Conference Paper
Roberto Belotti, Karl D. von Ellenrieder and Helen C. Henninger
A Deadband-Based Method for User Effort Reduction in Human-Robot Shared Control
8th IFAC Symposium on Mechatronic Systems, Vienna Austria, September 4-6, 2019.

Conference Paper
Karl D. von Ellenrieder and Helen C. Henninger
A Higher Order Sliding Mode Controller-Observer for Marine Vehicles
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019: Daejeon, Republic of Korea, 18–20 September 2019

Journal Article
Karl D. von Ellenrieder
Dynamic Surface Control of Trajectory Tracking Marine Vehicles with Actuator Magnitude and Rate Limits
Automatica, Vol. 105, pp 433-442, 2019.

Conference Paper
Karl D. von Ellenrieder, Helen C. Henninger and Roberto Belotti
Homogeneity for Shared Control in the Presence of Disturbances
8th IFAC Symposium on Mechatronic Systems, Vienna Austria, September 4-6, 2019.

Conference Paper
Karl D. von Ellenrieder and Helen C. Henninger
Improving the Robustness of Trajectory Tracking Dynamic Surface Control
American Control Conference, Philadelphia, USA July 10-12, 2019

Conference Paper
Helen C. Henninger, Karl D. von Ellenrieder and James D. Biggs
Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019: Daejeon, Republic of Korea, 18–20 September 2019


Journal paper
R Gallo, G Carabin, R Vidoni, P Sacco, F Mazzetto
Solutions for the automation of operational monitoring activities for agricultural and forestry tasks
Die Bodenkultur: Journal of Land Management, Food and Environment, Volume 69, Issue 3, 131–140, 2018

Conference Paper
K D von Ellenrieder
Stable backstepping control of marine vehicles with actuator rate limits and saturation
11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018: Opatija, Croatia, 10–12 September 2018

Conference Paper
R Belotti and K D von Ellenrieder
The effects of switching time on shared human-robot control
Proceedings of the ASME 2018 Dynamic Systems and Control Conference DSCC2018 September 30-October 3, 2018, Atlanta, Georgia, USA


Conference paper
R Vidoni, R Gallo, G Ristorto, G Carabin, F Mazzetto, L Scalera, A Gasparetto
BYELAB : an agricultural mobile robot prototype for proximal sensing and precision farming
Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition - IMECE2017


Journal paper
G Carabin, A Gasparetto, F Mazzetto, R Vidoni
Design, implementation and validation of a stability model for articulated autonomous robotic systems
Robotics and Autonomous Systems, Volume 29, Issue 2, pp. 273–282, 2016

Journal paper
M Bietresato, G Carabin, R Vidoni, A Gasparetto, F Mazzetto
Evaluation of a LiDAR-based 3D-stereoscopic vision system for crop-monitoring applications
Computers and Electronics in Agriculture, Volume 124, pp. 1–13, 2016


Journal paper
R Vidoni, M Bietresato, A Gasparetto, F Mazzetto
Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes
Biosystems Engineering, Volume 129, pp. 197-211, 2015

Research Projects

Reconfigurable Collaborative Agri-Robots (Recoaro)

Funding Body: Research Südtirol/Alto Adige 2019
Duration : 01/10/2020 - 31/12/2022
Status : Active
Project Description:

In rugged, mountainous regions, like South Tyrol, many agricultural tasks are performed manually, which can lead to uncertainty in food production and cost, seasonal labor shortages, increased risk of fatal accidents, and adverse long-term health effects on farm workers. Alpine agricultural environments are complex and unstructured, limiting the use of autonomous systems. Further, most Alpine farms are relatively small and cannot afford the cost of several machines that are specialized for only one or two tasks. We aim to develop new methods that can enable agricultural robotic systems for Alpine farms to be modular, reconfigurable and semi-autonomous, combining automation with human input to create a collaborative, flexible, human-robot team. To achieve this goal, fundamental scientific advances are required in the areas of: kinematic/dynamic modelling, automatic control, trajectory planning, and shared human-robot control of modular reconfigurable robotic (MRR) platforms. Project objectives address the following open problems: 1) How to automatically adapt dynamic/kinematic models to capture the changing characteristics of MRRs as they are reconfigured?  We will develop systematic methods to update the kinematics/dynamics using data stored in each module, accounting for model uncertainties using interval arithmetic. 2) How can model-based controllers for mobile MRRs be adapted as the underlying dynamic/kinematic models of the MRR change? We will develop new centralized control schemes for mobile MRRs using interval arithmetic to ensure robust stability and tracking performance. 3) MRRs can become highly redundant, complicating trajectory planning, but simplifying optimization. How can low-level problems (self-collision, joint-limit avoidance) and high-level problems (planning time/energy optimal trajectories) be solved as a task is executed? We will study how to extend task-prioritized redundancy resolution to MRRs for trajectory planning. 4) Few studies address the stability of shared human-robot control systems. We will explore if homogeneously rescaled shared control laws can be used to ensure the Lyapunov stability of MRRs. 5) In shared trajectory tracking control a human may periodically intervene and move the MRR towards a new trajectory. How should trajectory planning be handled when the human returns control to the robot? We will examine how to combine global and local trajectory planning for shared control using homogenous transformations. 6) Experimental validation of the methods developed will be conducted at the UniBZ FIeld Robotics South Tyrol (FIRST) Lab and at Fraunhofer Italia’s (FhI’s) Area for REsearch and iNnovative Applications (ARENA), both of which are located in the NOI Techpark. The experiments will simulate three common farming tasks: spraying, inspection and harvesting. The principal project participants are Profs. von Ellenrieder, Vidoni and Mazzetto (UniBZ), and Dr. Giusti (FhI).



SPRUCE-ROBOT: Smart PRUning and Climbing treEs ROBOT

Funding Body: CRC CALL 2018
Budget : 100.000 euro
Duration : 3 years
Status : active
Project Description:

The production of high value-added wood requires proper pruning during the life of a tree so that its trunk has a cylindrical shape and does not contain knots.
This project is an applied interdisciplinary research project that aims to apply mechatronic approaches for automating an important forestry activity, like tree pruning. Thanks to the cooperation with our external partner, the Azienda Demanio Provinciale, the main requirements for a novel mobile/climbing robotic prototype with pruning capabilities will be defined.
Thus, the interdisciplinary team will study, design and develop field robotics technologies and practices that can assist the forestry industry to produce timber more efficiently, more safely and with less waste.