Veröffentlichungen

@article{10803082,

title = {Optimal Path Planning Method for a Bush Trimming Robot With a Non-Omnidirectional End-Effector},

author = {Matteo Manzardo and Giovanni Carabin and Renato Vidoni},

doi = {10.1109/LRA.2024.3518232},

year  = {2025},

date = {2025-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {10},

number = {2},

pages = {1090-1097},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{10938305,

title = {Smooth Human\textendashRobot Shared Control for Autonomous Orchard Monitoring With UGVs},

author = { Cheikh Melainine El~Bou and Michele Focchi and Michael R. Chang and Marco Camurri and Karl D. von Ellenrieder},

doi = {10.1109/TASE.2025.3554368},

year  = {2025},

date = {2025-01-01},

urldate = {2025-01-01},

journal = {IEEE Transactions on Automation Science and Engineering},

volume = {22},

pages = {13603-13620},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{el2025shared,

title = {Shared control with obstacle avoidance for UGVs},

author = { Cheikh Melainine El Bou and Florian Beck and Karl Ellenrieder and Satyandra Gupta},

year  = {2025},

date = {2025-01-01},

urldate = {2025-01-01},

journal = {IEEE Transactions on Automation Science and Engineering},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{gomiero2025modeling,

title = {Modeling and Sliding Mode Control of a Heavy-lift Quadrotor with a Cable-suspended Payload under Wind Disturbances},

author = {Sara Gomiero and Karl D Von Ellenrieder},

year  = {2025},

date = {2025-01-01},

journal = {IEEE Transactions on Automation Science and Engineering},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{10639539,

title = {Relaxed Control Barrier Function Based Control for Closest Approach by Underactuated USVs},

author = {Karl D. Ellenrieder and Marco Camurri},

doi = {10.1109/JOE.2024.3423869},

year  = {2024},

date = {2024-01-01},

journal = {IEEE Journal of Oceanic Engineering},

volume = {49},

number = {4},

pages = {1301-1321},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Leitner2023263,

title = {Technical, Safety and Environmental Challenges in the Electrification of Cable Yarding Equipment},

author = {S. Leitner and R. Spinelli and L. G. Bont and R. Vidoni and M. Renzi and J. Schweier},

url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85164507088\&doi=10.1007%2fs40725-023-00185-2\&partnerID=40\&md5=76ba9a0127b276e2ff597d8876a56726},

doi = {10.1007/s40725-023-00185-2},

year  = {2023},

date = {2023-01-01},

urldate = {2023-01-01},

journal = {Current Forestry Reports},

volume = {9},

number = {4},

pages = {263-275},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Leitner2023739,

title = {Tower yarder powertrain performance simulation analysis: electrification study},

author = {S. Leitner and M. A. Perez Estevez and M. Renzi and R. Spinelli and F. Mazzetto and R. Vidoni},

url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85150234180\&doi=10.1007%2fs10342-023-01553-0\&partnerID=40\&md5=cd6e82dfd4dc1a30d39af9465807f280},

doi = {10.1007/s10342-023-01553-0},

year  = {2023},

date = {2023-01-01},

urldate = {2023-01-01},

journal = {European Journal of Forest Research},

volume = {142},

number = {4},

pages = {739-761},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Leitner2023657,

title = {Requirements and Challenges in the Design and Potential of Smart and Efficient Winch Assisted Forestry Machinery},

author = {S. Leitner and M. Perez and G. Carabin and M. Renzi and R. Vidoni and F. Mazzetto},

url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85168773472\&doi=10.1007%2f978-3-031-30329-6_67\&partnerID=40\&md5=0eb3d395fbad619ca7842b71ae0455b8},

doi = {10.1007/978-3-031-30329-6_67},

year  = {2023},

date = {2023-01-01},

urldate = {2023-01-01},

journal = {Lecture Notes in Civil Engineering},

volume = {337 LNCE},

pages = {657-666},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{article,

title = {On the Design of Hybrid Tower Yarder Drivetrains: A Case Study},

author = {Stefan Leitner and Massimiliano Renzi and Raffaele Spinelli and Renato Vidoni},

doi = {10.3390/f13091520},

year  = {2022},

date = {2022-01-01},

journal = {Forests},

volume = {13},

pages = {1520},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Saeed2022,

title = {Conceptualization and Implementation of a Reconfigurable Unmanned Ground Vehicle for Emulated Agricultural Tasks},

author = {Raza A. Saeed and Giacomo Tomasi and Giovanni Carabin and Renato Vidoni and Karl D. Ellenrieder},

