interaction of the end-effector with the remote environment. This unilateral master-slave operational scheme does not suffer from the drawbacks of the bilateral force reflection based implementation. Moreover it avoids the operator from damaging the remote manipulator during wrong manoeuvres due to imperfect video feedback. The paper describes the control structure applied (belonging to the class of explicit force control) and the hardware-software architecture of the system. Experimental results are given on the Ansaldo OLASAND manipulator.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Giuseppe Casalino, Antonella Ferrara, Riccardo Minciardi and Thomas Parisini. Implicit model techniques and their application to LQ adaptive control.
Control and Dynamic Systems 79(C):347 – 383, 1996.
URL, DOI BibTeX

@article{Casalino1996347,
	author = "Casalino, Giuseppe and Ferrara, Antonella and Minciardi, Riccardo and Parisini, Thomas",
	title = "Implicit model techniques and their application to LQ adaptive control",
	year = 1996,
	journal = "Control and Dynamic Systems",
	volume = 79,
	number = "C",
	pages = "347 – 383",
	doi = "10.1016/S0090-5267(96)80010-7",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-77957054834&doi=10.1016%2fS0090-5267%2896%2980010-7&partnerID=40&md5=4ec30dd6c9bb28d745b818ab5b27ea59",
	type = "Book chapter",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giorgio Cannata and Giuseppe Casalino. Task space robot control: convergence analysis and gravity compensation via integral feedback.
1996, 2355 – 3592.
Abstract The problem of the task level position and orientation regulation of the end-effector of a generic robot is discussed in this paper. A hierarchical control scheme is proposed, implementing task-level P-type position control loop (outer loop), and P or PI-type one operating at joint velocity level (inner loop). Finally it is proved that a suitable choice of the feedback gains always ensure for P-type inner loop, uniform ultimate boundedness of the errors, while using PI-type inner loop it is possible to prove the local asymptotic convergence to zero of the position and orientation errors.
URL BibTeX

@conference{Aicardi19962355,
	author = "Aicardi, Michele and Cannata, Giorgio and Casalino, Giuseppe",
	title = "Task space robot control: convergence analysis and gravity compensation via integral feedback",
	year = 1996,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 3,
	pages = "2355 – 3592",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030377907&partnerID=40&md5=672244035f997625dabae2fb34d219f3",
	abstract = "The problem of the task level position and orientation regulation of the end-effector of a generic robot is discussed in this paper. A hierarchical control scheme is proposed, implementing task-level P-type position control loop (outer loop), and P or PI-type one operating at joint velocity level (inner loop). Finally it is proved that a suitable choice of the feedback gains always ensure for P-type inner loop, uniform ultimate boundedness of the errors, while using PI-type inner loop it is possible to prove the local asymptotic convergence to zero of the position and orientation errors.",
	type = "Conference review",
	publication_stage = "Final",
	source = "Scopus"
}

A Caiti, G Cannata, G Casalino and S Reto. Local force control loop approach in bilateral control of master-slave systems.
1996.
Abstract In this paper we consider to merge the stability problem for bilateral teleoperators and the contact force control problem for manipulators during constrained motion, tackling them jointly. In particular we evaluate the effects of the presence of a slave local force loop in a force reflecting master slave equipment with time delay in the communication channels. The study keeps into account the digital synthesis of the controller, which usually represents the most critical and undervalued aspect of the problem. Simulative and experimental results are given, in particular showing that the local integral force control can be tuned to the delay, in the communication channel in order to guarantee stability, and, up to certain extent, a favourable transient behaviour.
URL BibTeX

@conference{Caiti1996,
	author = "Caiti, A. and Cannata, G. and Casalino, G. and Reto, S.",
	title = "Local force control loop approach in bilateral control of master-slave systems",
	year = 1996,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 1,
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030396657&partnerID=40&md5=d97ff92a7a86a3194b89701104af4f0f",
	abstract = "In this paper we consider to merge the stability problem for bilateral teleoperators and the contact force control problem for manipulators during constrained motion, tackling them jointly. In particular we evaluate the effects of the presence of a slave local force loop in a force reflecting master slave equipment with time delay in the communication channels. The study keeps into account the digital synthesis of the controller, which usually represents the most critical and undervalued aspect of the problem. Simulative and experimental results are given, in particular showing that the local integral force control can be tuned to the delay, in the communication channel in order to guarantee stability, and, up to certain extent, a favourable transient behaviour.",
	type = "Conference review",
	publication_stage = "Final",
	source = "Scopus"
}

Antonio Bicchi, Giuseppe Casalino and Corrado Santilli. Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles.
Journal of Intelligent and Robotic Systems: Theory and Applications 16(4):387 – 405, 1996.
Abstract This paper deals with the problem of planning a path for a robot vehicle amidst obstacles. The kinematics of the vehicle being considered are of the unicycle or car-like type, i.e. are subject to nonholonomic constraints. Moreover, the trajectories of the robot are supposed not to exceed a given bound on curvature, that incorporates physical limitations of the allowable minimum turning radius for the vehicle. The method presented in this paper attempts at extending Reeds and Shepp's results on shortest paths of bounded curvature in absence of obstacles, to the case where obstacles are present in the workspace. The method does not require explicit construction of the configuration space, nor employs a preliminary phase of holonomic trajectory planning. Successful outcomes of the proposed technique are paths consisting of a simple composition of Reeds/Shepp paths that solve the problem. For a particular vehicle shape, the path provided by the method, if regular, is also the shortest feasible path. In its original version, however, the method many fail to find a path, even though one may exist. Most such empasses can be overcome by use of a few simple heuristics, discussed in the paper. Applications to both unicycle and car-like (bicycle) mobile robots of general shape are described and their performance and practicality discussed.
URL, DOI BibTeX

@article{Bicchi1996387,
	author = "Bicchi, Antonio and Casalino, Giuseppe and Santilli, Corrado",
	title = "Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles",
	year = 1996,
	journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
	volume = 16,
	number = 4,
	pages = "387 – 405",
	doi = "10.1007/BF00270450",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030218316&doi=10.1007%2fBF00270450&partnerID=40&md5=5d6d40c7cf189ca52d0aa1d06949ec7b",
	abstract = "This paper deals with the problem of planning a path for a robot vehicle amidst obstacles. The kinematics of the vehicle being considered are of the unicycle or car-like type, i.e. are subject to nonholonomic constraints. Moreover, the trajectories of the robot are supposed not to exceed a given bound on curvature, that incorporates physical limitations of the allowable minimum turning radius for the vehicle. The method presented in this paper attempts at extending Reeds and Shepp's results on shortest paths of bounded curvature in absence of obstacles, to the case where obstacles are present in the workspace. The method does not require explicit construction of the configuration space, nor employs a preliminary phase of holonomic trajectory planning. Successful outcomes of the proposed technique are paths consisting of a simple composition of Reeds/Shepp paths that solve the problem. For a particular vehicle shape, the path provided by the method, if regular, is also the shortest feasible path. In its original version, however, the method many fail to find a path, even though one may exist. Most such empasses can be overcome by use of a few simple heuristics, discussed in the paper. Applications to both unicycle and car-like (bicycle) mobile robots of general shape are described and their performance and practicality discussed.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giuseppe Casalino and Giorgio Cannata. Contact force canonical decomposition and the role of internal forces in robust grasp planning problems.
International Journal of Robotics Research 15(4):351 – 364, 1996.
Abstract This article addresses the problem of grasping rigid objects using robot hands. A new formalism is presented that is suitable for representing the space of the contact forces that allow a grasped object to perform an assigned motion, and emphasis is placed on the advantages to be gained from this formalism when planning a "robust grasp." In particular, a "canonical" representation of the space of so-called internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasping and manipulation forces.
URL, DOI BibTeX

@article{Aicardi1996351,
	author = "Aicardi, Michele and Casalino, Giuseppe and Cannata, Giorgio",
	title = "Contact force canonical decomposition and the role of internal forces in robust grasp planning problems",
	year = 1996,
	journal = "International Journal of Robotics Research",
	volume = 15,
	number = 4,
	pages = "351 – 364",
	doi = "10.1177/027836499601500404",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030216971&doi=10.1177%2f027836499601500404&partnerID=40&md5=856dd57e1e1dc4cec7b43737e4a44a27",
	abstract = {This article addresses the problem of grasping rigid objects using robot hands. A new formalism is presented that is suitable for representing the space of the contact forces that allow a grasped object to perform an assigned motion, and emphasis is placed on the advantages to be gained from this formalism when planning a "robust grasp." In particular, a "canonical" representation of the space of so-called internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasping and manipulation forces.},
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giorgio Cannata and Giuseppe Casalino. Smooth attitude feedback control with non-holonomic constraints.
1996, 1706 – 1711.
Abstract The paper consider the problem of asymptotically driving, via feedback control, the attitude of a reaction wheels actuated spacecraft, whenever operating in failure mode. In this case the presence of only two active reaction wheels constraint the spacecraft angular velocity vector to lie on one of the aircraft coordinate plane. The here presented analysis, though performed at a kinematic level only, however parallel the ones originally presented in [2], and very recently in [3]. In these works, the possibility of asymptotically and smoothly driving the system toward any final desired attitude was in fact proven (under the assumption of a zero initial spin rate along the unactuated axis). Basic aim of this paper is that of showing that with a more simple, and in a sense more natural, choice for the attitude parametrization, a much more simple form for a smooth feedback control law can be obtained, possibly characterized by more efficient qualities concerning its stabilizing properties and gain parameters tuning characteristics.
URL BibTeX

