Ricardo Carelli's research while affiliated with National University of San Juan and other places
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Publications (270)
This chapter discusses the kinematic models of some wheeled mobile platforms and the aerial four motors helicopter-type vehicles. Such models show that commanding suitable velocities to the robots analyzed, the wheeled omnidirectional, unicycle and car-like robots and the aerial multirotor robot as well, causes velocities in the world frame, meanin...
Two approaches to control a multi robot system, also known as a robot formation or robot cluster, namely the leader-follower and the virtual structure approaches, are dealt with in this chapter. They are discussed in details, and examples showing their implementation to control a group of two or more robots are also discussed, considering groups of...
This chapter explores two basic techniques to design a controller to guide differential drive wheeled robots and quadrotors, namely the single-loop dynamic control system and the inner-outer loops control system, ans shows that they can be adopted to accomplish positioning tasks, trajectory-tracking tasks and path-following tasks, with quite small...
This chapter addresses the dynamic models correspondent to various mobile vehicles. The kinematic models so far addressed do not consider the effects of the mass and inertia of the vehicles on how their velocities vary till reaching the commanded values. In other words, in the real world a velocity reference sent to a robot demands a certain time t...
Interest in multilift rotorcraft systems has reemerged in recent years to overcome some of the problems in single unmanned aerial vehicle handling and delivery systems. Using multiple unmanned rotorcrafts (URs), the load weight can be evenly distributed among the vehicles, extending the flight time and therefore increasing the working distance of s...
Agricultural environments with tree plantations usually present a regular structure that can be used by SLAM systems to improve self-location, and therefore, facilitate the autonomous navigation. In this context, tree trunks are natural landmarks that can be used to incorporate the environment structure into the problem modeling. This article prese...
Neuromuscular disorders, such as foot drop, severely affect the locomotor function and walking independence after a brain injury event. Mirror-based robotic therapy (MRT) has been a promising rehabilitation strategy favouring upper limb muscle strength and motor control in the last years. However, there are still no studies validating this techniqu...
This article addresses an unified solution to the trajectory tracking and path following problems for differential drive mobile robots (DDMR) considering a point of interest (PoI) with variable location relative to the vehicle. The mobile robot is modeled with an extended kinematic model avoiding typical singularities of this kind of vehicles, and...
This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user...
Variable stiffness actuators (VSAs) have emerged as a promising actuation principle for devices focused on physical interaction. Specifically, characteristics such as shock load absorbing, passive backdrivability, and variable device performance motivate the use of VSA in a rehabilitation context. Multiple studies have exhibited the advantages of a...
By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, a model-based controller is developed to get a structure that is useful in the development of the adaptive controller. The adaptive version is developed by using two techniques. To stabilize the outp...
The problem of carrying a bar-shaped payload suspended by flexible cables attached to two quadrotors is analyzed in this work. The aerial vehicles and the load are dealt with as a single system, whose kinematics is described as a multi-robot formation using the virtual structure approach. The dynamic effects caused by the tethered load over the qua...
In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it considers the robot dynamics, the depth of the moving object, and the mounting of the fixed camera to be...
Several challenges to guarantee medical care have been exposed during the current COVID-19 pandemic. Although the literature has shown some robotics applications to overcome the potential hazards and risks in hospital environments, the implementation of those developments is limited, and few studies measure the perception and the acceptance of clin...
In this document, the development and experimental validation of a nonlinear controller with an adaptive disturbance compensation system applied on a quadrotor are presented. The introduced scheme relies on a generalized regression neural network (GRNN). The proposed scheme has a structure consisting of an inner control loop inaccessible to the use...
Radial basis function (RBF) neural networks have the advantages of excellent ability for the learning of the processes and certain immunity to disturbances when using in control systems. The robust trajectory tracking control of complex underactuated mechanical systems is a difficult problem that requires effective approaches. In particular, adapti...
