Publications
2025
Gargano, Ivan Enzo; Ellenrieder, Karl Dietrich; Vivolo, Marianna
A Survey of Trajectory Planning Algorithms for Off-Road Uncrewed Ground Vehicles Proceedings Article
In: Mazal, Jan; Fagiolini, Adriano; Vasik, Petr; Pacillo, Francesco; Bruzzone, Agostino; Pickl, Stefan; Stodola, Petr (Ed.): Modelling and Simulation for Autonomous Systems, pp. 120–148, Springer Nature Switzerland, Cham, 2025, ISBN: 978-3-031-71397-2.
@inproceedings{10.1007/978-3-031-71397-2_8,
title = {A Survey of Trajectory Planning Algorithms for Off-Road Uncrewed Ground Vehicles},
author = {Ivan Enzo Gargano and Karl Dietrich Ellenrieder and Marianna Vivolo},
editor = {Jan Mazal and Adriano Fagiolini and Petr Vasik and Francesco Pacillo and Agostino Bruzzone and Stefan Pickl and Petr Stodola},
isbn = {978-3-031-71397-2},
year = {2025},
date = {2025-01-01},
booktitle = {Modelling and Simulation for Autonomous Systems},
pages = {120\textendash148},
publisher = {Springer Nature Switzerland},
address = {Cham},
abstract = {Off-road navigation in challenging terrains, such as planetary surfaces, military zones, and Search and Rescue (SAR) missions, demands autonomous solutions to replace human involvement. Uncrewed Ground Vehicles (UGVs) play a pivotal role in executing tedious, cognitively demanding, and hazardous tasks. Central to these autonomous systems is trajectory planning, vital for efficient and secure navigation through complex, dynamic environments. Our survey starts with an outline of the state-of-the-art of trajectory planning algorithms specific for off-road applications, ranging from heuristic methods to learning-based approaches, and emphasizing their application, challenges, and constraints. We delve into real-time planning, scalability, robustness, adaptability, and handling uncertainties. Furthermore, we investigate the integration of mission-specific goals like threat avoidance, energy efficiency, and time-critical operations into trajectory planning; in addiction, the survey also explores methods to incorporate these factors into the algorithmic framework, highlighting recent advancements and potential research directions. Finally, we provide a synthesis of the main findings with the goal to inform algorithm selection amidst the myriad of possibilities and lead toward a structured approach for specific contexts.},
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Off-road navigation in challenging terrains, such as planetary surfaces, military zones, and Search and Rescue (SAR) missions, demands autonomous solutions to replace human involvement. Uncrewed Ground Vehicles (UGVs) play a pivotal role in executing tedious, cognitively demanding, and hazardous tasks. Central to these autonomous systems is trajectory planning, vital for efficient and secure navigation through complex, dynamic environments. Our survey starts with an outline of the state-of-the-art of trajectory planning algorithms specific for off-road applications, ranging from heuristic methods to learning-based approaches, and emphasizing their application, challenges, and constraints. We delve into real-time planning, scalability, robustness, adaptability, and handling uncertainties. Furthermore, we investigate the integration of mission-specific goals like threat avoidance, energy efficiency, and time-critical operations into trajectory planning; in addiction, the survey also explores methods to incorporate these factors into the algorithmic framework, highlighting recent advancements and potential research directions. Finally, we provide a synthesis of the main findings with the goal to inform algorithm selection amidst the myriad of possibilities and lead toward a structured approach for specific contexts.
Manzardo, Matteo; Carabin, Giovanni; Vidoni, Renato
Optimal Path Planning Method for a Bush Trimming Robot With a Non-Omnidirectional End-Effector Journal Article
In: IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1090-1097, 2025.
@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},
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Bou, Cheikh Melainine El; Focchi, Michele; Chang, Michael R.; Camurri, Marco; von Ellenrieder, Karl D.
Smooth Human–Robot Shared Control for Autonomous Orchard Monitoring With UGVs Journal Article
In: IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 13603-13620, 2025.