@conference{Aicardi19961706,
	author = "Aicardi, Michele and Cannata, Giorgio and Casalino, Giuseppe",
	title = "Smooth attitude feedback control with non-holonomic constraints",
	year = 1996,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 2,
	pages = "1706 – 1711",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030410668&partnerID=40&md5=070018442db45aa21f11d1ccfe3ce0ea",
	abstract = "The paper consider the problem of asymptotically driving, via feedback control, the attitude of a reaction wheels actuated spacecraft, whenever operating in failure mode. In this case the presence of only two active reaction wheels constraint the spacecraft angular velocity vector to lie on one of the aircraft coordinate plane. The here presented analysis, though performed at a kinematic level only, however parallel the ones originally presented in [2], and very recently in [3]. In these works, the possibility of asymptotically and smoothly driving the system toward any final desired attitude was in fact proven (under the assumption of a zero initial spin rate along the unactuated axis). Basic aim of this paper is that of showing that with a more simple, and in a sense more natural, choice for the attitude parametrization, a much more simple form for a smooth feedback control law can be obtained, possibly characterized by more efficient qualities concerning its stabilizing properties and gain parameters tuning characteristics.",
	type = "Conference review",
	publication_stage = "Final",
	source = "Scopus"
}

A Balluchi, A Bicchi, A Balestrino and G Casalino. Path tracking control for Dubin's cars.
1996, 3123 – 3128.
Abstract The problem of driving a Dubin's car along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin's car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that achieves the goal of tracking an unknown path relying on measurements of the current distance from the path and of the heading angle error.
URL BibTeX

@conference{Balluchi19963123,
	author = "Balluchi, A. and Bicchi, A. and Balestrino, A. and Casalino, G.",
	title = "Path tracking control for Dubin's cars",
	year = 1996,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 4,
	pages = "3123 – 3128",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029697364&partnerID=40&md5=21b5d2101e77fbc5bb06e94ce9027cf7",
	abstract = "The problem of driving a Dubin's car along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin's car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that achieves the goal of tracking an unknown path relying on measurements of the current distance from the path and of the heading angle error.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Antonio Bicchi, Giuseppe Casalino and Corrado Santilli. Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles.
1995, 1349 – 1354.
Abstract This paper describes a technique for path planning in environments cluttered with obstacles for mobile robots with nonholonomic kinematics and bounded trajectory curvature (i.e., limited turning radius). The method is inspired by the results of Reeds and Shepp regarding shortest paths of bounded curvature in absence of obstacles. It is proved that, under suitable assumptions, the proposed technique provides the shortest path of bounded curvature among polygonal objects for a particular class of vehicles (circular unicycles of radius h and minimum turning radius ρmin ≤ h). Although the class of vehicles this theoretical result is restricted to is rather narrow, the proposed planner can be satisfactorily applied to other nonholonomic vehicles yielding good practical results.
URL, DOI BibTeX

@conference{Bicchi19951349,
	author = "Bicchi, Antonio and Casalino, Giuseppe and Santilli, Corrado",
	title = "Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles",
	year = 1995,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 2,
	pages = "1349 – 1354",
	doi = "10.1109/ROBOT.1995.525466",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029192487&doi=10.1109%2fROBOT.1995.525466&partnerID=40&md5=d06f5b056546d0824d392ed0c58b7a06",
	abstract = "This paper describes a technique for path planning in environments cluttered with obstacles for mobile robots with nonholonomic kinematics and bounded trajectory curvature (i.e., limited turning radius). The method is inspired by the results of Reeds and Shepp regarding shortest paths of bounded curvature in absence of obstacles. It is proved that, under suitable assumptions, the proposed technique provides the shortest path of bounded curvature among polygonal objects for a particular class of vehicles (circular unicycles of radius h and minimum turning radius ρmin ≤ h). Although the class of vehicles this theoretical result is restricted to is rather narrow, the proposed planner can be satisfactorily applied to other nonholonomic vehicles yielding good practical results.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, A Bicchi and A Balestrino. Closed Loop Steering of Unicycle-like Vehicles via Lyapunov Techniques.
IEEE Robotics and Automation Magazine 2(1):27 – 35, 1995.
Abstract With a special choice for the system state equations, the use of the simplest quadratic form as candidate Lyapunov function directly leads to the definition of very simple, smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation. The authors provide simulation examples to show the effectiveness and, in a sense, the “natural behavior” of the obtained closed loop motions (whenever compared with our everyday driving experience). © 1995 IEEE
URL, DOI BibTeX

@article{Aicardi199527,
	author = "Aicardi, M. and Casalino, G. and Bicchi, A. and Balestrino, A.",
	title = "Closed Loop Steering of Unicycle-like Vehicles via Lyapunov Techniques",
	year = 1995,
	journal = "IEEE Robotics and Automation Magazine",
	volume = 2,
	number = 1,
	pages = "27 – 35",
	doi = "10.1109/100.388294",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029271815&doi=10.1109%2f100.388294&partnerID=40&md5=2d583ea214e03b7510f9b11703c11699",
	abstract = "With a special choice for the system state equations, the use of the simplest quadratic form as candidate Lyapunov function directly leads to the definition of very simple, smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation. The authors provide simulation examples to show the effectiveness and, in a sense, the “natural behavior” of the obtained closed loop motions (whenever compared with our everyday driving experience). © 1995 IEEE",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, A Caiti, G Cannata, G Casalino and L Gambardella. Manipulators trajectory tracking with reduced order velocity observers.
1995, 2451 – 2455.
Abstract In this work we propose a Lyapunov based design of velocity observers and controller for stable trajectory tracking by a robotic manipulator. It is shown how the proposed design is exponentially stable over of finite domain, and, in the high gain approximation, exponentially stable in the large. Moreover, the design proposed leads naturally to a reduced order observer structure, with considerable implementation advantages.
URL, DOI BibTeX

@conference{Aicardi19952451,
	author = "Aicardi, M. and Caiti, A. and Cannata, G. and Casalino, G. and Gambardella, L.",
	title = "Manipulators trajectory tracking with reduced order velocity observers",
	year = 1995,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 3,
	pages = "2451 – 2455",
	doi = "10.1109/ROBOT.1995.525627",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029203802&doi=10.1109%2fROBOT.1995.525627&partnerID=40&md5=0db325eb45a2f014dbffd94600bcdf63",
	abstract = "In this work we propose a Lyapunov based design of velocity observers and controller for stable trajectory tracking by a robotic manipulator. It is shown how the proposed design is exponentially stable over of finite domain, and, in the high gain approximation, exponentially stable in the large. Moreover, the design proposed leads naturally to a reduced order observer structure, with considerable implementation advantages.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Andrea Caiti, Giorgio Cannata and Giuseppe Casalino. Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space.
1995, 2771 – 2778.
Abstract A two layered hierarchical architecture is considered as the fundamental scheme for the closed loop control for robots in the operational space. By considering different kinds of information transfers from the outer to the inner controllers, it is shown that the architecture can keep into account for a wide class of control schemes, then the analysis of their stability and robustness properties can be performed in a unified framework. Then on this basis some general results concerning such properties are given within the paper.
URL BibTeX

@conference{Aicardi19952771,
	author = "Aicardi, Michele and Caiti, Andrea and Cannata, Giorgio and Casalino, Giuseppe",
	title = "Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space",
	year = 1995,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 3,
	pages = "2771 – 2778",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029190729&partnerID=40&md5=ebaf23cbdb5b1828b229afe258428ddb",
	abstract = "A two layered hierarchical architecture is considered as the fundamental scheme for the closed loop control for robots in the operational space. By considering different kinds of information transfers from the outer to the inner controllers, it is shown that the architecture can keep into account for a wide class of control schemes, then the analysis of their stability and robustness properties can be performed in a unified framework. Then on this basis some general results concerning such properties are given within the paper.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Corrado Santilli, Antonio Bicchi, Giuseppe Casalino and Aldo Balestrino. Nonholonomic, bounded curvature path planning in cluttered environments.
1995, 363 – 372.
Abstract The problem of planning a path for a robot vehicle amidst obstacles is considered in the present work. A method that attempts at extending Reeds and Shepp's results on shortest paths of bounded curvature in absence of obstacles to the case where obstacles are present in the workspace. Successful outcomes of the proposed techniques are paths consisting of a simple composition of Reeds/Shepp paths that solves the problem. For a particular vehicle shape, the path provided by the method, if regular, is also the shortest feasible path. However, in its original version, the method may fail to find a path. This limitation can be overcome using a few simple heuristics. Applications to both unicycle and car-like mobile robots of generated shape are described and their performance and practicality discussed.
URL BibTeX