url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85138622043\&doi=10.3390%2fmachines10090817\&partnerID=40\&md5=39014f5af036e260d7f75891f5995acb},

doi = {10.3390/machines10090817},

year  = {2022},

date = {2022-01-01},

journal = {Machines},

volume = {10},

number = {9},

note = {Cited by: 2; All Open Access, Gold Open Access},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{VONELLENRIEDER2022102750,

title = {Shared human\textendashrobot path following control of an unmanned ground vehicle},

author = {Karl D. Ellenrieder and Stephen C. Licht and Roberto Belotti and Helen C. Henninger},

url = {https://www.sciencedirect.com/science/article/pii/S0957415822000083},

doi = {https://doi.org/10.1016/j.mechatronics.2022.102750},

issn = {0957-4158},

year  = {2022},

date = {2022-01-01},

journal = {Mechatronics},

volume = {83},

pages = {102750},

abstract = {This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{articleb,

title = {On the Design of Hybrid Tower Yarder Drivetrains: A Case Study},

author = {Stefan Leitner and Massimiliano Renzi and Raffaele Spinelli and Renato Vidoni},

doi = {10.3390/f13091520},

year  = {2022},

date = {2022-01-01},

journal = {Forests},

volume = {13},

pages = {1520},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Saeed2022b,

title = {Conceptualization and Implementation of a Reconfigurable Unmanned Ground Vehicle for Emulated Agricultural Tasks},

author = {Raza A. Saeed and Giacomo Tomasi and Giovanni Carabin and Renato Vidoni and Karl D. Ellenrieder},

url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85138622043\&doi=10.3390%2fmachines10090817\&partnerID=40\&md5=39014f5af036e260d7f75891f5995acb},

doi = {10.3390/machines10090817},

year  = {2022},

date = {2022-01-01},

journal = {Machines},

volume = {10},

number = {9},

note = {Cited by: 2; All Open Access, Gold Open Access},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{VONELLENRIEDER2022102750b,

title = {Shared human\textendashrobot path following control of an unmanned ground vehicle},

author = {Karl D. Ellenrieder and Stephen C. Licht and Roberto Belotti and Helen C. Henninger},

url = {https://www.sciencedirect.com/science/article/pii/S0957415822000083},

doi = {https://doi.org/10.1016/j.mechatronics.2022.102750},

issn = {0957-4158},

year  = {2022},

date = {2022-01-01},

journal = {Mechatronics},

volume = {83},

pages = {102750},

abstract = {This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{VONELLENRIEDER2019433,

title = {Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits},

author = {Karl D. Ellenrieder},

url = {https://www.sciencedirect.com/science/article/pii/S0005109819301785},

doi = {https://doi.org/10.1016/j.automatica.2019.04.018},

issn = {0005-1098},

year  = {2019},

date = {2019-01-01},

journal = {Automatica},

volume = {105},

pages = {433-442},

abstract = {An n-degree of freedom nonlinear control law for the trajectory tracking of marine vehicles that operate in the presence of unknown time-varying disturbances, input saturation and actuator rate limits is developed using a disturbance observer and nonlinear dynamic surface control. In marine vehicle applications, n would typically be 3, 4 or 6. The disturbance observer provides estimates of the unknown time-varying disturbances and a continuously differentiable function is employed to model input saturation. The uniform ultimate boundedness of all signals in the closed-loop control system is proved. Trajectory-tracking simulations of an autonomous underwater vehicle demonstrate the performance of the proposed controller.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ELLENRIEDER2019235,

title = {Homogeneity for Shared Control in the Presence of Disturbances ⁎⁎Sponsored by the European Regional Development Fund (FiRST Lab Project #FESR1084) and by the US National Science Foundation (Award #1526016).},

author = {Karl D. Ellenrieder and Helen C. Henninger and Roberto Belotti},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319316714},

doi = {https://doi.org/10.1016/j.ifacol.2019.11.680},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {15},

pages = {235-240},

abstract = {This paper considers the shared control of a second order plant by a single machine and one person in the presence of exogenous disturbances. A mixed-initiative blending law that takes a passive measure of human intent as the input to a convex pair of exponential functions is proposed. The blending law is combined with a disturbance observer and homogeneous trajectory-tracking control law, which dynamically rescales to ensure that actuator magnitude constraints are respected. The globally uniform ultimate boundedness of the closed loop automatic controller is proved. The shared control system is tested in a simulation where a human user can impose a control input using a joystick. Even if large tracking errors are commanded by the user, the automatic controller is able to quickly return to tracking the desired path when the joystick is released.},