@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},
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2024
Gomiero, Karl Von Ellenrieder Sara
Chattering-free Sliding Mode Control for Position and Attitude Tracking of a Quadrotor with a Cable-Suspended Load Proceedings Article
In: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), pp. 2031-2038, 2024.
@inproceedings{Ellenrieder2024,
title = {Chattering-free Sliding Mode Control for Position and Attitude Tracking of a Quadrotor with a Cable-Suspended Load},
author = {Karl Von Ellenrieder Sara Gomiero},
doi = {10.1109/CASE59546.2024.10711727},
year = {2024},
date = {2024-10-23},
urldate = {2024-10-23},
booktitle = {2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)},
pages = {2031-2038},
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pubstate = {published},
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Ellenrieder, Karl D.; Camurri, Marco
Relaxed Control Barrier Function Based Control for Closest Approach by Underactuated USVs Journal Article
In: IEEE Journal of Oceanic Engineering, vol. 49, no. 4, pp. 1301-1321, 2024.
@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},
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Mahmoudabadi, Parvin; Ellenrieder, Karl D.; Moroder, Matthias; Moroder, Moritz
Safety-critical Control for a Coaxial Octorotor UAV via High Order Control Barrier Function Proceedings Article
In: 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT), pp. 336-341, 2024.
@inproceedings{10708561,
title = {Safety-critical Control for a Coaxial Octorotor UAV via High Order Control Barrier Function},
author = {Parvin Mahmoudabadi and Karl D. Ellenrieder and Matthias Moroder and Moritz Moroder},
doi = {10.1109/CoDIT62066.2024.10708561},
year = {2024},
date = {2024-01-01},
booktitle = {2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)},
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Gomiero, Karl Von Ellenrieder Sara
Chattering-free Sliding Mode Control for Position and Attitude Tracking of a Quadrotor Proceedings Article
In: 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT), pp. 348-353, 2024.
@inproceedings{10708146,
title = {Chattering-free Sliding Mode Control for Position and Attitude Tracking of a Quadrotor},
author = {Karl Von Ellenrieder Sara Gomiero},
doi = {10.1109/CoDIT62066.2024.10708146},
year = {2024},
date = {2024-01-01},
booktitle = {2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)},
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Pircher, Edwin; Carabin, Giovanni; Camurri, Marco; Vidoni, Renato
Towards Collaborative Grape Harvesting with a Mobile Manipulator Proceedings Article
In: Secchi, Cristian; Marconi, Lorenzo (Ed.): European Robotics Forum 2024, pp. 211–215, Springer Nature Switzerland, Cham, 2024, ISBN: 978-3-031-76428-8.
@inproceedings{10.1007/978-3-031-76428-8_40,
title = {Towards Collaborative Grape Harvesting with a Mobile Manipulator},
author = {Edwin Pircher and Giovanni Carabin and Marco Camurri and Renato Vidoni},
editor = {Cristian Secchi and Lorenzo Marconi},
isbn = {978-3-031-76428-8},
year = {2024},
date = {2024-01-01},
booktitle = {European Robotics Forum 2024},
pages = {211\textendash215},
publisher = {Springer Nature Switzerland},
address = {Cham},
abstract = {Modern agriculture is progressively integrating robotic systems for a wide variety of tasks. Guided by the agricultural use case of the Sestosenso EU project, we introduce a robotic system consisting of a manipulator with a custom-designed end-effector, positioned on top of a mobile robotic platform. The robot's primary function is to assist operators in hillside vineyards, facilitating grape harvesting. Key contributions include the development of a dedicated end-effector, implementation of computing hardware, and comprehensive robotic integration of the system. The work is completed with the final realisation and tests of the mobile robot prototype and assessment of the future work.},
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Modern agriculture is progressively integrating robotic systems for a wide variety of tasks. Guided by the agricultural use case of the Sestosenso EU project, we introduce a robotic system consisting of a manipulator with a custom-designed end-effector, positioned on top of a mobile robotic platform. The robot's primary function is to assist operators in hillside vineyards, facilitating grape harvesting. Key contributions include the development of a dedicated end-effector, implementation of computing hardware, and comprehensive robotic integration of the system. The work is completed with the final realisation and tests of the mobile robot prototype and assessment of the future work.