@conference{Santilli1995363,
	author = "Santilli, Corrado and Bicchi, Antonio and Casalino, Giuseppe and Balestrino, Aldo",
	title = "Nonholonomic, bounded curvature path planning in cluttered environments",
	year = 1995,
	journal = "IEEE Symposium on Emerging Technologies & Factory Automation",
	volume = 2,
	pages = "363 – 372",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029481613&partnerID=40&md5=cfe1e244888f0bb3c5ca5bb29cce4012",
	abstract = "The problem of planning a path for a robot vehicle amidst obstacles is considered in the present work. A method that attempts at extending Reeds and Shepp's results on shortest paths of bounded curvature in absence of obstacles to the case where obstacles are present in the workspace. Successful outcomes of the proposed techniques are paths consisting of a simple composition of Reeds/Shepp paths that solves the problem. For a particular vehicle shape, the path provided by the method, if regular, is also the shortest feasible path. However, in its original version, the method may fail to find a path. This limitation can be overcome using a few simple heuristics. Applications to both unicycle and car-like mobile robots of generated shape are described and their performance and practicality discussed.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, A Balestrino and A Bicchi. Closed loop smooth steering of unicycle-like vehicles.
1994, 2455 – 2458.
Abstract Within this paper it is shown that, provided a special choice for the system state equations is a-priori made, the use of the simplest quadratic form as candidate Lyapunov function, directly leads to the definition of smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation among assigned via points. Some considerations about the curvature of the corresponding manoeuvres are also reported.
URL BibTeX

@conference{Aicardi19942455,
	author = "Aicardi, M. and Casalino, G. and Balestrino, A. and Bicchi, A.",
	title = "Closed loop smooth steering of unicycle-like vehicles",
	year = 1994,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 3,
	pages = "2455 – 2458",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0028748925&partnerID=40&md5=4bd124794750da06837c419bef6c384f",
	abstract = "Within this paper it is shown that, provided a special choice for the system state equations is a-priori made, the use of the simplest quadratic form as candidate Lyapunov function, directly leads to the definition of smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation among assigned via points. Some considerations about the curvature of the corresponding manoeuvres are also reported.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

P Baiardi, G Cannata, G Casalino and P Pagano. Modelling contact phenomena within the dynamic simulation of advanced robotic structures.
1993, 196 – 203.
Abstract In this paper dynamics models capable of representing the interaction phenomena (i.e. sliding, rolling and impacts with friction) possibly occurring among the bodies of kinematic chains and the environment are presented and discussed in some details, with a particular emphasis directed toward their possible use within dynamic simulation environments for advanced robotic structures.
URL BibTeX

@conference{Baiardi1993196,
	author = "Baiardi, P. and Cannata, G. and Casalino, G. and Pagano, P.",
	title = "Modelling contact phenomena within the dynamic simulation of advanced robotic structures",
	year = 1993,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 3,
	pages = "196 – 203",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0027211552&partnerID=40&md5=d6ae1d893207563c513baaa590edadea",
	abstract = "In this paper dynamics models capable of representing the interaction phenomena (i.e. sliding, rolling and impacts with friction) possibly occurring among the bodies of kinematic chains and the environment are presented and discussed in some details, with a particular emphasis directed toward their possible use within dynamic simulation environments for advanced robotic structures.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicard, G Casalino, R Minciardi and R Zoppoli. On the Existence of Stationary Optimal Receding-Horizon Strategies for Dynamic Teams with Common Past Information Structures.
IEEE Transactions on Automatic Control 37(11):1767 – 1771, 1992.
Abstract This note deals with an LQG team control problem characterized by a partial nestedness of the information structure, and by the existence of a common past information set. For such a problem, previous results have established the existence of a sufficient statistic. Since, even under the assumptions made, the determination of optimal strategies over an infinite control horizon remains a difficult problem, the use of a receding horizon control scheme is herein considered. Unfortunately, the use of such a scheme within a decentralized control framework still yields, in general, time-varying strategies. In the present note, a condition for the existence of stationary team optimal receding horizon strategies is provided. © 1992 IEEE
URL, DOI BibTeX

@article{Aicard19921767,
	author = "Aicard, M. and Casalino, G. and Minciardi, R. and Zoppoli, R.",
	title = "On the Existence of Stationary Optimal Receding-Horizon Strategies for Dynamic Teams with Common Past Information Structures",
	year = 1992,
	journal = "IEEE Transactions on Automatic Control",
	volume = 37,
	number = 11,
	pages = "1767 – 1771",
	doi = "10.1109/9.173147",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0006309756&doi=10.1109%2f9.173147&partnerID=40&md5=37d6f0b80892871f88ddeae419d6fae8",
	abstract = "This note deals with an LQG team control problem characterized by a partial nestedness of the information structure, and by the existence of a common past information set. For such a problem, previous results have established the existence of a sufficient statistic. Since, even under the assumptions made, the determination of optimal strategies over an infinite control horizon remains a difficult problem, the use of a receding horizon control scheme is herein considered. Unfortunately, the use of such a scheme within a decentralized control framework still yields, in general, time-varying strategies. In the present note, a condition for the existence of stationary team optimal receding horizon strategies is provided. © 1992 IEEE",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Cannata and G Casalino. Contact forces decomposition for the grasping of rigid objects.
1992, 1635 – 1641.
Abstract A new approach to the problem of the contact forces allocation for the grasping of rigid objects is dealt with in this paper. In particular a decomposition of the space of the so called internal forces is given, and a new algorithm, based on this representation, is proposed for the determination of feasible grasping forces. Finally sufficient conditions for the solution of this problem of coordinated manipulation are given. © 1992 IEEE. All rights reserved.
URL, DOI BibTeX

@conference{Aicardi19921635,
	author = "Aicardi, M. and Cannata, G. and Casalino, G.",
	title = "Contact forces decomposition for the grasping of rigid objects",
	year = 1992,
	journal = "IEEE International Conference on Intelligent Robots and Systems",
	volume = 3,
	pages = "1635 – 1641",
	doi = "10.1109/IROS.1992.594240",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85066810314&doi=10.1109%2fIROS.1992.594240&partnerID=40&md5=69fa8646b62cf93feeb960aac07af508",
	abstract = "A new approach to the problem of the contact forces allocation for the grasping of rigid objects is dealt with in this paper. In particular a decomposition of the space of the so called internal forces is given, and a new algorithm, based on this representation, is proposed for the determination of feasible grasping forces. Finally sufficient conditions for the solution of this problem of coordinated manipulation are given. © 1992 IEEE. All rights reserved.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino and R Minciardi. Further results on implicit models with application to LQ adaptive optimization.
Automatica 28(2):407 – 410, 1992.
Abstract The theory of implicit models, was defined by the authors in a previous work, and is extended in this brief paper to include the possibility that an external dither signal may affect the regulator action. The presence of this dither signal permits the existence of a broader class of implicit models. As a consequence, it is possible to develop an adaptive control algorithm based on finite- and infinite-horizon quadratic optimization criteria. © 1992.
URL, DOI BibTeX

@article{Casalino1992407,
	author = "Casalino, G. and Minciardi, R.",
	title = "Further results on implicit models with application to LQ adaptive optimization",
	year = 1992,
	journal = "Automatica",
	volume = 28,
	number = 2,
	pages = "407 – 410",
	doi = "10.1016/0005-1098(92)90127-2",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026827818&doi=10.1016%2f0005-1098%2892%2990127-2&partnerID=40&md5=db5238421a82cb61d88c3fcd8cf5a445",
	abstract = "The theory of implicit models, was defined by the authors in a previous work, and is extended in this brief paper to include the possibility that an external dither signal may affect the regulator action. The presence of this dither signal permits the existence of a broader class of implicit models. As a consequence, it is possible to develop an adaptive control algorithm based on finite- and infinite-horizon quadratic optimization criteria. © 1992.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Cannata and G Casalino. Grasp planning for the coordinated manipulation of rigid objects.
1992, 1525 – 1530.
Abstract The problem of grasping rigid objects using robot hands is addressed. In particular, a representation of the space of the internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasp and manipulation forces. Sufficient conditions for the solution of this problem of coordinated manipulation are given.
URL BibTeX

@conference{Aicardi19921525,
	author = "Aicardi, M. and Cannata, G. and Casalino, G.",
	title = "Grasp planning for the coordinated manipulation of rigid objects",
	year = 1992,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 2,
	pages = "1525 – 1530",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026964011&partnerID=40&md5=965a93316066d4e26af272e005cb1b6c",
	abstract = "The problem of grasping rigid objects using robot hands is addressed. In particular, a representation of the space of the internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasp and manipulation forces. Sufficient conditions for the solution of this problem of coordinated manipulation are given.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Paolo Baiardi, Giuseppe Casalino, Riccardo Bono, Giorgio Cannata and Gianmarco Veruggio. Dynamic simulation tools for the analysis and design of AUV's.
1992, 105 – 108.
Abstract In this paper the features of a dynamic simulator, ARS, for advanced robotic applications, currently under development at the University of Genova are discussed. Moreover the use of this simulator, for underwater application is discussed and models of the hydrodynamic effects are presented. © 2019 IEEE.
URL, DOI BibTeX

