P
Paolo Robuffo Giordano
Researcher at University of Rennes
Publications - 143
Citations - 5544
Paolo Robuffo Giordano is an academic researcher from University of Rennes. The author has contributed to research in topics: Haptic technology & Teleoperation. The author has an hindex of 40, co-authored 128 publications receiving 4526 citations. Previous affiliations of Paolo Robuffo Giordano include German Aerospace Center & Max Planck Society.
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Proceedings ArticleDOI
Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels
TL;DR: Two control solutions to the kinematic control problem for nonholonomic mobile manipulators whose base contains steering wheels are proposed based on the framework of input-output feedback linearization and the velocity of the steering wheels becomes an active input for task execution.
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Shortest Paths to Obstacles for a Polygonal Dubins Car
TL;DR: The time-optimal trajectories leading a Dubins car in collision with the obstacles in its workspace are characterized and the algorithm for computing a distance function that takes into account the nonholonomic constraints and captures the nonsymmetric nature of the system is defined.
Proceedings ArticleDOI
Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control
TL;DR: A multi-master/ multi-slave teleoperation setup is developed in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel.
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Minimum-Time Trajectory Planning Under Intermittent Measurements
TL;DR: A robust perception-aware bi-directional A* planner for differentially flat systems such as a unicycle and a quadrotor UAV is presented and an efficient way of ensuring continuity and feasibility by exploiting the convex-hull property of B-spline curves is proposed.
Proceedings ArticleDOI
3D structure identification from image moments
TL;DR: The proposed estimation scheme builds upon the theory of nonlinear observers, and in particular exploits the basic formulation of the persistency of excitation Lemma, and results are presented in order to support the effectiveness of the proposed approach.