In recent years, multiple applications have emerged in the area of payload transport using unmanned aerial vehicles (UAVs). This has attracted considerable interest among the scientific community, especially the cases involving one or several rotary-wing UAVs. In this context, this work proposes a novel measurement system which can estimate the pay...
A solution to the problem of path-following by a team of terrestrial mobile robots is proposed in this paper. The proposal, in this case, is a formation controller dealing with three robots navigating in a coordinate way (as a formation). Based on the controller proposed to guide the formation to follow a prescribed path, an extension to the case o...
A novel formation control to transport a cable-suspended payload with two quadrotors is presented. The control structure is based on a layered scheme combining a kinematic null-space based controller and a neural sliding mode controller. The null-space controller is designed to generate velocity references to the quadrotors in the formation, wherea...
En este documento se presenta los resultados de simulación del diseño de un controlador cinemático para seguimiento de trayectoria aplicado a un robot móvil tipo auto. Dentro del diseño de la ley de control se considera las limitaciones de giro en el volante y la limitada velocidad del robot. Además de ello se considera el punto de interés en una p...
This paper considers the cooperative transport problem of a cable-suspended rigid bar with two rotorcraft UAVs considering collision avoidance, weight distribution, and wind perturbations. The proposal is based on null-space theory and includes a landing stage where the load is settled down on a formation of ground robots. Therefore, a variable for...
This work proposes a solution method for tracking procedures for Unmanned Aerial Vehicles (UAVs). The proposed controller is based on the dynamics of the error obtained from the kinematic model of the UAV, i.e., on linearized error behavior during the tracking task. For the correction of the trajectory tracking error, an optimal controller is used...
In the inspection and data collection of large areas as crop fields, where an aerial vehicle should follow an objects line accurately, autonomous flight is a desirable feature with unmanned aerial vehicles (UAVs). To attain this objective, three visual servo controllers are proposed, one of them is position based and the other two are image based u...
Social behaviors are crucial to improve the acceptance of a robot in human-shared environments. One of themost important social cues is undoubtedly the social space. This human mechanism acts like a repulsive field to guaranteecomfortable interactions. Its modeling has been widely studied in social robotics, but its experimental inference has beenw...
En este trabajo se propone una arquitectura de control basada en la fusión de las acciones de control generadas por tres controladores sencillos (controladores PVTOL, del inglés Planar Vertical Take-Off and Landing) para guiar vehículos aéreos autónomos en posicionamiento y seguimiento de caminos 3D. Considerando la navegación como una tarea compue...
In this chapter, a unified passivity-based visual servoing control structure considering a vision system mounted on the robot is presented. This controller is suitable to be applied for robotic arms, mobile robots, as well as mobile manipulators. The proposed control law makes the robot able to perform a moving target tracking in its workspace. Tak...
The original version of this article, unfortunately, contained errors.
Smart Walkers are robotic devices that may be used to improve the stability in people with lower limb weakness or poor balance. Such devices may also offer support for cognitive disabilities and for people that cannot safely use conventional walkers. This paper presents an admittance controller that generates haptic signals to induce the tracking o...
This article proposes a SLAM version with continuous probabilistic mapping (CP-SALM), i.e., an algorithm of simultaneous localization and mapping that avoids the use of grids, and thus, it does not require a discretized environment. A Markov Random Field (MRF) is considered to model this SLAM version with high spatial resolution maps. The mapping m...
This work proposes an adaptive dynamic controller to guide an unmanned aerial vehicle (UAV) when accomplishing trajectory tracking tasks. The controller structure consists of a kinematic controller that generates reference commands to a dynamic compensator in charge of changing the reference commands according to the system dynamics. The final cont...
Spatial awareness and memory are key factors for a robot to evolve in semi-structured and dynamic environments as those found in agriculture, and particularly in fruit crops where the trees are regularly distributed. This paper proposes a probabilistic method for mapping out-of-structure objects (weeds, workers, machines, fallen branches, etc.) usi...