@conference{Baiardi1992105,
	author = "Baiardi, Paolo and Casalino, Giuseppe and Bono, Riccardo and Cannata, Giorgio and Veruggio, Gianmarco",
	title = "Dynamic simulation tools for the analysis and design of AUV's",
	year = 1992,
	journal = "Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology, AUV 1992",
	pages = "105 – 108",
	doi = "10.1109/AUV.1992.225187",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-85067379177&doi=10.1109%2fAUV.1992.225187&partnerID=40&md5=d80d54b2b3e222f56b2c78fc81653158",
	abstract = "In this paper the features of a dynamic simulator, ARS, for advanced robotic applications, currently under development at the University of Genova are discussed. Moreover the use of this simulator, for underwater application is discussed and models of the hydrodynamic effects are presented. © 2019 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Cannatat and G Casalino. Hybrid Learning Control for Constrained Manipulators.
Advanced Robotics 6(1):69 – 94, 1991.
Abstract The problem of controlling a manipulator constrained to move on a rigid and frictionless surface is dealt with in this paper. A desired end-effector trajectory, lying on the surface, is given, together with a reference evolution for the contact force acting between the terminal device and the surface itself. The dynamic mathematical model of the robot is instead assumed to be unknown, together with the geometric characteristics of the surface surrounding the desired trajectory. The control signal allowing the execution of the task (i.e. the tracking of the desired trajectory with the specified contact force profile) is found by means of a trial-and-error procedure. The effectiveness of the learning method is shown by means of a fully non-linear analysis. Finally, some simulation examples are reported. © 1991, VSP. All rights reserved.
URL, DOI BibTeX

@article{Aicardi199169,
	author = "Aicardi, M. and Cannatat, G. and Casalino, G.",
	title = "Hybrid Learning Control for Constrained Manipulators",
	year = 1991,
	journal = "Advanced Robotics",
	volume = 6,
	number = 1,
	pages = "69 – 94",
	doi = "10.1163/156855391X00395",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026765683&doi=10.1163%2f156855391X00395&partnerID=40&md5=4f0e74067fee04ea5855ea6f8523cd32",
	abstract = "The problem of controlling a manipulator constrained to move on a rigid and frictionless surface is dealt with in this paper. A desired end-effector trajectory, lying on the surface, is given, together with a reference evolution for the contact force acting between the terminal device and the surface itself. The dynamic mathematical model of the robot is instead assumed to be unknown, together with the geometric characteristics of the surface surrounding the desired trajectory. The control signal allowing the execution of the task (i.e. the tracking of the desired trajectory with the specified contact force profile) is found by means of a trial-and-error procedure. The effectiveness of the learning method is shown by means of a fully non-linear analysis. Finally, some simulation examples are reported. © 1991, VSP. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

A Caiti, G Cannata and G Casalino. Implementation of learning control techniques using descriptor systems methods.
1991, 1451 – 1456.
Abstract Learning control algorithms rely on offline estimates of generalized position, velocity, and acceleration errors. This problem is addressed here in the framework of the spectral analysis of singular descriptor systems, and a class of robust estimates is introduced. The use of these estimators in the implementation of learning control algorithms has been tested on a prototype manipulator, and experimental results are reported. It is concluded that iterative learning control can be successfully implemented on real manipulators provided that robust estimators for velocity and acceleration are given.
URL BibTeX

@conference{Caiti19911451,
	author = "Caiti, A. and Cannata, G. and Casalino, G.",
	title = "Implementation of learning control techniques using descriptor systems methods",
	year = 1991,
	journal = "Proceedings - IEEE International Conference on Robotics and Automation",
	volume = 2,
	pages = "1451 – 1456",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0025846236&partnerID=40&md5=7a80cc067c8455bea8732425f0030659",
	abstract = "Learning control algorithms rely on offline estimates of generalized position, velocity, and acceleration errors. This problem is addressed here in the framework of the spectral analysis of singular descriptor systems, and a class of robust estimates is introduced. The use of these estimators in the implementation of learning control algorithms has been tested on a prototype manipulator, and experimental results are reported. It is concluded that iterative learning control can be successfully implemented on real manipulators provided that robust estimators for velocity and acceleration are given.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

P Franchi, F Gandolfo, G Casalino, P Morasso, G Sandini and R Zaccaria. Preliminary experiments of visuo-motor integration in pushing tasks.
1991, 535 – 537.
Abstract One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In our approach, the key idea is that planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.
URL BibTeX

@conference{Franchi1991535,
	author = "Franchi, P. and Gandolfo, F. and Casalino, G. and Morasso, P. and Sandini, G. and Zaccaria, R.",
	title = "Preliminary experiments of visuo-motor integration in pushing tasks",
	year = 1991,
	volume = 2,
	pages = "535 – 537",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026264543&partnerID=40&md5=62d1f7f00b5256330dc54e9fdfdb9a04",
	abstract = "One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In our approach, the key idea is that planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, R Minciardi and T Parisini. Development of a new self‐tuning control algorithm for finite and infinite horizon quadratic adaptive optimization.
International Journal of Adaptive Control and Signal Processing 5(6):405 – 425, 1991.
Abstract The theory of implicit models, introduced in previous papers, is used here in order to define a new adaptive control algorithm based on either m‐step‐ahead or infinite horizon LQ optimization and on recursive least squares identification techniques in the presence of systems having an ARMAX structure. The adaptive algorithm is based on the identification of a single ARX implicit model, which is defined as a model capable of representing the system input‐output behaviour correctly only in certain closed‐loop conditions. It is shown that, by properly structuring the algorithm, a single whitening (i.e. yielding a white residual sequence) possible convergence point exists coinciding with the optimal control law. Simple conditions assuring that a generic convergence point coincides with the above one are also provided, as well as preliminary simulation experience. Copyright © 1991 John Wiley & Sons, Ltd.
URL, DOI BibTeX

@article{Casalino1991405,
	author = "Casalino, G. and Minciardi, R. and Parisini, T.",
	title = "Development of a new self‐tuning control algorithm for finite and infinite horizon quadratic adaptive optimization",
	year = 1991,
	journal = "International Journal of Adaptive Control and Signal Processing",
	volume = 5,
	number = 6,
	pages = "405 – 425",
	doi = "10.1002/acs.4480050606",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026259229&doi=10.1002%2facs.4480050606&partnerID=40&md5=64fbb4028435a751d4954b89be7d2bcb",
	abstract = "The theory of implicit models, introduced in previous papers, is used here in order to define a new adaptive control algorithm based on either m‐step‐ahead or infinite horizon LQ optimization and on recursive least squares identification techniques in the presence of systems having an ARMAX structure. The adaptive algorithm is based on the identification of a single ARX implicit model, which is defined as a model capable of representing the system input‐output behaviour correctly only in certain closed‐loop conditions. It is shown that, by properly structuring the algorithm, a single whitening (i.e. yielding a white residual sequence) possible convergence point exists coinciding with the optimal control law. Simple conditions assuring that a generic convergence point coincides with the above one are also provided, as well as preliminary simulation experience. Copyright © 1991 John Wiley & Sons, Ltd.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Cannata and G Casalino. Application of learning techniques in the hybrid control of mechanical manipulators.
1990, 137 – 145.
Abstract The hybrid learning control of a manipulator constrained to move on a frictionless surface is dealt with in this paper. A desired end effector trajectory, lying on the surface, is given, together with a commanded reference evolution for the contact force acting between the terminal device and the surface itself. The dynamic mathematical model of the robot is instead assumed unknown, together with the geometric characteristic of the surface surrounding the desired trajectory. The control signal allowing the execution of the task (i.e. the tracking of the desired trajectory with the specified contact force profile) is found by means of a trial and error procedure. The effectiveness of the learning method is shown by means of a fully non linear analysis. © 1990 IEEE.
URL, DOI BibTeX

@conference{Aicardi1990137,
	author = "Aicardi, M. and Cannata, G. and Casalino, G.",
	title = "Application of learning techniques in the hybrid control of mechanical manipulators",
	year = 1990,
	journal = "Proceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990",
	volume = 1,
	pages = "137 – 145",
	doi = "10.1109/IMC.1990.687308",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-5844250803&doi=10.1109%2fIMC.1990.687308&partnerID=40&md5=b5efb09855f4d582f7dab1e01c6e2f5b",
	abstract = "The hybrid learning control of a manipulator constrained to move on a frictionless surface is dealt with in this paper. A desired end effector trajectory, lying on the surface, is given, together with a commanded reference evolution for the contact force acting between the terminal device and the surface itself. The dynamic mathematical model of the robot is instead assumed unknown, together with the geometric characteristic of the surface surrounding the desired trajectory. The control signal allowing the execution of the task (i.e. the tracking of the desired trajectory with the specified contact force profile) is found by means of a trial and error procedure. The effectiveness of the learning method is shown by means of a fully non linear analysis. © 1990 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Bartolini and G Casalino. Dynamic control of legged locomotion via combined use of Learning and Variable Structure Techniques.
1990, 703 – 708.
Abstract The paper presents some new theoretical results concerning the studies devoted to an exploitement of the advantages offered by the combined use of Iterative Learning and Variable Structure Techniques, within the control of the byped legged locomotion. © 1991 IEEE.
URL, DOI BibTeX