2023
Leitner, S.; Spinelli, R.; Bont, L. G.; Vidoni, R.; Renzi, M.; Schweier, J.
Technical, Safety and Environmental Challenges in the Electrification of Cable Yarding Equipment Journal Article
In: Current Forestry Reports, vol. 9, no. 4, pp. 263-275, 2023.
@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},
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Leitner, S.; Estevez, M. A. Perez; Renzi, M.; Spinelli, R.; Mazzetto, F.; Vidoni, R.
Tower yarder powertrain performance simulation analysis: electrification study Journal Article
In: European Journal of Forest Research, vol. 142, no. 4, pp. 739-761, 2023.
@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},
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Leitner, S.; Perez, M.; Carabin, G.; Renzi, M.; Vidoni, R.; Mazzetto, F.
Requirements and Challenges in the Design and Potential of Smart and Efficient Winch Assisted Forestry Machinery Journal Article
In: Lecture Notes in Civil Engineering, vol. 337 LNCE, pp. 657-666, 2023.
@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},
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year = {2023},
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journal = {Lecture Notes in Civil Engineering},
volume = {337 LNCE},
pages = {657-666},
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tppubtype = {article}
}
Ellenrieder, Karl D.
Dynamic modeling and control of an amphibious uncrewed surface vessel Proceedings Article
In: OCEANS 2023 - Limerick, pp. 1-5, 2023.
@inproceedings{10244634,
title = {Dynamic modeling and control of an amphibious uncrewed surface vessel},
author = {Karl D. Ellenrieder},
doi = {10.1109/OCEANSLimerick52467.2023.10244634},
year = {2023},
date = {2023-01-01},
booktitle = {OCEANS 2023 - Limerick},
pages = {1-5},
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Saeed, RA; Carabin, Giovanni; Vidoni, Renato; Ellenrieder, Karl Von
Numerical and experimental evaluation of an enhanced boundary node path-planning method for agri-robots in dynamic environments Proceedings Article
In: ASME International Mechanical Engineering Congress and Exposition, pp. V006T07A073, American Society of Mechanical Engineers 2023.
@inproceedings{saeed2023numerical,
title = {Numerical and experimental evaluation of an enhanced boundary node path-planning method for agri-robots in dynamic environments},
author = {RA Saeed and Giovanni Carabin and Renato Vidoni and Karl Von Ellenrieder},
year = {2023},
date = {2023-01-01},
booktitle = {ASME International Mechanical Engineering Congress and Exposition},
volume = {87639},
pages = {V006T07A073},
organization = {American Society of Mechanical Engineers},
keywords = {},
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2022
Leitner, Stefan; Renzi, Massimiliano; Spinelli, Raffaele; Vidoni, Renato
On the Design of Hybrid Tower Yarder Drivetrains: A Case Study Journal Article
In: Forests, vol. 13, pp. 1520, 2022.
@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},
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year = {2022},
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Saeed, Raza A.; Tomasi, Giacomo; Carabin, Giovanni; Vidoni, Renato; Ellenrieder, Karl D.
Conceptualization and Implementation of a Reconfigurable Unmanned Ground Vehicle for Emulated Agricultural Tasks Journal Article
In: Machines, vol. 10, no. 9, 2022, (Cited by: 2; All Open Access, Gold Open Access).
@article{Saeed2022,
title = {Conceptualization and Implementation of a Reconfigurable Unmanned Ground Vehicle for Emulated Agricultural Tasks},
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Ellenrieder, Karl D.; Licht, Stephen C.; Belotti, Roberto; Henninger, Helen C.
Shared human–robot path following control of an unmanned ground vehicle Journal Article
In: Mechatronics, vol. 83, pp. 102750, 2022, ISSN: 0957-4158.
@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},
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volume = {83},
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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.},
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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.
Ellenrieder, Karl D.
Control barrier function based collision avoidance control for underactuated USVs Proceedings Article
In: OCEANS 2022 - Chennai, pp. 1-8, 2022.