Introduction:
This work presents the development of a novel robotic knee exoskeleton controlled by motion intention based on sEMG, which uses admittance control to assist people with reduced mobility and improve their locomotion. Clinical research remark that these devices working in constant interaction with the neuromuscular and skeletal human sy...
A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are incl...
This work presents the kinematic and dynamic modeling of a human–wheelchair system which considers that its center of mass is not located in the middle of the wheel’s axle. Furthermore, a novel motion controller is presented for a human–wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environmen...
Resumen En este trabajo se presenta el desarrollo de un exoesqueleto robótico de miembro superior de 4 grados de libertad (GDL), para asistir los movimientos de pacientes con limitaciones motoras severas. El sistema puede ser operado en modo pasivo y activo. El modo pasivo permite definir al exoesqueleto las rutinas de movimientos que debe ejecutar...
This paper presents a new dynamic obstacle avoidance strategy based on time-variation of a potential field, with multiple control objectives. The strategy uses the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way while using either a flexible or a rigid formation to avoid static and mobile obstacl...
A new trajectory tracking controller with collision avoidance is proposed in this paper for UAV navigation. A positive potential function is designed to take into account the movement of obstacles. Thus, the controller with potential function guarantees that the UAV moves through areas of potentials close to zero to ensure safe navigation in dynami...
This paper presents a low-cost localization system to guide an Unmanned Aerial Vehicle (UAV) in indoor flights, considering an environment with invariant texture and typical indoor illumination. The first contribution of the paper is the proposal of a system to estimate the position and orientation of the UAV, through a multi-sensor fusion scheme,...
An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic contro...
A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic rela...
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This paper presents a control strategy for human–robot interaction with physical contact, recognizing the human intention to control the movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired force direction to guide the robot through unstruct...
This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command refer...
At present more adult persons need of mechatronic devices that facilitate and help them in his daily activities. The mobile robots turned into a good alternative due to the fact that nowadays the technology has allowed that they can recognize and make the tracking of a person. In this work, is used the Robotics platform Pionner 3-AT® and a sensor o...
This paper proposes a novel path following controller for Car-Like robots. This controller incorporates the saturation of the vehicle steering angle by considering of a Null-Space design. This way, the controller has a double objective: the primary task is to avoid the saturation of the steering angle by considering an appropriate Gaussian function...
Sharing the workspace or interacting directly with people in a social way is currently a key challenge in the design of mobile robot applications. An interesting field of study is related with the so-called hidden dimension, which relates the sense of security that a human feels when interacting with another one. Therefore, the researchers have bee...
A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavior dynamics and the control laws that characterizes how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relat...
This paper presents the development of a smart walker that uses a formation controller in its displacements. Encoders, a laser range finder and ultrasound are the sensors used in the walker. The control actions are based on the user (human) location, who is the actual formation leader. There is neither a sensor attached to the user’s body nor force...
Introduction
Autism Spectrum Disorder is a set of developmental disorders that imply in poor social skills, lack of interest in activities and interaction with people. Treatments rely on teaching social skills and in such therapies robotics may offer aid. This work is a pilot study, which aims to show the development and usage of a ludic mobile rob...
A complete characterization of the behavior in human-robot interactions (HRI) include both: the behavioral dynamic and the control laws that characterizes the way as the behavior is regulated with the perception data. In this way, when a pedestrian follows another one, it uses a mental kinematic control that allows to keep a relative distance and o...
In the present article, it is presented the modeling and identification of an autonomous vehicle that has been designed for agricultural tasks. With the purpose of defining the best model structure, different models have been presented. Particularly, it is assumed that the lateral and longitudinal dynamics are decoupled dynamics, and based on this...
In human-robot interaction, the incorporation of social rules results to be crucial to guarantee the comfort of the human. It must be obtained by means of improving the legibility of the robot motions, because developing soft and smooth motion does not guarantee entirely a social acceptable motion. Hence, in this paper a novel fuzzy logic approach...
