R
Riccardo Costanzi
Researcher at University of Pisa
Publications - 92
Citations - 1241
Riccardo Costanzi is an academic researcher from University of Pisa. The author has contributed to research in topics: Underwater robotics & Intervention AUV. The author has an hindex of 18, co-authored 85 publications receiving 924 citations. Previous affiliations of Riccardo Costanzi include University of Florence & University of Geneva.
Papers
More filters
Journal ArticleDOI
A new AUV navigation system exploiting unscented Kalman filter
Benedetto Allotta,Benedetto Allotta,Andrea Caiti,Andrea Caiti,Riccardo Costanzi,Riccardo Costanzi,Francesco Fanelli,Francesco Fanelli,Davide Fenucci,Davide Fenucci,Enrico Meli,Enrico Meli,Alessandro Ridolfi,Alessandro Ridolfi +13 more
TL;DR: The authors present an innovative navigation strategy specifically designed for AUVs, based on the Unscented Kalman Filter (UKF), which proves to be effective if applied to this class of vehicles and allows the authors to achieve a satisfying accuracy improvement compared to standard navigation algorithms.
Journal ArticleDOI
An Attitude Estimation Algorithm for Mobile Robots Under Unknown Magnetic Disturbances
TL;DR: In this paper, an attitude estimation strategy for autonomous underwater vehicles (AUV) is proposed, which includes the identification of some critical issues that arise when AUV attitude estimation algorithms are applied in practice.
Journal ArticleDOI
An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles
Benedetto Allotta,Benedetto Allotta,Andrea Caiti,Andrea Caiti,Luigi Chisci,Riccardo Costanzi,Riccardo Costanzi,F. Di Corato,Claudio Fantacci,Davide Fenucci,Davide Fenucci,Enrico Meli,Enrico Meli,Alessandro Ridolfi,Alessandro Ridolfi +14 more
TL;DR: In this article, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an unscented Kalman filter (UKF), adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load.
Journal ArticleDOI
Preliminary design and fast prototyping of an Autonomous Underwater Vehicle propulsion system
Benedetto Allotta,Luca Pugi,Fabio Bartolini,Alessandro Ridolfi,Riccardo Costanzi,Niccolò Monni,Jonathan Gelli +6 more
TL;DR: In this article, the authors have developed an innovative low-cost, multi-role autonomous underwater vehicle, called Tifone, for cooperative underwater exploration and surveillance involving the use of a swarm of vehicles.
Journal ArticleDOI
The ARROWS project: adapting and developing robotics technologies for underwater archaeology
Benedetto Allotta,Riccardo Costanzi,Alessandro Ridolfi,Carlo Colombo,Fabio Bellavia,Marco Fanfani,Fabio Pazzaglia,Ovidio Salvetti,Davide Moroni,Maria Antonietta Pascali,Marco Reggiannini,Maarja Kruusmaa,Taavi Salumae,Gordon Frost,Nikolaos Tsiogkas,David M. Lane,Michele Cocco,L. Gualdesi,Daniel Roig,Hilal Tolasa Gundogdu,Enis I. Tekdemir,Mehmet İsmet Can Dede,Steven Baines,Floriana Agneto,Pietro Selvaggio,Sebastiano Tusa,Stefano Zangara,Urmas Dresen,Priit Latti,Teele Saar,Walter Daviddi +30 more
TL;DR: The ARROWS EU project as discussed by the authors proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to significantly reduce the cost of archaeological operations, covering the full extent of archaeological campaign.