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Martina Mammarella

Martina Mammarella
Italian National Research Council, Turin, Italy · Institute of Electronics, Computer and Telecommunication Engineering

PhD

About

52
Publications
10,689
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346
Citations
Introduction
Martina Mammarella currently works as PostDoc Research Fellow with the Systems Modeling & Control group at the Institute of Electronics, Computer and Telecommunication Engineering of the National Research Council of Italy. She is currently working on developing advanced robust and stochastic predictive control techniques for constrained systems. Her research includes also lab and on-field experimental validation of those algorithms for the control of spacecraft and Unmanned Aerial Vehicle dynamics during proximity operations and precision agriculture tasks, respectively.

Publications

Publications (52)
Article
Full-text available
In precision agriculture, remote sensing is an essential phase in assessing crop status and variability when considering both the spatial and the temporal dimensions. To this aim, the use of unmanned aerial vehicles (UAVs) is growing in popularity, allowing for the autonomous performance of a variety of in-field tasks which are not limited to scout...
Article
In this paper, a sample-based procedure for obtaining simple and computable approximations of chance-constrained sets is proposed. The procedure allows to control the complexity of the approximating set, by defining families of simple-approximating sets of given complexity. A probabilistic scaling procedure then scales these sets to obtain the desi...
Preprint
Full-text available
In the last years, unmanned aerial vehicles are becoming a reality in the context of precision agriculture, mainly for monitoring, patrolling and remote sensing tasks, but also for 3D map reconstruction. In this paper, we present an innovative approach where a fleet of unmanned aerial vehicles is exploited to perform remote sensing tasks over an ap...
Article
Full-text available
Fully-autonomous vehicles, both aerial and ground, could provide great benefits in the Agriculture 4.0 framework when operating within cooperative architectures, thanks to their ability to tackle difficult tasks, particularly within complex irregular and unstructured scenarios such as vineyards on sloped terrains. A decentralised multi-phase approa...
Article
Agriculture 4.0 comprises a set of technologies that combines sensors, information systems , enhanced machinery, and informed management with the objective of optimising production by accounting for variabilities and uncertainties within agricultural systems. Autonomous ground and aerial vehicles can lead to favourable improvements in management by...
Article
Full-text available
In this paper, we address environmental monitoring for 3-D map reconstruction using drone networks. In view of the fact that the 3-D reconstruction requires images from a variety of viewing angles, we first formulate a novel angle-aware coverage control problem, based on a concept of virtual field that combines the position of a monitoring target a...
Conference Paper
To properly locate and operate autonomous vehicles for in-field tasks, the knowledge of their instantaneous position needs to be combined with an accurate spatial description of their environment. In agricultural fields, when operating inside the crops, GPS data are not reliable nor always available, therefore high-precision maps are difficult to b...
Article
In this paper, we address the probabilistic error quantification of a general class of prediction methods. We consider a given prediction model and show how to obtain, through a sample-based approach, a probabilistic upper bound on the absolute value of the prediction error. The proposed scheme is based on a probabilistic scaling methodology in whi...
Preprint
Full-text available
In this paper, we address the probabilistic error quantification of a general class of prediction methods. We consider a given prediction model and show how to obtain, through a sample-based approach, a probabilistic upper bound on the absolute value of the prediction error. The proposed scheme is based on a probabilistic scaling methodology in whi...
Preprint
Full-text available
In this paper, a sample-based procedure for obtaining simple and computable approximations of chance-constrained sets is proposed. The procedure allows to control the complexity of the approximating set, by defining families of simple-approximating sets of given complexity. A probabilistic scaling procedure then allows to rescale these sets to obta...
Conference Paper
Precision agriculture comprises a set of technologies that combines sensors, information systems, enhanced machinery, and informed management to optimize production by accounting for variability and uncertainties within agricultural systems. Autonomous ground and aerial vehicle can lead to favorable improvements in management by performing in-field...
Article
Full-text available
Real systems, as Unmanned Aerial Vehicles (UAVs), are usually subject to environmental disturbances, which could compromise the mission accomplishment. For this reason, the main idea proposed in this research is the design of a robust controller, as autopilot control system candidate for a fixed-wing UAV. In detail, the inner loop of the autopilot...
Preprint
Full-text available
In recent years, the increasing interest in Stochastic model predictive control (SMPC) schemes has highlighted the limitation arising from their inherent computational demand, which has restricted their applicability to slow-dynamics and high-performing systems. To reduce the computational burden, in this paper we extend the probabilistic scaling a...
Article
Full-text available