@inproceedings{9775402,
title = {Control barrier function based collision avoidance control for underactuated USVs},
author = {Karl D. Ellenrieder},
doi = {10.1109/OCEANSChennai45887.2022.9775402},
year = {2022},
date = {2022-01-01},
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Bou, Cheikh Melainine El; Ellenrieder, Karl D.; Gupta, Satyandra K.
A homogeneity-based path following shared control system for UGVs Proceedings Article
In: 2022 30th Mediterranean Conference on Control and Automation (MED), pp. 725-730, 2022.
@inproceedings{9837268,
title = {A homogeneity-based path following shared control system for UGVs},
author = {Cheikh Melainine El Bou and Karl D. Ellenrieder and Satyandra K. Gupta},
doi = {10.1109/MED54222.2022.9837268},
year = {2022},
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Leitner, Stefan; Renzi, Massimiliano; Spinelli, Raffaele; Vidoni, Renato
On the Design of Hybrid Tower Yarder Drivetrains: A Case Study Journal Article
In: Forests, vol. 13, pp. 1520, 2022.
@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},
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Saeed, Raza A.; Tomasi, Giacomo; Carabin, Giovanni; Vidoni, Renato; Ellenrieder, Karl D.
Conceptualization and Implementation of a Reconfigurable Unmanned Ground Vehicle for Emulated Agricultural Tasks Journal Article
In: Machines, vol. 10, no. 9, 2022, (Cited by: 2; All Open Access, Gold Open Access).
@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},
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Ellenrieder, Karl D.; Licht, Stephen C.; Belotti, Roberto; Henninger, Helen C.
Shared human–robot path following control of an unmanned ground vehicle Journal Article
In: Mechatronics, vol. 83, pp. 102750, 2022, ISSN: 0957-4158.
@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.},
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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.
Ellenrieder, Karl D.
Control barrier function based collision avoidance control for underactuated USVs Proceedings Article
In: OCEANS 2022 - Chennai, pp. 1-8, 2022.
@inproceedings{9775402b,
title = {Control barrier function based collision avoidance control for underactuated USVs},
author = {Karl D. Ellenrieder},
doi = {10.1109/OCEANSChennai45887.2022.9775402},
year = {2022},
date = {2022-01-01},
booktitle = {OCEANS 2022 - Chennai},
pages = {1-8},
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Bou, Cheikh Melainine El; Ellenrieder, Karl D.; Gupta, Satyandra K.
A homogeneity-based path following shared control system for UGVs Proceedings Article
In: 2022 30th Mediterranean Conference on Control and Automation (MED), pp. 725-730, 2022.
@inproceedings{9837268b,
title = {A homogeneity-based path following shared control system for UGVs},
author = {Cheikh Melainine El Bou and Karl D. Ellenrieder and Satyandra K. Gupta},
doi = {10.1109/MED54222.2022.9837268},
year = {2022},
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booktitle = {2022 30th Mediterranean Conference on Control and Automation (MED)},
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2021
Carabin, Giovanni; Emanuelli, D; Gallo, Raimondo; Mazzetto, Fabrizio; Vidoni, Renato
Development of a Climbing-Robot for Spruce Pruning: Preliminary Design and First Results Book Section
In: CISM International Centre for Mechanical Sciences, Courses and Lectures, pp. 100 - 108, Springer, 2021, ISSN: 2309-3706.