@conference{Aicardi1990703,
	author = "Aicardi, M. and Bartolini, G. and Casalino, G.",
	title = "Dynamic control of legged locomotion via combined use of Learning and Variable Structure Techniques",
	year = 1990,
	journal = "Proceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990",
	volume = 2,
	pages = "703 – 708",
	doi = "10.1109/IMC.1990.687405",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-84942395691&doi=10.1109%2fIMC.1990.687405&partnerID=40&md5=a4f92e8fcb90252648828bb09408f9e2",
	abstract = "The paper presents some new theoretical results concerning the studies devoted to an exploitement of the advantages offered by the combined use of Iterative Learning and Variable Structure Techniques, within the control of the byped legged locomotion. © 1991 IEEE.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

A Armando, A Caiti, G Cannata, G Bartolini, G Casalino and A Cimatti. Computer aided modelling and simulation of complex mechanical systems.
1990, 177 – 184.
Abstract In this paper we describe the modelling and the simulation of complex robotic structures by means of an automatic generator of motion equations and an integrator of DAE equations. We discuss the generality, flexibility and efficiency of this approach and describe the algorithms we have implemented. Finally some simulation results are presented.
URL BibTeX

@conference{Armando1990177,
	author = "Armando, A. and Caiti, A. and Cannata, G. and Bartolini, G. and Casalino, G. and Cimatti, A.",
	title = "Computer aided modelling and simulation of complex mechanical systems",
	year = 1990,
	journal = "IFAC Proceedings Series",
	number = 15,
	pages = "177 – 184",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0025548770&partnerID=40&md5=55fe27df6d101653985b7591fe2870d6",
	abstract = "In this paper we describe the modelling and the simulation of complex robotic structures by means of an automatic generator of motion equations and an integrator of DAE equations. We discuss the generality, flexibility and efficiency of this approach and describe the algorithms we have implemented. Finally some simulation results are presented.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino and G Bartolini. Combined learning and identification techniques in the control of robotic manipulators.
1989, 1651 – 1656.
Abstract A nonlinear analysis of iterative learning control procedures is carried out for robotic systems, without assuming the presence of any online acceleration feedback. Global sufficient conditions for stability and convergence of the procedure are presented in terms of the accuracy with which the inertia matrix of the robot must be known. An algorithm for the identification of the parameters of the matrix, capable of guaranteeing the required accuracy, is presented.
URL BibTeX

@conference{Aicardi19891651,
	author = "Aicardi, M. and Casalino, G. and Bartolini, G.",
	title = "Combined learning and identification techniques in the control of robotic manipulators",
	year = 1989,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 2,
	pages = "1651 – 1656",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0024939943&partnerID=40&md5=ebcea1de1df1dc755b66cb059b4b52a0",
	abstract = "A nonlinear analysis of iterative learning control procedures is carried out for robotic systems, without assuming the presence of any online acceleration feedback. Global sufficient conditions for stability and convergence of the procedure are presented in terms of the accuracy with which the inertia matrix of the robot must be known. An algorithm for the identification of the parameters of the matrix, capable of guaranteeing the required accuracy, is presented.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino and R Minciardi. On self-tuning property of variational adaptive control schemes.
1989, 331 – 336.
Abstract The theory of implicit models, is used to define a class of adaptive algorithms based on m-step ahead, or infinite horizon, quadratic optimization, and on Recursive Least Squares identification, even in presence of systems having an ARMAX structure. This is possible due to the fact that not the true system model but an implicit model is actually sought by the identification procedure, the latter being a model of the system which is correct only in certain closed-loop conditions. It is shown that, via the identification of a single extended implicit model, and based on almost no a-priori knowledge about the true system, it is possible to structure the adaptive algorithms in such a way that a single equilibrium point is allowed, coinciding with the optimum control situation.
URL BibTeX

@conference{Casalino1989331,
	author = "Casalino, G. and Minciardi, R.",
	title = "On self-tuning property of variational adaptive control schemes",
	year = 1989,
	journal = "IFAC Proceedings Series",
	volume = 1,
	number = 8,
	pages = "331 – 336",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0024946427&partnerID=40&md5=b804110786a13d9e3d9d43839d730d0a",
	abstract = "The theory of implicit models, is used to define a class of adaptive algorithms based on m-step ahead, or infinite horizon, quadratic optimization, and on Recursive Least Squares identification, even in presence of systems having an ARMAX structure. This is possible due to the fact that not the true system model but an implicit model is actually sought by the identification procedure, the latter being a model of the system which is correct only in certain closed-loop conditions. It is shown that, via the identification of a single extended implicit model, and based on almost no a-priori knowledge about the true system, it is possible to structure the adaptive algorithms in such a way that a single equilibrium point is allowed, coinciding with the optimum control situation.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Bartolini, G Casalino and M Aicardi. Learning and variable structure techniques in the control of mechanical biped.
1989, 2621 – 2628.
Abstract The gait control of a mechanical biped is considered. Such a problem constitutes one of the most challenging tests for the control algorithms applied to robotic systems because, unlike the industrial manipulator, bipeds can fall. To avoid such a situation, provided suitable reference trajectories have been chosen a priori, a variable structure control algorithm using direct evaluation of the coordinates of the center of gravity is adopted. In order to smooth control actions and improve performance, an iterative learning procedure which progressively substitutes for the variable structure control algorithm is introduced.
URL BibTeX

@conference{Bartolini19892621,
	author = "Bartolini, G. and Casalino, G. and Aicardi, M.",
	title = "Learning and variable structure techniques in the control of mechanical biped",
	year = 1989,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 3,
	pages = "2621 – 2628",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0024890935&partnerID=40&md5=6ed09d5ca6d7ede7f09b57826cd6032d",
	abstract = "The gait control of a mechanical biped is considered. Such a problem constitutes one of the most challenging tests for the control algorithms applied to robotic systems because, unlike the industrial manipulator, bipeds can fall. To avoid such a situation, provided suitable reference trajectories have been chosen a priori, a variable structure control algorithm using direct evaluation of the coordinates of the center of gravity is adopted. In order to smooth control actions and improve performance, an iterative learning procedure which progressively substitutes for the variable structure control algorithm is introduced.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

Paola Bondi, Giuseppe Casalino and Lucia Gambardella. On the Iterative Learning Control Theory for Robotic Manipulators.
IEEE Journal on Robotics and Automation 4(1):14 – 22, 1988.
Abstract A “high-gain feedback” point of view is considered within the iterative learning control theory for robotic manipulators. Basic results concerning the uniform boundedness of the trajectory errors are established, and a proof of convergence of the algorithm is given. © 1988 IEEE
URL, DOI BibTeX

@article{Bondi198814,
	author = "Bondi, Paola and Casalino, Giuseppe and Gambardella, Lucia",
	title = "On the Iterative Learning Control Theory for Robotic Manipulators",
	year = 1988,
	journal = "IEEE Journal on Robotics and Automation",
	volume = 4,
	number = 1,
	pages = "14 – 22",
	doi = "10.1109/56.767",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0023965036&doi=10.1109%2f56.767&partnerID=40&md5=1bb863e8d29e940cd3b7e3f8d967e866",
	abstract = "A “high-gain feedback” point of view is considered within the iterative learning control theory for robotic manipulators. Basic results concerning the uniform boundedness of the trajectory errors are established, and a proof of convergence of the algorithm is given. © 1988 IEEE",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli, R Minciardi and G Zappa. On implicit modelling theory: Basic concepts and application to adaptive control.
Automatica 23(2):189 – 201, 1987.
Abstract The paper aims at presenting a unifying theory regarding the so-called "implicit models". In adaptive control theory, this term commonly indicates system models which do not correspond to the true one, although they convey all the necessary information for the synthesis of the optimal controller, and are simpler to be identified. In the paper, ARX implicit models are considered and their possible use in adaptive control algorithms based on LQ or pole assignment control criteria is discussed. © 1987.
URL, DOI BibTeX

@article{Casalino1987189,
	author = "Casalino, G. and Davoli, F. and Minciardi, R. and Zappa, G.",
	title = "On implicit modelling theory: Basic concepts and application to adaptive control",
	year = 1987,
	journal = "Automatica",
	volume = 23,
	number = 2,
	pages = "189 – 201",
	doi = "10.1016/0005-1098(87)90091-4",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0023312643&doi=10.1016%2f0005-1098%2887%2990091-4&partnerID=40&md5=d17229cc839e22a902c534caa6195d65",
	abstract = {The paper aims at presenting a unifying theory regarding the so-called "implicit models". In adaptive control theory, this term commonly indicates system models which do not correspond to the true one, although they convey all the necessary information for the synthesis of the optimal controller, and are simpler to be identified. In the paper, ARX implicit models are considered and their possible use in adaptive control algorithms based on LQ or pole assignment control criteria is discussed. © 1987.},
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