We provide an insight into the open data resources pertinent to the study of the spread of Covid-19 pandemic and its control. We identify the variables required to analyze fundamental aspects like seasonal behaviour, regional mortality rates, and effectiveness of government measures. Open data resources, along with data-driven methodologies, provid...
Preprint
Full-text available
We provide an insight into the open data resources pertinent to the study of the spread of Covid-19 pandemic and its control. We identify the variables required to analyze fundamental aspects like seasonal behaviour, regional mortality rates, and effectiveness of government measures. Open data resources, along with data-driven methodologies, provid...
Preprint
In this paper, we consider a stochastic Model Predictive Control able to account for effects of additive stochastic disturbance with unbounded support, and requiring no restrictive assumption on either independence nor Gaussianity. We revisit the rather classical approach based on penalty functions, with the aim of designing a control scheme that m...
Article
Deep space is the new frontier for human exploration, with Moon and Mars identified as fundamental targets. Improving in-space transportation capabilities has been recognized as one of the critical enabler for sustainable and affordable space programs in Earth proximity and beyond. Envisioning the presence of future deep space infrastructures, carg...
Conference Paper
In this paper, we consider a stochastic Model Predictive Control able to account for effects of additive stochastic disturbance with unbounded support, and requiring no restrictive assumption on either independence nor Gaussianity. We revisit the rather classical approach based on penalty functions, with the aim of designing a control scheme that m...
Conference Paper
Crop monitoring and farm activities with innovative systems, as Unmanned Aerial Vehicles, is an undergoing research known as fourth agricultural revolution. In our paper, two different farming scenarios are proposed, in which a trajectory tracking based on Model Predictive Control is proposed in combination with a waypoint-based guidance algorithm....
Article
Precise attitude tracking control of small satellites is a demanding task due to the limited hardware resources of sensors, actuators, and processors equipped on board. Moreover, the effects of model uncertainty and persistent disturbance, such as gravity-gradient, magnetic, aerodynamic, and solar radiation pressure torques, on the satellite dynami...
Article
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of the proposed control strategy is the need of real-time implementability of guidance and control strategies for a...
Conference Paper
Deep Space (DS) is the new frontier for the human exploration and Moon and Mars are the acknowledged final destinations. Improving the capability of in-space transportation has been recognized as the critical enabler for a sustainable and affordable space program, also in the Near-Earth Orbit (NEO) environment. Envisioning the presence of future DS...
Conference Paper
The journey of a thousand miles begins with one step". Several critical technologies have been identified as the foundation of future exploration of the Solar System, driving the human presence beyond Low Earth Orbits. Among them, space agencies agree on the role of Solar Electric Propulsion (SEP) as key enabler for manned missions to Mars to prope...
Conference Paper
Automated rendezvous and docking has been identified by the space community as one of the cornerstone technologies to enable and support the new era of space exploration towards the deep space. The strict safety requirements and the limited actuation capabilities require high-reliable controllability during the close-range rendezvous, i.e., closing...
Conference Paper
Precise attitude tracking control of small satellites is a demanding task due to the limited hardware resources of sensors, actuators, and processors equipped on board. Moreover, the effects of model uncertainty and persistent disturbance, such as gravity-gradient, magnetic, aerodynamic, and solar radiation pressure torques, on the satellite dynami...
Conference Paper
Full-text available
The new era of space exploration has begun with the intent of expanding the frontiers of knowledge, capability, and opportunities in space, to bring humans back to the Moon before sending them to Mars. One of the first milestones is represented by the settlement of the Deep Space Gateway by the mid 2020’s in the lunar proximity, thanks to the explo...
Conference Paper
The future Lunar Orbital Platform-Gateway (LOP-G) will become a key on-orbit infrastructure for the future human space exploration scenarios. This paper aims at designing and sizing reusable transportation systems aimed at supporting the activities of the future station, making benefit of the latest high-power electric propulsion technologies, curr...
Conference Paper
Unmanned Aerial Vehicles (UAVs) are systems subject to external disturbances and parametric uncertainties. A robust Model Predictive Control (MPC) is proposed as autopilot controller candidate, due to its ability to handle both parametric uncertainties and additive noise. The navigation outer loop (heading variation) is regulated via PID control. T...
Article
In this paper, a guidance and tracking control strategy for fixed-wing unmanned aerial vehicle autopilots is presented. The proposed control exploits recent results on samplebased stochastic model predictive control, which allows coping in a computationally efficient way with both parametric uncertainty and additive random noise. Different applicat...
Preprint
Full-text available
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow coping in a computationally efficient way with both parametric uncertainty and additive random noise. Different ap...
Conference Paper