@incollection{CarabinGiovanni2021DoaC,
title = {Development of a Climbing-Robot for Spruce Pruning: Preliminary Design and First Results},
author = {Giovanni Carabin and D Emanuelli and Raimondo Gallo and Fabrizio Mazzetto and Renato Vidoni},
issn = {2309-3706},
year = {2021},
date = {2021-01-01},
booktitle = {CISM International Centre for Mechanical Sciences, Courses and Lectures},
pages = {100 - 108},
publisher = {Springer},
series = {CISM International Centre for Mechanical Sciences},
abstract = {The aim of the project in which this work was conceived is the design of a climbing robot for pruning spruce trees without damaging the bark. According to the requirements and pruning methods for avoiding the flaws of the finished timber, guidelines and constraints for the mechatronic design of a new climbing robot for spruce-pruning activities were deduced. A 3-wheeled-driven system able to cope with the tree bark thanks to compression springs is chosen for the first functional design; a force-balance analysis is performed for understanding the climbing and equilibrium requirements also considering the additional weight of a pruning system installed on a cart moving on a guide placed on the robot main structure. The quasi-static model, the mechanical design and the related electronic and driver systems are here presented. The preliminary scaled mechatronic prototype is experimentally evaluated on poles with diameters in the range of the young spruces, i.e. 100\textendash200 mm, in its main climbing features. These results will serve as basis for the further development of the system.},
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pubstate = {published},
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The aim of the project in which this work was conceived is the design of a climbing robot for pruning spruce trees without damaging the bark. According to the requirements and pruning methods for avoiding the flaws of the finished timber, guidelines and constraints for the mechatronic design of a new climbing robot for spruce-pruning activities were deduced. A 3-wheeled-driven system able to cope with the tree bark thanks to compression springs is chosen for the first functional design; a force-balance analysis is performed for understanding the climbing and equilibrium requirements also considering the additional weight of a pruning system installed on a cart moving on a guide placed on the robot main structure. The quasi-static model, the mechanical design and the related electronic and driver systems are here presented. The preliminary scaled mechatronic prototype is experimentally evaluated on poles with diameters in the range of the young spruces, i.e. 100–200 mm, in its main climbing features. These results will serve as basis for the further development of the system.
Saeed, R. A.; Tomasi, Giacomo; Govindarajan, Ganesh; Vidoni, Renato; Ellenrieder, Karl D. Von
Metrology-aware Path Planning for Agricultural Mobile Robots in Dynamic Environments Proceedings Article
In: 2021 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor), pp. 448-453, 2021.
@inproceedings{9628737,
title = {Metrology-aware Path Planning for Agricultural Mobile Robots in Dynamic Environments},
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Giovanni, Carabin; Mazzetto, Fabrizio; Renato, Vidoni
Design and evaluation of a branch sensing system for a climbing and pruning robot Proceedings Article
In: 2021 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor), pp. 454-459, 2021.
@inproceedings{9628768,
title = {Design and evaluation of a branch sensing system for a climbing and pruning robot},
author = {Carabin Giovanni and Fabrizio Mazzetto and Vidoni Renato},
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Carabin, Giovanni; Emanuelli, D; Gallo, Raimondo; Mazzetto, Fabrizio; Vidoni, Renato
Development of a Climbing-Robot for Spruce Pruning: Preliminary Design and First Results Book Section
In: CISM International Centre for Mechanical Sciences, Courses and Lectures, pp. 100 - 108, Springer, 2021, ISSN: 2309-3706.
@incollection{CarabinGiovanni2021DoaCb,
title = {Development of a Climbing-Robot for Spruce Pruning: Preliminary Design and First Results},
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The aim of the project in which this work was conceived is the design of a climbing robot for pruning spruce trees without damaging the bark. According to the requirements and pruning methods for avoiding the flaws of the finished timber, guidelines and constraints for the mechatronic design of a new climbing robot for spruce-pruning activities were deduced. A 3-wheeled-driven system able to cope with the tree bark thanks to compression springs is chosen for the first functional design; a force-balance analysis is performed for understanding the climbing and equilibrium requirements also considering the additional weight of a pruning system installed on a cart moving on a guide placed on the robot main structure. The quasi-static model, the mechanical design and the related electronic and driver systems are here presented. The preliminary scaled mechatronic prototype is experimentally evaluated on poles with diameters in the range of the young spruces, i.e. 100–200 mm, in its main climbing features. These results will serve as basis for the further development of the system.
Saeed, R. A.; Tomasi, Giacomo; Govindarajan, Ganesh; Vidoni, Renato; Ellenrieder, Karl D. Von
Metrology-aware Path Planning for Agricultural Mobile Robots in Dynamic Environments Proceedings Article
In: 2021 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor), pp. 448-453, 2021.