Michele Aicardi, Giuseppe Casalino and Franco Davoli. Independent stations algorithm for the maximization of one-step throughput in a multiaccess channel.
IEEE Transactions on Communications 35(8):795 – 800, 1987.
Abstract In the class of multiple-access schemes utilizing channel feedback information, one has generally to face a multistep control problem. In order to simplify the structure of the access strategies, a single-step horizon can be considered, so that the goal becomes the maximization of the probability of transmission at each slot. However, even in this case the optimal solution turns out to be intractable for a large number of stations. To avoid this intractability some simplifying assumptions can be made at the price of a certain degree of suboptimality. Our approach is based on an independence assumption and yields a scheme which can be termed an independent stations approach (ISA). Copyright © 1987 by The Institute of Electrical and Electronics Engineers, Inc.
URL, DOI BibTeX

@article{Aicardi1987795,
	author = "Aicardi, Michele and Casalino, Giuseppe and Davoli, Franco",
	title = "Independent stations algorithm for the maximization of one-step throughput in a multiaccess channel",
	year = 1987,
	journal = "IEEE Transactions on Communications",
	volume = 35,
	number = 8,
	pages = "795 – 800",
	doi = "10.1109/TCOM.1987.1096866",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0023401171&doi=10.1109%2fTCOM.1987.1096866&partnerID=40&md5=879586c85f672227a50d906fa82f150b",
	abstract = "In the class of multiple-access schemes utilizing channel feedback information, one has generally to face a multistep control problem. In order to simplify the structure of the access strategies, a single-step horizon can be considered, so that the goal becomes the maximization of the probability of transmission at each slot. However, even in this case the optimal solution turns out to be intractable for a large number of stations. To avoid this intractability some simplifying assumptions can be made at the price of a certain degree of suboptimality. Our approach is based on an independence assumption and yields a scheme which can be termed an independent stations approach (ISA). Copyright © 1987 by The Institute of Electrical and Electronics Engineers, Inc.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, F Davoli, R Minciardi and R Zoppoli. ON STATIONARY OPTIMAL STRATEGIES FOR TEAM LQG CONTROL PROBLEMS..
1987, 1098 – 1101.
Abstract The information structure of the team considered is characterized by two important properties: partial nestedness and the existence of a common past information set. With these hypotheses, and with reference to a LQG setting of the problem, it is proved that the receding horizon control scheme yields a linear strategy of constant structure, but with time-varying parameters. This fact is due to the dependence of the solution of the optimization problem from a set of past strategies. The necessary conditions for the existence of a decentralized optimal receding horizon stationary strategy are determined.
URL, DOI BibTeX

@conference{Aicardi19871098,
	author = "Aicardi, M. and Casalino, G. and Davoli, F. and Minciardi, R. and Zoppoli, R.",
	title = "ON STATIONARY OPTIMAL STRATEGIES FOR TEAM LQG CONTROL PROBLEMS.",
	year = 1987,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	pages = "1098 – 1101",
	doi = "10.1109/cdc.1987.272571",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0023549208&doi=10.1109%2fcdc.1987.272571&partnerID=40&md5=9c426fb7db9a465b5e0d9f843ebeb27f",
	abstract = "The information structure of the team considered is characterized by two important properties: partial nestedness and the existence of a common past information set. With these hypotheses, and with reference to a LQG setting of the problem, it is proved that the receding horizon control scheme yields a linear strategy of constant structure, but with time-varying parameters. This fact is due to the dependence of the solution of the optimization problem from a set of past strategies. The necessary conditions for the existence of a decentralized optimal receding horizon stationary strategy are determined.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

J B Moore and G Casalino. On robustness to noise of least squares based adaptive control.
Automatica 23(2):203 – 208, 1987.
Abstract Current engineering practice for adaptive control schemes is to base the design on globally convergent schemes for simple plant models. An important class of such schemes uses least squares estimation of assumed simple input-output models and constructs the controller using the parameter estimates. This paper studies the robustness of such schemes to the presence of unmodelled plant coloured noise. Such noise is sometimes an adequate model for unmodelled plant dynamics. The theory of the paper makes a connection between the least squares parameter error equations and those associated with extended least squares using a posteriori noise estimates for which there are known global convergence results. For the case of adaptive minimum variance control of minimum phase plants, this connection permits stronger convergence results than those hitherto derived from the theory of extended least squares based on a priori noise estimates. © 1987.
URL, DOI BibTeX

@article{Moore1987203,
	author = "Moore, J.B. and Casalino, G.",
	title = "On robustness to noise of least squares based adaptive control",
	year = 1987,
	journal = "Automatica",
	volume = 23,
	number = 2,
	pages = "203 – 208",
	doi = "10.1016/0005-1098(87)90092-6",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0023314573&doi=10.1016%2f0005-1098%2887%2990092-6&partnerID=40&md5=38407926dcfc962a9a7694e6e5baedd5",
	abstract = "Current engineering practice for adaptive control schemes is to base the design on globally convergent schemes for simple plant models. An important class of such schemes uses least squares estimation of assumed simple input-output models and constructs the controller using the parameter estimates. This paper studies the robustness of such schemes to the presence of unmodelled plant coloured noise. Such noise is sometimes an adequate model for unmodelled plant dynamics. The theory of the paper makes a connection between the least squares parameter error equations and those associated with extended least squares using a posteriori noise estimates for which there are known global convergence results. For the case of adaptive minimum variance control of minimum phase plants, this connection permits stronger convergence results than those hitherto derived from the theory of extended least squares based on a priori noise estimates. © 1987.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, F Davoli, R Minciardi and R Zoppoli. DECENTRALIZED CLOSED-LOOP SOLUTION TO THE ROUTING PROBLEM IN NETWORKS..
1986, 9 – 17.
Abstract Decentralized dynamic routing in networks is considered in the paper. Finite buffers at nodes, stochastic inputs, discrete control and state variables characterize the problem. An information structure of the decision makers is introduced which allows to solve the problem via a static team optimization. Then, on the basis of the existence of a common past information set, the structure of the optimal control strategy is studied and the possibility of using a receding-horizon control scheme is discussed. Finally, stationary infinite-horizon optimal decentralized solutions are sought. A possible procedure to find such solutions is discussed, which is simply based on standard Markov chains properties.
URL BibTeX

@conference{Aicardi19869,
	author = "Aicardi, M. and Casalino, G. and Davoli, F. and Minciardi, R. and Zoppoli, R.",
	title = "DECENTRALIZED CLOSED-LOOP SOLUTION TO THE ROUTING PROBLEM IN NETWORKS.",
	year = 1986,
	pages = "9 – 17",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0023011502&partnerID=40&md5=2e85b93cf5fe791f72890a5b457b53f9",
	abstract = "Decentralized dynamic routing in networks is considered in the paper. Finite buffers at nodes, stochastic inputs, discrete control and state variables characterize the problem. An information structure of the decision makers is introduced which allows to solve the problem via a static team optimization. Then, on the basis of the existence of a common past information set, the structure of the optimal control strategy is studied and the possibility of using a receding-horizon control scheme is discussed. Finally, stationary infinite-horizon optimal decentralized solutions are sought. A possible procedure to find such solutions is discussed, which is simply based on standard Markov chains properties.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino and L Gambardella. LEARNING OF MOVEMENTS IN ROBOTIC MANIPULATORS..
1986, 572 – 578.
Abstract The authors present the basic ideas underlying a learning methodology for the control of movements of robotic manipulators. It is based on the use of repeated trials of tracking of a preassigned trajectory. Sufficient conditions for the convergence of the algorithm are presented.
URL BibTeX

@conference{Casalino1986572,
	author = "Casalino, G. and Gambardella, L.",
	title = "LEARNING OF MOVEMENTS IN ROBOTIC MANIPULATORS.",
	year = 1986,
	pages = "572 – 578",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0022581319&partnerID=40&md5=bbd9d01838171c470ba56cc8ee2466a8",
	abstract = "The authors present the basic ideas underlying a learning methodology for the control of movements of robotic manipulators. It is based on the use of repeated trials of tracking of a preassigned trajectory. Sufficient conditions for the convergence of the algorithm are presented.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, F Davoli and R Minciardi. DECOMPOSITION OF DECENTRALIZED ACCESS STRATEGIES FOR A BROADCAST CHANNEL..
1986, 2073 – 2076.
Abstract A model of a multiaccess broadcast channel is considered, which belongs to the class of decentralized control problems with k-step-delayed sharing information. It is shown that a decomposition of the problem is possible, given on a sufficient statistic, and that infinite-horizon stationary strategies can be found.
URL, DOI BibTeX

@conference{Aicardi19862073,
	author = "Aicardi, M. and Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "DECOMPOSITION OF DECENTRALIZED ACCESS STRATEGIES FOR A BROADCAST CHANNEL.",
	year = 1986,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	pages = "2073 – 2076",
	doi = "10.1109/cdc.1986.267405",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0022955999&doi=10.1109%2fcdc.1986.267405&partnerID=40&md5=38c688c4187f4285a4fbd1e0c88d3c03",
	abstract = "A model of a multiaccess broadcast channel is considered, which belongs to the class of decentralized control problems with k-step-delayed sharing information. It is shown that a decomposition of the problem is possible, given on a sufficient statistic, and that infinite-horizon stationary strategies can be found.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, F Davoli and R Minciardi. Development of optimal routing policies in a queueing network.
Annual Review in Automatic Programming 12(PART 1):404 – 407, 1985.
Abstract An approach to the solution of the dynamic routing problem in a queueing network is presented in the paper, based on Lagrangian duality and decomposition techniques. A numerical solution can be obtained by a multilevel off-line computational procedure. The considered network has deterministic inputs and initial state, and the optimization problem is in discrete time. Link capacity and queue length constraints are taken into account. © 1985.
URL, DOI BibTeX

