Publications
2023
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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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},
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}
}
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},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
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},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2022
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},
date = {2022-01-01},
booktitle = {2022 30th Mediterranean Conference on Control and Automation (MED)},
pages = {725-730},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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},
booktitle = {OCEANS 2022 - Chennai},
pages = {1-8},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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},
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}
}
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.
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},
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}
}
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},
doi = {10.3390/f13091520},
year = {2022},
date = {2022-01-01},
journal = {Forests},
volume = {13},
pages = {1520},
keywords = {},
pubstate = {published},
tppubtype = {article}
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2021
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},
doi = {10.1109/MetroAgriFor52389.2021.9628768},
year = {2021},
date = {2021-01-01},
booktitle = {2021 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)},
pages = {454-459},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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},
author = {R. A. Saeed and Giacomo Tomasi and Ganesh Govindarajan and Renato Vidoni and Karl D. Von Ellenrieder},
doi = {10.1109/MetroAgriFor52389.2021.9628737},
year = {2021},
date = {2021-01-01},
booktitle = {2021 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)},
pages = {448-453},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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.},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}
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.
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},
doi = {10.1109/MED48518.2020.9182898},
year = {2020},
date = {2020-01-01},
booktitle = {2020 28th Mediterranean Conference on Control and Automation (MED)},
pages = {727-732},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2019
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},
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.
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},
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.
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},
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}
}
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.
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},
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},
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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.
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},
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}
}
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.
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},
author = {Helen Henninger and Karl Ellenrieder and James Biggs},
year = {2019},
date = {2019-01-01},
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2018
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 = {},
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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.
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.
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}
}
2017
Vidoni, Renato; Gallo, Raimondo; Ristorto, Gianluca; Carabin, Giovanni; Mazzetto, Fabrizio; Scalera, Lorenzo; Gasparetto, Alessandro
ByeLab: An Agricultural Mobile Robot Prototype for Proximal Sensing and Precision Farming Proceedings Article
In: pp. V04AT05A057, 2017.
@inproceedings{inproceedings,
title = {ByeLab: An Agricultural Mobile Robot Prototype for Proximal Sensing and Precision Farming},
author = {Renato Vidoni and Raimondo Gallo and Gianluca Ristorto and Giovanni Carabin and Fabrizio Mazzetto and Lorenzo Scalera and Alessandro Gasparetto},
doi = {10.1115/IMECE2017-71216},
year = {2017},
date = {2017-01-01},
pages = {V04AT05A057},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2016
Carabin, G.; Gasparetto, A.; Mazzetto, F.; Vidoni, R.
Design, implementation and validation of a stability model for articulated autonomous robotic systems Journal Article
In: Robotics and Autonomous Systems, vol. 83, pp. 158-168, 2016, ISSN: 0921-8890.
@article{CARABIN2016158,
title = {Design, implementation and validation of a stability model for articulated autonomous robotic systems},
author = {G. Carabin and A. Gasparetto and F. Mazzetto and R. Vidoni},
url = {https://www.sciencedirect.com/science/article/pii/S0921889015300257},
doi = {https://doi.org/10.1016/j.robot.2016.05.008},
issn = {0921-8890},
year = {2016},
date = {2016-01-01},
journal = {Robotics and Autonomous Systems},
volume = {83},
pages = {158-168},
abstract = {The use of robots in agriculture and forestry is rapidly growing thanks to the progress in sensors, controllers and mechatronics devices. Especially in hilly and mountainous terrains, the development of (semi-)autonomous systems that could travel safely on uneven terrain and perform many operations is an open field of investigation. One of the most promising mobile robot architectures is the articulated 4-wheeled system that shows an optimal steering capacity, and the possibility to adapt to uneven terrains thanks to a central passive degree of freedom. In this paper, the kinematic and (quasi-)static model for evaluating the phase I instability presented in Baker and Guzzomi(2013) has been firstly extended to allow to threat a generic articulated robotic system and to forecast the instability conditions. Then, the model and the stability conditions have been implemented in a Matlab™ simulator and validated by means of an experimental emulator. Finally, a first prototype for a mechatronic anti-overturning device is discussed.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The use of robots in agriculture and forestry is rapidly growing thanks to the progress in sensors, controllers and mechatronics devices. Especially in hilly and mountainous terrains, the development of (semi-)autonomous systems that could travel safely on uneven terrain and perform many operations is an open field of investigation. One of the most promising mobile robot architectures is the articulated 4-wheeled system that shows an optimal steering capacity, and the possibility to adapt to uneven terrains thanks to a central passive degree of freedom. In this paper, the kinematic and (quasi-)static model for evaluating the phase I instability presented in Baker and Guzzomi(2013) has been firstly extended to allow to threat a generic articulated robotic system and to forecast the instability conditions. Then, the model and the stability conditions have been implemented in a Matlab™ simulator and validated by means of an experimental emulator. Finally, a first prototype for a mechatronic anti-overturning device is discussed.