@inproceedings{9628737b,
title = {Metrology-aware Path Planning for Agricultural Mobile Robots in Dynamic Environments},
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Giovanni, Carabin; Mazzetto, Fabrizio; Renato, Vidoni
Design and evaluation of a branch sensing system for a climbing and pruning robot Proceedings Article
In: 2021 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor), pp. 454-459, 2021.
@inproceedings{9628768b,
title = {Design and evaluation of a branch sensing system for a climbing and pruning robot},
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2020
Henninger, H. C.; Ellenrieder, K. D.; Licht, S. C.
Energy-minimal target retrieval for quadrotor UAVs: trajectory generation and tracking Proceedings Article
In: 2020 28th Mediterranean Conference on Control and Automation (MED), pp. 727-732, 2020.
@inproceedings{9182898,
title = {Energy-minimal target retrieval for quadrotor UAVs: trajectory generation and tracking},
author = {H. C. Henninger and K. D. Ellenrieder and S. C. Licht},
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Henninger, H. C.; Ellenrieder, K. D.; Licht, S. C.
Energy-minimal target retrieval for quadrotor UAVs: trajectory generation and tracking Proceedings Article
In: 2020 28th Mediterranean Conference on Control and Automation (MED), pp. 727-732, 2020.
@inproceedings{9182898b,
title = {Energy-minimal target retrieval for quadrotor UAVs: trajectory generation and tracking},
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Varma, Bhaskar; Swamy, Nitin; Mukherjee, Sujoy
Trajectory Tracking of Autonomous Vehicles using Different Control Techniques(PID vs LQR vs MPC) Proceedings Article
In: 2020 International Conference on Smart Technologies in Computing, Electrical and Electronics (ICSTCEE), pp. 84-89, 2020.
@inproceedings{9276986,
title = {Trajectory Tracking of Autonomous Vehicles using Different Control Techniques(PID vs LQR vs MPC)},
author = {Bhaskar Varma and Nitin Swamy and Sujoy Mukherjee},
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2019
Henninger, Helen; Ellenrieder, Karl; Biggs, James
Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances Proceedings Article
In: 2019.
@inproceedings{inproceedingsb,
title = {Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances},
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Ellenrieder, Karl D.
Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits Journal Article
In: Automatica, vol. 105, pp. 433-442, 2019, ISSN: 0005-1098.
@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},
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journal = {Automatica},
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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.},
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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.
Ellenrieder, Karl D.; Henninger, Helen C.; Belotti, Roberto
In: IFAC-PapersOnLine, vol. 52, no. 15, pp. 235-240, 2019, ISSN: 2405-8963, (8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019).
@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},
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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.},
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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.
Belotti, Roberto; Ellenrieder, Karl D.; Henninger, Helen C.
In: IFAC-PapersOnLine, vol. 52, no. 15, pp. 519-524, 2019, ISSN: 2405-8963, (8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019).
@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},
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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},
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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.
Henninger, Helen C.; Ellenrieder, Karl D.; Biggs, James D.
Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances Journal Article
In: IFAC-PapersOnLine, vol. 52, no. 21, pp. 242-247, 2019, ISSN: 2405-8963, (12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019).
@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},
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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},
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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.
Ellenrieder, Karl D.; Henninger, Helen C.
A Higher Order Sliding Mode Controller-Observer for Marine Vehicles Journal Article
In: IFAC-PapersOnLine, vol. 52, no. 21, pp. 341-346, 2019, ISSN: 2405-8963, (12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019).
@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},
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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},
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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.
Henninger, Helen; Ellenrieder, Karl; Biggs, James
Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances Proceedings Article
In: 2019.
@inproceedings{inproceedingsbb,
title = {Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances},
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Ellenrieder, Karl D.
Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits Journal Article
In: Automatica, vol. 105, pp. 433-442, 2019, ISSN: 0005-1098.
@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},
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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.},
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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.
Ellenrieder, Karl D.; Henninger, Helen C.; Belotti, Roberto
In: IFAC-PapersOnLine, vol. 52, no. 15, pp. 235-240, 2019, ISSN: 2405-8963, (8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019).
