Gianluca Antonelli

TL;DR: The adaptive controller has been successfully implemented and experimentally validated on omnidirectional intelligent navigator (ODIN), an autonomous underwater vehicle that has been designed and built at the University of Hawaii.

TL;DR: Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached by resorting to a Lyapunov-based stability discussion for several prioritized inverse kinematics algorithms, providing sufficient conditions for the control gains and the tasks' design for the regulation problem.

TL;DR: This paper proposes a path following approach based on a fuzzy-logic set of rules which emulates the human driving behavior, and two completely different experiments show the effectiveness of the proposed algorithm.

TL;DR: Control problems such as multirobot control, distributed intelligence, swarm intelligence, distributed decision, distributed cognition, congestion control in networks, collective motion in biology, oscillator synchronization in physics, parallelization in optimization theory, distributed estimation, cooperative estimation, equilibria in economics, social interaction modeling, and game theory may be analyzed under the theory of interconnected dynamic systems.

TL;DR: The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics and is implemented by a two-stage control architecture such that intervehicle communication is not required.