@article{Aicardi1985404,
	author = "Aicardi, M and Casalino, G and Davoli, F and Minciardi, R",
	title = "Development of optimal routing policies in a queueing network",
	year = 1985,
	journal = "Annual Review in Automatic Programming",
	volume = 12,
	number = "PART 1",
	pages = "404 – 407",
	doi = "10.1016/0066-4138(85)90072-2",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0022301879&doi=10.1016%2f0066-4138%2885%2990072-2&partnerID=40&md5=380aada740050bf2f01f8f011aac33ae",
	abstract = "An approach to the solution of the dynamic routing problem in a queueing network is presented in the paper, based on Lagrangian duality and decomposition techniques. A numerical solution can be obtained by a multilevel off-line computational procedure. The considered network has deterministic inputs and initial state, and the optimization problem is in discrete time. Link capacity and queue length constraints are taken into account. © 1985.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli and R Minciardi. FINITE AND INFINITE HORIZON LQ ADAPTIVE CONTROLLERS BASED ON IMPLICIT MODEL IDENTIFICATION..
1985, 853 – 855.
Abstract Basic results in implicit modeling theory and its application to adaptive control are summarized. This theory concerns the represention of systems driven by proper feedback laws by means of models which are structurally different from the true model, and simpler to identify. This approach raises the possibility of devising adaptive control algorithms based on the identification of relatively simple models which admit the optimum control situation as an equilibrium point.
URL, DOI BibTeX

@conference{Casalino1985853,
	author = "Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "FINITE AND INFINITE HORIZON LQ ADAPTIVE CONTROLLERS BASED ON IMPLICIT MODEL IDENTIFICATION.",
	year = 1985,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	pages = "853 – 855",
	doi = "10.1109/cdc.1985.268616",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0022291865&doi=10.1109%2fcdc.1985.268616&partnerID=40&md5=907972f3911aa537fc63e38330248832",
	abstract = "Basic results in implicit modeling theory and its application to adaptive control are summarized. This theory concerns the represention of systems driven by proper feedback laws by means of models which are structurally different from the true model, and simpler to identify. This approach raises the possibility of devising adaptive control algorithms based on the identification of relatively simple models which admit the optimum control situation as an equilibrium point.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, F Davoli, R Minciardi and R Zoppoli. A decentralized closed-loop solution to the routing problem in networks.
Annual Review in Automatic Programming 13(PART 2):9 – 17, 1985.
Abstract Decentralized dynamic routing in networks is considered in the paper. Finite buffers at nodes, stochastic inputs, discrete control and state variables characterize the problem. An information structure of the decision makers is introduced which allows to solve the problem via a static team optimization. Then, on the basis of the existence of a common past information set, the structure of the optimal control strategy is studied and the possibility of using a receding-horizon control scheme is discussed. Finally, stationary infinite-horizon optimal decentralized solutions are sought. A possible procedure to find such solutions is discussed, which is simply based on standard Markov chains properties. © 1986.
URL, DOI BibTeX

@article{Aicardi19859,
	author = "Aicardi, M and Casalino, G and Davoli, F and Minciardi, R and Zoppoli, R",
	title = "A decentralized closed-loop solution to the routing problem in networks",
	year = 1985,
	journal = "Annual Review in Automatic Programming",
	volume = 13,
	number = "PART 2",
	pages = "9 – 17",
	doi = "10.1016/0066-4138(85)90457-4",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0022995295&doi=10.1016%2f0066-4138%2885%2990457-4&partnerID=40&md5=9327caa2dc8207addd5bbf9be917870f",
	abstract = "Decentralized dynamic routing in networks is considered in the paper. Finite buffers at nodes, stochastic inputs, discrete control and state variables characterize the problem. An information structure of the decision makers is introduced which allows to solve the problem via a static team optimization. Then, on the basis of the existence of a common past information set, the structure of the optimal control strategy is studied and the possibility of using a receding-horizon control scheme is discussed. Finally, stationary infinite-horizon optimal decentralized solutions are sought. A possible procedure to find such solutions is discussed, which is simply based on standard Markov chains properties. © 1986.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli, R Minciardi and G Zappa. ADAPTIVE FINITE-HORIZON IMPLICIT LQ CONTROLLERS..
1985, 1311 – 1315.
Abstract It is shown that for an ARMAX plant there exists a class of ARX implicit models such that it is possible to correctly solve a multistep quadratic control problem. Therefore there exist adaptive control algorithms, based on LS identification, whose equilibrium point yields an optimal multistep quadratic regulator even for an ARMAX plant.
URL BibTeX

@conference{Casalino19851311,
	author = "Casalino, G. and Davoli, F. and Minciardi, R. and Zappa, G.",
	title = "ADAPTIVE FINITE-HORIZON IMPLICIT LQ CONTROLLERS.",
	year = 1985,
	journal = "IFAC Proceedings Series",
	number = 7,
	pages = "1311 – 1315",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0022317639&partnerID=40&md5=f51fa4d19c4e8cbc43c2dd3afd7a51b7",
	abstract = "It is shown that for an ARMAX plant there exists a class of ARX implicit models such that it is possible to correctly solve a multistep quadratic control problem. Therefore there exist adaptive control algorithms, based on LS identification, whose equilibrium point yields an optimal multistep quadratic regulator even for an ARMAX plant.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Bartolini, G Casalino, F Davoli, R Minciardi and G Zappa. ON IMPLICIT MODELLING THEORY AND ITS APPLICATION TO ADAPTIVE CONTROL..
1985, 949 – 954.
Abstract The paper presents the basis for a unifying theory about the concept of 'implicit modelling'. Necessary and sufficient conditions for the existence of least squares type implicit models are derived. Their properties are discussed together with the conditions for their application in the adaptive control field.
URL BibTeX

@conference{Bartolini1985949,
	author = "Bartolini, G. and Casalino, G. and Davoli, F. and Minciardi, R. and Zappa, G.",
	title = "ON IMPLICIT MODELLING THEORY AND ITS APPLICATION TO ADAPTIVE CONTROL.",
	year = 1985,
	journal = "IFAC Proceedings Series",
	pages = "949 – 954",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0021975584&partnerID=40&md5=68c006030d970e726e1ad950b3662318",
	abstract = "The paper presents the basis for a unifying theory about the concept of 'implicit modelling'. Necessary and sufficient conditions for the existence of least squares type implicit models are derived. Their properties are discussed together with the conditions for their application in the adaptive control field.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Bartolini, G Casalino, F Davoli and R Minciardi. SOME RESULTS ON INFINITE HORIZON LQG ADAPTIVE CONTROL..
1984, 119 – 121.
URL, DOI BibTeX

@conference{Bartolini1984119,
	author = "Bartolini, G. and Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "SOME RESULTS ON INFINITE HORIZON LQG ADAPTIVE CONTROL.",
	year = 1984,
	pages = "119 – 121",
	doi = "10.1016/b978-0-08-030565-3.50030-7",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0021312289&doi=10.1016%2fb978-0-08-030565-3.50030-7&partnerID=40&md5=1c5e7ec3e7af46cf79f73197a98fe1ae",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli, R Minciardi, P P Puliafito and R Zoppoli. Partially Nested Information Structures with a Common Past.
IEEE Transactions on Automatic Control 29(9):846 – 850, 1984.
Abstract A team control problem is considered whose information structure is partially nested and is characterized by the existence of a common past information set shared by the team members after a finite delay. Under LQG assumptions, it is shown that the optimal control strategy can take on a time-invariant recursive form based on suitable sufficient statistics. © 1984, IEEE. All rights reserved.
URL, DOI BibTeX

@article{Casalino1984846,
	author = "Casalino, G. and Davoli, F. and Minciardi, R. and Puliafito, P.P. and Zoppoli, R.",
	title = "Partially Nested Information Structures with a Common Past",
	year = 1984,
	journal = "IEEE Transactions on Automatic Control",
	volume = 29,
	number = 9,
	pages = "846 – 850",
	doi = "10.1109/TAC.1984.1103653",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0021499921&doi=10.1109%2fTAC.1984.1103653&partnerID=40&md5=d33da0fca9b8d12f9a117dfabccfa92b",
	abstract = "A team control problem is considered whose information structure is partially nested and is characterized by the existence of a common past information set shared by the team members after a finite delay. Under LQG assumptions, it is shown that the optimal control strategy can take on a time-invariant recursive form based on suitable sufficient statistics. © 1984, IEEE. All rights reserved.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli, R Minciardi and R Zoppoli. ON THE STRUCTURE OF DECENTRALIZED DYNAMIC ROUTING STRATEGIES..
1983, 472 – 476.
URL, DOI BibTeX