The ability of walking is related to various daily tasks, while the lack of mobility can decrease significantly the quality of life of people affected by diseases related to locomotion. The etiology of those diseases can be from distinct origins, such as neurological, genetic, cardiovascular, among others. As a result of the lack of mobility, affec...
This paper presents a method for estimating the orientation and position of an unmanned aerial vehicle (UAV), through processing information provided by a RGB-D sensor and an inertial measurement unit (IMU) in order to inspect predefined points in an indoor environment. A fusion filter is implemented to correct the existing drift position and orien...
In this work, we present the development by stages of a robotic wheelchair commanded by a SSVEP-BCI. A comparison of performance in classifying trajectories using three feature extractors to recognize SSVEPs were evaluated. These methods are: Minimum Energy Combination (MEC), Canonical Correlation Analysis (CCA) and Multivariate Synchronization Ind...
Este trabajo presenta el diseño novedoso de un controlador para el seguimiento de caminos de un robot tipo car-like que incorpora la saturación de los actuadores: el ángulo de giro y la velocidad lineal. El diseño se basa en parte en la técnica de espacio nulo cumpliendo un doble objetivo: por un lado una función de potencial repele la selección de...
Una completa caracterización del comportamiento de interacción humano-robot (IHR) incluye dos aspectos: la dinámica de comportamiento, y las leyes de control que caracterizan cómo el comportamiento es regulado con la información de la percepción. De esta manera, este trabajo propone un control coordinado líder-seguidor que permite incorporar compor...
In human-robot interaction, the incorporation of social rules results to be crucial to guarantee the comfort of the human. This should be attained by means of improving the legibility of the robot motions, because developing soft and smooth motion only, does not guarantee a social acceptable motion. Hence, in this paper a novel fuzzy logic approach...
En este artículo se presenta el modelado e identificación de un vehículo autónomo diseñado para ser usado en tareas agrícolas. Se presentan y se comparan distintos modelos matemáticos teniendo en cuenta diferentes supuesto, con el objetivo de determinar que modelo es el que proporciona mejor desempeño. Particularmente, se asume que las dinámicas lo...
Este trabajo propone el modelado dinámico de un robot Car-like basado en el enfoque port-Hamiltoniano. Para ello se proyecta la dinámica de un cuerpo rígido sobre el espacio de posibles velocidades generado por las restricciones no-holonómicas del vehículo. Se usa una representación tipo bicicleta del modelo Ackermann, con tracción trasera y contro...
In this paper it is proposed a dynamic model of a differential drive mobile robot based on the port-Hamiltonian approach. The model inputs are reference velocities, as in most commercial robots. The model arises from a positioning controller at desired velocities, which is asymptotically stable.
A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between hu...
In the present days a percentage increase of the population with disability issues is observed. Not only are motor disabilities, sensory and cognitive too. One reason is the growth of the elderly population. There are mechanical devices for their assistance, the most used is the cane. This paper intends to apply technologies in the area of robotics...
This paper proposes a dynamical modelling of a car-like robot based on the port-Hamiltonian approach. It consists in projecting the dynamics of a free body into the possible velocity space determined by the non-holonomic constraints of the vehicle. For this approach, it is considered a simplified bicycle-like representation of the Ackermann mechani...
The mapping of partially structured agricultural environments is a valuable resource for precision agriculture. In this paper, a technique for the mapping of a fruit grove by a mobile robot is proposed, which uses only front laser information of the environment and the exact position of the grove corners. This method is based on solving an optimiza...
This work presents the kinematic and dynamic modeling of a human-wheelchair system where it is considered that its mass center is not located at the wheels’ axis center of the wheelchair. Furthermore, it is presents a new motion controller for human-wheelchair system that is capable of performing positioning and path-following tasks. The proposed c...