High-power Solar Electric Propulsion based on Hall thrusters of the 20kW-class will represent in the next decade an attractive propulsion option for large platforms, thanks to the foreseeable growth in the available on-board power. In addition, electric propulsion is seen today as a key enabling technology within the future deep-space and Mars expl...
Conference Paper
Nowadays, space agencies are trying to select cost-effective solutions, to minimize space missions cost without affecting the performance. It means that cost analysis needs to cope with mission and feasibility analysis since the early design phases. The paper focuses on the preliminary design of high-power SEP platforms for space exploration and tr...
Preprint
Full-text available
The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best candidates for improving the farm efficiency and productivity. In this research, a guidance algorithm and a robust...
Article
The Lunar Space Tug is a sustainable transportation system able to rendezvous with a target body in Low Earth Orbits environment, assess its current position, attitude and operational status, capture the target and move it to the Cislunar space where the Lunar Orbital Platform-Gateway will be settled. Thanks to the adoption of an electric Propulsio...
Article
Rendezvous and Proximity Operations (RPOs) of two autonomous spacecraft have been extensively studied in the past years, taking into account both the strict requirements in terms of spacecraft dynamics variations and the limitations due to the actuation system. In this paper, two different Model Predictive Control (MPC) schemes have been considered...
Conference Paper
This paper considers the problem of designing a control strategy for proximity operations of space systems. The considered setup is realistic, and is based on a model derived and validated on an experimental test-bed. Parametric uncertainties due to the mass variations during operations, linearization errors, and disturbances due to external space...
Conference Paper
Full-text available
Curiosity and discovery are vital elements for the future of human space exploration. Starting from past and present experiences in human and robotic exploration, the global community is working on preparing humans to push themselves beyond known boundaries, i.e. the Low Earth Orbit environment, to reach, explore and, eventually, colonize the Mars...
Conference Paper
Full-text available
Proximity maneuvers of two autonomous spacecraft have been extensively studied in the past years, in which both the strict requirements in terms of spacecraft dynamics variations and the limitations due to the actuation system have taken into account. Since the phase of proximity involves a rapid evolution of the kinematics and dynamics, non-robust...
Conference Paper
Full-text available
The Lunar Space Tug is a sustainable transportation system able to rendezvous with a target body in the Low Earth Orbits (LEO) environment, assess its current position, attitude and operational status, capture the target and move it to the Cislunar space where a new Deep Space Habitat (DSH) will be settled. Thanks to the adoption of an Electric Pro...
Article
The International Space Station is the first space human outpost and over the last 15 years, it has represented a peculiar environment where science, technology and human innovation converge together in a unique microgravity and space research laboratory. With the International Space Station entering the second part of its life and its operations r...
Conference Paper
Full-text available
The International Space Station (ISS) is the first space human outpost and over the last 15 years, it has represented a peculiar environment where science, technology and human innovation converge together in a unique microgravity and space research laboratory. With the ISS entering the second part of its life and its operations running steadily at...
Conference Paper
The purpose of the present paper is to study an autonomous spacecraft rendezvous and docking (RVD) maneuver, in which the Chaser vehicle has to safely and e�ciently approach the Target along a controlled trajectory. A 6-degrees-of-freedom (DOF) orbital simulator, which reproduces the dynamics of the spacecraft during the �nal approach phase of a Lo...
Conference Paper
Full-text available
The Rendezvous and Docking (RVD) mission is one of the most complex and interesting space missions. Proximity operations and docking require extremely delicate and precise translational and rotational maneuvering. During the final approach of the proximity operations phase, the relative spacecraft states (position, velocity, attitude and angular ra...
Conference Paper
Full-text available
The International Space Station (ISS) is an orbiting research laboratory and, as such, it is comprised of several resources to test and validate new technologies to be used in future space missions. This paper presents the progress in the design and development process of Thermal Exchange, an experiment that aims to validate on-orbit performance of...
Conference Paper
This paper presents a methodology to carry out the Assembly, Integration and Verification of the avionic system of a technological experiment on-board the International Space Station. The avionic system consists of three main subsystems, i.e. the on-board data handling, the electric power and the health management subsystem, and supports a technolo...
Conference Paper
This paper deals with the design of Thermal Exchange, an experiment related to passive heat transport devices which will be tested on-board the International Space Station (ISS).

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Projects

Projects (5)
Project
Mission and space systems analysis and design
Project
New technical and operative solutions for the use of drones in Agriculture 4.0
Project
Guidance, Navigation and Control Algorithms for Aeropace Applications