@conference{Casalino1983472,
	author = "Casalino, G. and Davoli, F. and Minciardi, R. and Zoppoli, R.",
	title = "ON THE STRUCTURE OF DECENTRALIZED DYNAMIC ROUTING STRATEGIES.",
	year = 1983,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 1,
	pages = "472 – 476",
	doi = "10.1109/cdc.1983.269887",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0020944635&doi=10.1109%2fcdc.1983.269887&partnerID=40&md5=901bf91064e18e8b46e5e495870f57bc",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

M Aicardi, G Casalino, F Davoli and R Minciardi. OPTIMIZATION PROBLEMS IN THE DESIGN OF A MULTIPLE ACCESS PROTOCOL..
1983.
URL BibTeX

@conference{Aicardi1983,
	author = "Aicardi, M. and Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "OPTIMIZATION PROBLEMS IN THE DESIGN OF A MULTIPLE ACCESS PROTOCOL.",
	year = 1983,
	volume = 1,
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0020943120&partnerID=40&md5=92c4e46965a26f188dda53dc710f9262",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli, R Minciardi and R Zoppoli. DECENTRALIZED DYNAMIC ROUTING IN DATA COMMUNICATION NETWORKS..
1983.
URL BibTeX

@conference{Casalino1983,
	author = "Casalino, G. and Davoli, F. and Minciardi, R. and Zoppoli, R.",
	title = "DECENTRALIZED DYNAMIC ROUTING IN DATA COMMUNICATION NETWORKS.",
	year = 1983,
	volume = 1,
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0020944451&partnerID=40&md5=a4109b4c85ff37dfbff92170e0717a90",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Bartolini, G Casalino, F Davoli and R Minciardi. PACKAGE FOR MULTIVARIABLE ADAPTIVE CONTROL..
1983, 229 – 235.
URL BibTeX

@conference{Bartolini1983229,
	author = "Bartolini, G. and Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "PACKAGE FOR MULTIVARIABLE ADAPTIVE CONTROL.",
	year = 1983,
	pages = "229 – 235",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0020602450&partnerID=40&md5=c8e70d3d3dea98b7e9934c5edbd55982",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

P Bondi, G Casalino and L Gambardella. A contribution to stability analysis of asymptotically time invariant discrete systems.
Systems and Control Letters 2(1):63 – 68, 1982.
Abstract In this paper the stability properties of a time varying discrete systems class is studied by using the limiting equations approach. A general theorem of asymptotic stability is given for asymptotically time invariant systems and an application of the result to adaptive control systems is illustrated. © 1982 North-Holland.
URL, DOI BibTeX

@article{Bondi198263,
	author = "Bondi, P. and Casalino, G. and Gambardella, L.",
	title = "A contribution to stability analysis of asymptotically time invariant discrete systems",
	year = 1982,
	journal = "Systems and Control Letters",
	volume = 2,
	number = 1,
	pages = "63 – 68",
	doi = "10.1016/S0167-6911(82)80045-5",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-50849153587&doi=10.1016%2fS0167-6911%2882%2980045-5&partnerID=40&md5=9b11c75d3da6ca8e3b943e6391326a73",
	abstract = "In this paper the stability properties of a time varying discrete systems class is studied by using the limiting equations approach. A general theorem of asymptotic stability is given for asymptotically time invariant systems and an application of the result to adaptive control systems is illustrated. © 1982 North-Holland.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, F Davoli, R Minciardi and R Zoppoli. SUFFICIENT STATISTICS IN TEAM CONTROL PROBLEMS WITH A COMMON PAST..
1982, 186 – 190.
URL, DOI BibTeX

@conference{Casalino1982186,
	author = "Casalino, G. and Davoli, F. and Minciardi, R. and Zoppoli, R.",
	title = "SUFFICIENT STATISTICS IN TEAM CONTROL PROBLEMS WITH A COMMON PAST.",
	year = 1982,
	journal = "Proceedings of the IEEE Conference on Decision and Control",
	volume = 1,
	pages = "186 – 190",
	doi = "10.1109/cdc.1982.268424",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0020276830&doi=10.1109%2fcdc.1982.268424&partnerID=40&md5=c784cfaf7c804d535ba55a26fc5c61b4",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus",
	note = "All Open Access, Gold Open Access"
}

G Bartolini, G Casalino, F Davoli, M Mastretta, R Minciardi and E Morten. DEVELOPMENT AND APPLICATION OF ADAPTIVE CONTROL METHODS IN CONTINUOUS CASTINGS PLANTS..
1982, 34 – 37.
URL BibTeX

@conference{Bartolini198234,
	author = "Bartolini, G. and Casalino, G. and Davoli, F. and Mastretta, M. and Minciardi, R. and Morten, E.",
	title = "DEVELOPMENT AND APPLICATION OF ADAPTIVE CONTROL METHODS IN CONTINUOUS CASTINGS PLANTS.",
	year = 1982,
	journal = "IEE Conference Publication",
	number = 208,
	pages = "34 – 37",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0019927526&partnerID=40&md5=c352d64877127015fae18585f11a6699",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Bartolini, G Casalino, F Davoli and R Minciardi. ICOF APPROACH TO INFINITE HORIZON LQG ADAPTIVE CONTROL..
Ricerche di Automatica 13(1):123 – 139, 1982.
Abstract An adaptive control algorithm is presented which attempts to extend the easy implementability properties of classical self-tuning controllers to regulators corresponding to the solution of infinite horizon LQG control problems. The algorithm interlaces a recursive identification procedure with the iteration of a discrete-time Riccati equation. The whole scheme is based upon the identification of an implicit model, that can be accomplished by means of a Recursive Least Squares method, and is used for the iteration of the discrete-time Riccati equation. Although no theoretical investigation is given about the convergence properties of the algorithm, experimental results show that the method has a good performance, even with plants that can be considered pathological for other adaptive control algorithms.
URL BibTeX

@article{Bartolini1982123,
	author = "Bartolini, G. and Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "ICOF APPROACH TO INFINITE HORIZON LQG ADAPTIVE CONTROL.",
	year = 1982,
	journal = "Ricerche di Automatica",
	volume = 13,
	number = 1,
	pages = "123 – 139",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0020195483&partnerID=40&md5=6a6b6a98df94d00d81319d07bd5e61c5",
	abstract = "An adaptive control algorithm is presented which attempts to extend the easy implementability properties of classical self-tuning controllers to regulators corresponding to the solution of infinite horizon LQG control problems. The algorithm interlaces a recursive identification procedure with the iteration of a discrete-time Riccati equation. The whole scheme is based upon the identification of an implicit model, that can be accomplished by means of a Recursive Least Squares method, and is used for the iteration of the discrete-time Riccati equation. Although no theoretical investigation is given about the convergence properties of the algorithm, experimental results show that the method has a good performance, even with plants that can be considered pathological for other adaptive control algorithms.",
	type = "Article",
	publication_stage = "Final",
	source = "Scopus"
}

G Casalino, G Menga, R Minciardi, E Mosca and R Zoppoli. NEW CLASS OF NUMERICALLY EFFICIENT ALGORITHMS FOR MULTIVARIABLE ADAPTIVE CONTROLLERS..
, pages 168 – 177, 1980.
Abstract The design of linear quadratic Gaussian (LQG) multivariable adaptive regulators acting over a control horizon of arbitrary length is presented within the framework of mathematical progamming. A simple and efficient adaptation scheme is discussed, in which each descent step is performed after an identification step estimating the closed-loop system parameters (i. e. , the control law and the controlled plant are described by a unique prediction model.
URL BibTeX

@article{Casalino1980168,
	author = "Casalino, G. and Menga, G. and Minciardi, R. and Mosca, E. and Zoppoli, R.",
	title = "NEW CLASS OF NUMERICALLY EFFICIENT ALGORITHMS FOR MULTIVARIABLE ADAPTIVE CONTROLLERS.",
	year = 1980,
	pages = "168 – 177",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0019109458&partnerID=40&md5=3bec080b126d0f6f75d3045d91002ce4",
	abstract = "The design of linear quadratic Gaussian (LQG) multivariable adaptive regulators acting over a control horizon of arbitrary length is presented within the framework of mathematical progamming. A simple and efficient adaptation scheme is discussed, in which each descent step is performed after an identification step estimating the closed-loop system parameters (i. e. , the control law and the controlled plant are described by a unique prediction model.",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}

G Bartolini, G Casalino, F Davoli and R Minciardi. IMPLEMENTATION PROBLEMS IN MULTIVARIABLE ADAPTIVE CONTROL STRUCTURES..
1980, 237 – 244.
URL, DOI BibTeX

@conference{Bartolini1980237,
	author = "Bartolini, G. and Casalino, G. and Davoli, F. and Minciardi, R.",
	title = "IMPLEMENTATION PROBLEMS IN MULTIVARIABLE ADAPTIVE CONTROL STRUCTURES.",
	year = 1980,
	pages = "237 – 244",
	doi = "10.1016/s1474-6670(17)64440-9",
	url = "https://www.scopus.com/inward/record.uri?eid=2-s2.0-0019110026&doi=10.1016%2fs1474-6670%2817%2964440-9&partnerID=40&md5=fb3a9f02252306b506a569fb731d041f",
	type = "Conference paper",
	publication_stage = "Final",
	source = "Scopus"
}