@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},
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year = {2019},
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journal = {IFAC-PapersOnLine},
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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},
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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.
Belotti, Roberto; Ellenrieder, Karl D.; Henninger, Helen C.
In: IFAC-PapersOnLine, vol. 52, no. 15, pp. 519-524, 2019, ISSN: 2405-8963, (8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019).
@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},
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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.
Henninger, Helen C.; Ellenrieder, Karl D.; Biggs, James D.
Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances Journal Article
In: IFAC-PapersOnLine, vol. 52, no. 21, pp. 242-247, 2019, ISSN: 2405-8963, (12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019).
@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}
}
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.
Ellenrieder, Karl D.; Henninger, Helen C.
A Higher Order Sliding Mode Controller-Observer for Marine Vehicles Journal Article
In: IFAC-PapersOnLine, vol. 52, no. 21, pp. 341-346, 2019, ISSN: 2405-8963, (12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019).
@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}
}
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.
2018
Gallo, Raimondo; Carabin, Giovanni; Vidoni, Renato; Sacco, Pasqualina; Mazzetto, Fabrizio
Solutions for the automation of operational monitoring activities for agricultural and forestry tasks Journal Article
In: Die Bodenkultur: Journal of Land Management, Food and Environment, vol. 69, no. 3, pp. 131–140, 2018.
@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}
}
Belotti, Roberto; Ellenrieder, Karl Dietrich
The Effects of Switching Time on Shared Human-Robot Control Proceedings Article
In: pp. 7, ASME, 2018, ISBN: 978-0-7918-5189-0.
@inproceedings{BelottiRoberto2018TEoS,
title = {The Effects of Switching Time on Shared Human-Robot Control},
author = {Roberto Belotti and Karl Dietrich Ellenrieder},
isbn = {978-0-7918-5189-0},
year = {2018},
date = {2018-01-01},
journal = {Proceedings of the ASME 2018 Dynamic Systems and Control Conference (DSCC2018): Volume 1},
pages = {7},
publisher = {ASME},
abstract = {In human-robot shared control, control authority is shared between human operators and automatic systems. Switching from one state to another can make the overall system unstable, even though the stability in each state is guaranteed. This issue is investigated in simulation using a Lane Keeping Assist System (LKAS), which guides a vehicle along a lane, while allowing lane changes, if desired by the human. An interface allows a human to input a steering control signal with a joystick and provides visual feedback of lane-position. The total steering command is the combination of the LKAS control signal and the human steering input. System performance is explored as the vehicle switches among different levels of cooperation between the human and the automatic driving system. The minimum time permitted between lane changes is an important parameter. As this time is decreased, user intent and the automatic controller are in conflict more often, resulting in larger control efforts from both user and automatic controller.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In human-robot shared control, control authority is shared between human operators and automatic systems. Switching from one state to another can make the overall system unstable, even though the stability in each state is guaranteed. This issue is investigated in simulation using a Lane Keeping Assist System (LKAS), which guides a vehicle along a lane, while allowing lane changes, if desired by the human. An interface allows a human to input a steering control signal with a joystick and provides visual feedback of lane-position. The total steering command is the combination of the LKAS control signal and the human steering input. System performance is explored as the vehicle switches among different levels of cooperation between the human and the automatic driving system. The minimum time permitted between lane changes is an important parameter. As this time is decreased, user intent and the automatic controller are in conflict more often, resulting in larger control efforts from both user and automatic controller.
Ellenrieder, Karl D.
In: IFAC-PapersOnLine, vol. 51, no. 29, pp. 262-267, 2018, ISSN: 2405-8963, (11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018).
