
Gabriele LiniInternational School for Advanced Studies | SISSA
Gabriele Lini
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9
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Publications
Publications (9)
Generation of high-quality drive paths is a significant issue for automated wheeled vehicles. To achieve this aim for a truck and trailer vehicle, the paper proposes the use of a parameterized curve primitive, the η4-spline. Using this spline, generation and shaping of smooth feasible paths is made possible as well as the transfer between arbitrary...
The paper poses the problem of minimum-time velocity planning subject to a jerk amplitude constraint and to arbitrary velocity/acceleration boundary conditions. This problem which is relevant in the field of autonomous robotic navigation and also for inertial one-dimensional mechatronics systems is dealt with an algebraic approach based on Pontryag...
In this paper we present a methodology for the design of a feedforward control law to be applied to a closed-loop PID-based control system for a multi-input multi-output process in order to achieve a minimum-time rest-to-rest transition of the system from an equilibrium point to another subject to constraints on both the control and process variabl...
This paper proposes a multi-optimization approach to the autonomous parking of car-like vehicles. It uses a polynomial curve primitive — the η3-spline — to build up intrinsically feasible path maneuvers over which to minimize with a weighted sum method the total length of parking paths and the moduli of the maximum path curvature and curvature deri...
The paper considers the output tracking problem for nonlinear systems whose performance output is also a flat output of the system itself. A desired output signal is sought on the actual performance output by using a feedforward inverse input that is periodically updated with discrete-time feedback of the sampled state of the system. The proposed m...
The article presents the time-optimal trajectory planning of an automatic guided vehicle (AGV) on a given feasible path while respecting velocity, acceleration and jerk constraints. A theoretical result shows the connection for the AGV between the geometric continuity of its paths and the smoothness of its control inputs (linear velocity and steeri...
The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to m...
In the wide field of vehicle autonomous navigation, significant research efforts have been dedicated to the problem of optimal
motion planning. The work presented in this paper faces the aspect of minimum-time velocity planning in the context of the
so-called path-velocity decomposition[6] and the iterative steering navigation technique[8,5]. The r...
This paper proposes a method for minimum-time velocity planning with velocity, acceleration and jerk constraints and generic initial and final boundary conditions for the velocity and the acceleration. This minimum-time planning problem is relevant in the context of robotic autonomous navigation, where the iterative steering supervisor periodically...