note = {8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{BELOTTI2019519,

title = {A Deadband-Based Method for User Effort Reduction in Human-Robot Shared Control ⁎⁎Sponsored by the European Regional Development Fund (FiRST Lab Project #FESR1084).},

author = {Roberto Belotti and Karl D. Ellenrieder and Helen C. Henninger},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319317227},

doi = {https://doi.org/10.1016/j.ifacol.2019.11.728},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {15},

pages = {519-524},

abstract = {In a human-robot collaboration framework, the authority over the execution of tasks can be shared between the human user and the automatic controller. In case of disagreement, the human user may exert a significant amount of effort opposing the robotic counterpart. Therefore, a prompt assessment of user intent is of the utmost importance in shared systems. In this paper a novel strategy, inspired by anti-windup techniques, is proposed to adjust the component of automatic control according to the sensed human effort. A haptic human-robot interface is developed and the method is validated in a shared control application in which both the human user and the automatic controller can steer a simulated ground vehicle. Evidence is shown that the proposed method can reduce the required human effort, with performance comparable to the state-of-the-art.},

note = {8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{HENNINGER2019242,

title = {Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances},

author = {Helen C. Henninger and Karl D. Ellenrieder and James D. Biggs},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319321998},

doi = {https://doi.org/10.1016/j.ifacol.2019.12.314},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {21},

pages = {242-247},

abstract = {This paper describes the trajectory tracking of an underactuated autonomous underwater vehicle (AUV) with three control inputs (surge, yaw and pitch moment) that operates in the presence of time-varying disturbances. The AUV kinematics are described in global coordinates as a Hamiltonian system on the Lie group SE(3) and the boundary-value problem arising from the geometric framing of Pontryagin’s Maximum Principle is applied to the vehicle kinematics. This 6-dimensional boundary value problem is solved using a numerical shooting method and a novel semi-analytical Lie group integrator. The integrator uses Rodrigue’s formula to express the exact solution of the solution curves, is symplectic and preserves energy and momentum. Inverse dynamics is applied to construct an inner-loop controller, which accounts for constraints on maximum torque and force via time reparametrization. This inner-loop control, which would drive the AUV along the reference trajectory in perfect conditions, is combined with a disturbance observer to construct an outer-loop controller, which ensures stability in the presence of bounded disturbances. Simulation results complete the work.},

note = {12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{VONELLENRIEDER2019341,

title = {A Higher Order Sliding Mode Controller-Observer for Marine Vehicles},

author = {Karl D. Ellenrieder and Helen C. Henninger},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319322153},

doi = {https://doi.org/10.1016/j.ifacol.2019.12.330},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {21},

pages = {341-346},

abstract = {A third order sliding mode disturbance observer, coupled with a modified super twisting controller, is proposed for the trajectory tracking of fully-actuated marine vehicles in the presence of unknown, time-varying disturbances. The observer-controller is formulated in a general vector form that can be applied to marine vehicles with configuration spaces corresponding to three, four or six degrees of freedom. The effectiveness of the observer-controller is demonstrated using simulations of an unmanned surface vessel tracking a square-shaped trajectory.},

note = {12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{VONELLENRIEDER2019433b,

title = {Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits},

author = {Karl D. Ellenrieder},

url = {https://www.sciencedirect.com/science/article/pii/S0005109819301785},

doi = {https://doi.org/10.1016/j.automatica.2019.04.018},

issn = {0005-1098},

year  = {2019},

date = {2019-01-01},

journal = {Automatica},

volume = {105},

pages = {433-442},

abstract = {An n-degree of freedom nonlinear control law for the trajectory tracking of marine vehicles that operate in the presence of unknown time-varying disturbances, input saturation and actuator rate limits is developed using a disturbance observer and nonlinear dynamic surface control. In marine vehicle applications, n would typically be 3, 4 or 6. The disturbance observer provides estimates of the unknown time-varying disturbances and a continuously differentiable function is employed to model input saturation. The uniform ultimate boundedness of all signals in the closed-loop control system is proved. Trajectory-tracking simulations of an autonomous underwater vehicle demonstrate the performance of the proposed controller.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ELLENRIEDER2019235b,

title = {Homogeneity for Shared Control in the Presence of Disturbances ⁎⁎Sponsored by the European Regional Development Fund (FiRST Lab Project #FESR1084) and by the US National Science Foundation (Award #1526016).},

author = {Karl D. Ellenrieder and Helen C. Henninger and Roberto Belotti},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319316714},

doi = {https://doi.org/10.1016/j.ifacol.2019.11.680},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {15},