@article{VONELLENRIEDER2018262,
title = {Stable Backstepping Control of Marine Vehicles with Actuator Rate Limits and Saturation⁎⁎This work was sponsored, in part, by the US National Science Foundation (Award #1526016).The author is also with the Dept. Ocean \& Mechanical Engineering, Florida Atlantic University, Dania Beach, FL 33004 USA},
author = {Karl D. Ellenrieder},
url = {https://www.sciencedirect.com/science/article/pii/S240589631832202X},
doi = {https://doi.org/10.1016/j.ifacol.2018.09.513},
issn = {2405-8963},
year = {2018},
date = {2018-01-01},
journal = {IFAC-PapersOnLine},
volume = {51},
number = {29},
pages = {262-267},
abstract = {A six 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 backstepping. 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.},
note = {11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
A six 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 backstepping. 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.
Gallo, Raimondo; Carabin, Giovanni; Vidoni, Renato; Sacco, Pasqualina; Mazzetto, Fabrizio
Solutions for the automation of operational monitoring activities for agricultural and forestry tasks Journal Article
In: Die Bodenkultur: Journal of Land Management, Food and Environment, vol. 69, no. 3, pp. 131–140, 2018.
@article{GalloCarabinVidoniSaccoMazzetto+2018+131+140b,
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}
}
Belotti, Roberto; Ellenrieder, Karl Dietrich
The Effects of Switching Time on Shared Human-Robot Control Proceedings Article
In: pp. 7, ASME, 2018, ISBN: 978-0-7918-5189-0.
@inproceedings{BelottiRoberto2018TEoSb,
title = {The Effects of Switching Time on Shared Human-Robot Control},
author = {Roberto Belotti and Karl Dietrich Ellenrieder},
isbn = {978-0-7918-5189-0},
year = {2018},
date = {2018-01-01},
journal = {Proceedings of the ASME 2018 Dynamic Systems and Control Conference (DSCC2018): Volume 1},
pages = {7},
publisher = {ASME},
abstract = {In human-robot shared control, control authority is shared between human operators and automatic systems. Switching from one state to another can make the overall system unstable, even though the stability in each state is guaranteed. This issue is investigated in simulation using a Lane Keeping Assist System (LKAS), which guides a vehicle along a lane, while allowing lane changes, if desired by the human. An interface allows a human to input a steering control signal with a joystick and provides visual feedback of lane-position. The total steering command is the combination of the LKAS control signal and the human steering input. System performance is explored as the vehicle switches among different levels of cooperation between the human and the automatic driving system. The minimum time permitted between lane changes is an important parameter. As this time is decreased, user intent and the automatic controller are in conflict more often, resulting in larger control efforts from both user and automatic controller.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In human-robot shared control, control authority is shared between human operators and automatic systems. Switching from one state to another can make the overall system unstable, even though the stability in each state is guaranteed. This issue is investigated in simulation using a Lane Keeping Assist System (LKAS), which guides a vehicle along a lane, while allowing lane changes, if desired by the human. An interface allows a human to input a steering control signal with a joystick and provides visual feedback of lane-position. The total steering command is the combination of the LKAS control signal and the human steering input. System performance is explored as the vehicle switches among different levels of cooperation between the human and the automatic driving system. The minimum time permitted between lane changes is an important parameter. As this time is decreased, user intent and the automatic controller are in conflict more often, resulting in larger control efforts from both user and automatic controller.
Ellenrieder, Karl D.
In: IFAC-PapersOnLine, vol. 51, no. 29, pp. 262-267, 2018, ISSN: 2405-8963, (11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018).
@article{VONELLENRIEDER2018262b,
title = {Stable Backstepping Control of Marine Vehicles with Actuator Rate Limits and Saturation⁎⁎This work was sponsored, in part, by the US National Science Foundation (Award #1526016).The author is also with the Dept. Ocean \& Mechanical Engineering, Florida Atlantic University, Dania Beach, FL 33004 USA},
author = {Karl D. Ellenrieder},
url = {https://www.sciencedirect.com/science/article/pii/S240589631832202X},
doi = {https://doi.org/10.1016/j.ifacol.2018.09.513},
issn = {2405-8963},
year = {2018},
date = {2018-01-01},
journal = {IFAC-PapersOnLine},
volume = {51},
number = {29},
pages = {262-267},
abstract = {A six 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 backstepping. 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.},
note = {11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
A six 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 backstepping. 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.