Bietresato, Marco; Carabin, Giovanni; Vidoni, Renato; Gasparetto, Alessandro; Mazzetto, Fabrizio
Evaluation of a LiDAR-based 3D-stereoscopic vision system for crop-monitoring applications Journal Article
In: Computers and Electronics in Agriculture, vol. 124, pp. 1-13, 2016, ISSN: 0168-1699.
@article{BIETRESATO20161,
title = {Evaluation of a LiDAR-based 3D-stereoscopic vision system for crop-monitoring applications},
author = {Marco Bietresato and Giovanni Carabin and Renato Vidoni and Alessandro Gasparetto and Fabrizio Mazzetto},
url = {https://www.sciencedirect.com/science/article/pii/S0168169916300862},
doi = {https://doi.org/10.1016/j.compag.2016.03.017},
issn = {0168-1699},
year = {2016},
date = {2016-01-01},
journal = {Computers and Electronics in Agriculture},
volume = {124},
pages = {1-13},
abstract = {When dealing with unmanned agricultural vehicles (remotely-controlled vehicles, robots), vision systems are a key-factor for implementing field-solutions having direct interactions with crops. Among all the possible information given by a vision system, the punctual estimation of the canopy volume is surely an interesting parameter: it is related to the crop vegetative status and, hence, it is fundamental for performing and setting-up properly some important field-operations (e.g., pruning/thinning, spraying). A system able to recognize the canopy volume can provide either the input-signals for implementing a robotic real-time site-specific farming system or relevant information for a proper crop management. However, there are many practical difficulties in the field implementation of such a system: complex canopy shapes, different colours, textures and illumination conditions with projected shadows. Terrestrial/aerial vision systems working on visible-light wavelengths and/or 2D-images of crops, although capable of excellent performances, have a computationally-heavy post-processing; therefore, they are unsuitable for implementing low-cost real-time servo-actuated cropping systems (e.g., robotised sprayers). Instead, a vision system composed by two LiDAR sensors aligned vertically, scanning the same targets, could give a sort of stereoscopic vision, here named “lateral-linear-stereoscopic vision”. The aim of this study is assessing the opportunity to use such a system on an automatic or autonomous/robotised implement by performing some preliminary tests in a controlled environment. The resulting system is independent of the lighting conditions (it works also in the dark), is highly reliable (no projected shadows) and data processing is very fast. Although further studies are required to overcome the issues that could arise in a future field implementation, this system has all the premises to be successfully embedded in an automatized monitoring system.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
When dealing with unmanned agricultural vehicles (remotely-controlled vehicles, robots), vision systems are a key-factor for implementing field-solutions having direct interactions with crops. Among all the possible information given by a vision system, the punctual estimation of the canopy volume is surely an interesting parameter: it is related to the crop vegetative status and, hence, it is fundamental for performing and setting-up properly some important field-operations (e.g., pruning/thinning, spraying). A system able to recognize the canopy volume can provide either the input-signals for implementing a robotic real-time site-specific farming system or relevant information for a proper crop management. However, there are many practical difficulties in the field implementation of such a system: complex canopy shapes, different colours, textures and illumination conditions with projected shadows. Terrestrial/aerial vision systems working on visible-light wavelengths and/or 2D-images of crops, although capable of excellent performances, have a computationally-heavy post-processing; therefore, they are unsuitable for implementing low-cost real-time servo-actuated cropping systems (e.g., robotised sprayers). Instead, a vision system composed by two LiDAR sensors aligned vertically, scanning the same targets, could give a sort of stereoscopic vision, here named “lateral-linear-stereoscopic vision”. The aim of this study is assessing the opportunity to use such a system on an automatic or autonomous/robotised implement by performing some preliminary tests in a controlled environment. The resulting system is independent of the lighting conditions (it works also in the dark), is highly reliable (no projected shadows) and data processing is very fast. Although further studies are required to overcome the issues that could arise in a future field implementation, this system has all the premises to be successfully embedded in an automatized monitoring system.