pages = {235-240},

abstract = {This paper considers the shared control of a second order plant by a single machine and one person in the presence of exogenous disturbances. A mixed-initiative blending law that takes a passive measure of human intent as the input to a convex pair of exponential functions is proposed. The blending law is combined with a disturbance observer and homogeneous trajectory-tracking control law, which dynamically rescales to ensure that actuator magnitude constraints are respected. The globally uniform ultimate boundedness of the closed loop automatic controller is proved. The shared control system is tested in a simulation where a human user can impose a control input using a joystick. Even if large tracking errors are commanded by the user, the automatic controller is able to quickly return to tracking the desired path when the joystick is released.},

note = {8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{BELOTTI2019519b,

title = {A Deadband-Based Method for User Effort Reduction in Human-Robot Shared Control ⁎⁎Sponsored by the European Regional Development Fund (FiRST Lab Project #FESR1084).},

author = {Roberto Belotti and Karl D. Ellenrieder and Helen C. Henninger},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319317227},

doi = {https://doi.org/10.1016/j.ifacol.2019.11.728},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {15},

pages = {519-524},

abstract = {In a human-robot collaboration framework, the authority over the execution of tasks can be shared between the human user and the automatic controller. In case of disagreement, the human user may exert a significant amount of effort opposing the robotic counterpart. Therefore, a prompt assessment of user intent is of the utmost importance in shared systems. In this paper a novel strategy, inspired by anti-windup techniques, is proposed to adjust the component of automatic control according to the sensed human effort. A haptic human-robot interface is developed and the method is validated in a shared control application in which both the human user and the automatic controller can steer a simulated ground vehicle. Evidence is shown that the proposed method can reduce the required human effort, with performance comparable to the state-of-the-art.},

note = {8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{HENNINGER2019242b,

title = {Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances},

author = {Helen C. Henninger and Karl D. Ellenrieder and James D. Biggs},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319321998},

doi = {https://doi.org/10.1016/j.ifacol.2019.12.314},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {21},

pages = {242-247},

abstract = {This paper describes the trajectory tracking of an underactuated autonomous underwater vehicle (AUV) with three control inputs (surge, yaw and pitch moment) that operates in the presence of time-varying disturbances. The AUV kinematics are described in global coordinates as a Hamiltonian system on the Lie group SE(3) and the boundary-value problem arising from the geometric framing of Pontryagin’s Maximum Principle is applied to the vehicle kinematics. This 6-dimensional boundary value problem is solved using a numerical shooting method and a novel semi-analytical Lie group integrator. The integrator uses Rodrigue’s formula to express the exact solution of the solution curves, is symplectic and preserves energy and momentum. Inverse dynamics is applied to construct an inner-loop controller, which accounts for constraints on maximum torque and force via time reparametrization. This inner-loop control, which would drive the AUV along the reference trajectory in perfect conditions, is combined with a disturbance observer to construct an outer-loop controller, which ensures stability in the presence of bounded disturbances. Simulation results complete the work.},

note = {12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{VONELLENRIEDER2019341b,

title = {A Higher Order Sliding Mode Controller-Observer for Marine Vehicles},

author = {Karl D. Ellenrieder and Helen C. Henninger},

url = {https://www.sciencedirect.com/science/article/pii/S2405896319322153},

doi = {https://doi.org/10.1016/j.ifacol.2019.12.330},

issn = {2405-8963},

year  = {2019},

date = {2019-01-01},

journal = {IFAC-PapersOnLine},

volume = {52},

number = {21},

pages = {341-346},

abstract = {A third order sliding mode disturbance observer, coupled with a modified super twisting controller, is proposed for the trajectory tracking of fully-actuated marine vehicles in the presence of unknown, time-varying disturbances. The observer-controller is formulated in a general vector form that can be applied to marine vehicles with configuration spaces corresponding to three, four or six degrees of freedom. The effectiveness of the observer-controller is demonstrated using simulations of an unmanned surface vessel tracking a square-shaped trajectory.},

note = {12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{GalloCarabinVidoniSaccoMazzetto+2018+131+140,

title = {Solutions for the automation of operational monitoring activities for agricultural and forestry tasks},

author = {Raimondo Gallo and Giovanni Carabin and Renato Vidoni and Pasqualina Sacco and Fabrizio Mazzetto},

url = {https://doi.org/10.2478/boku-2018-0012},

doi = {doi:10.2478/boku-2018-0012},

year  = {2018},

date = {2018-01-01},

journal = {Die Bodenkultur: Journal of Land Management, Food and Environment},

volume = {69},

number = {3},

pages = {131\textendash140},

keywords = {},

pubstate = {published},

tppubtype = {article}

}