2015
Vidoni, Renato; Bietresato, Marco; Gasparetto, Alessandro; Mazzetto, Fabrizio
Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes Journal Article
In: Biosystems Engineering, vol. 129, pp. 197-211, 2015, ISSN: 1537-5110.
@article{VIDONI2015197,
title = {Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes},
author = {Renato Vidoni and Marco Bietresato and Alessandro Gasparetto and Fabrizio Mazzetto},
url = {https://www.sciencedirect.com/science/article/pii/S1537511014001780},
doi = {https://doi.org/10.1016/j.biosystemseng.2014.10.003},
issn = {1537-5110},
year = {2015},
date = {2015-01-01},
journal = {Biosystems Engineering},
volume = {129},
pages = {197-211},
abstract = {Progress in sensors, controllers and mechatronics devices and the development of (semi-) autonomous systems that can travel safely on uneven terrain and perform many operations has encouraged research interest in the use of robotics for agriculture and forestry in hilly and mountainous terrains. Here, the main mobile configurations that are likely to be used for robotic platforms as implement-carriers (3-wheeled, conventional/articulated 4-wheeled, tracked) were reviewed and discussed in terms of their suitability for agricultural operations and their stability. A numerical index accounting for the lateral stability of a vehicle, the roll stability index, was used to indicate the in-field working capacity of these platforms during side-slope operations. Assuming the same overall dimensions for all the configurations, the 3-wheel configuration, although very simple and agile, was seen as being the least stable, while a tracked vehicle was the most stable, although it had some important drawbacks when used in an agricultural context. This drawbacks included increased soil erosion and landslides caused by its tracks especially in the areas involving turning manoeuvres. The articulated system was found to be the most suitable for uneven and side-slope terrains because of its optimal steering capacity, agility and good stability. It was found to reach a critical stability angle close to the 4-wheel vehicle.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Progress in sensors, controllers and mechatronics devices and the development of (semi-) autonomous systems that can travel safely on uneven terrain and perform many operations has encouraged research interest in the use of robotics for agriculture and forestry in hilly and mountainous terrains. Here, the main mobile configurations that are likely to be used for robotic platforms as implement-carriers (3-wheeled, conventional/articulated 4-wheeled, tracked) were reviewed and discussed in terms of their suitability for agricultural operations and their stability. A numerical index accounting for the lateral stability of a vehicle, the roll stability index, was used to indicate the in-field working capacity of these platforms during side-slope operations. Assuming the same overall dimensions for all the configurations, the 3-wheel configuration, although very simple and agile, was seen as being the least stable, while a tracked vehicle was the most stable, although it had some important drawbacks when used in an agricultural context. This drawbacks included increased soil erosion and landslides caused by its tracks especially in the areas involving turning manoeuvres. The articulated system was found to be the most suitable for uneven and side-slope terrains because of its optimal steering capacity, agility and good stability. It was found to reach a critical stability angle close to the 4-wheel vehicle.