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FILIPPO BERTONCELLI
Assegnista di ricerca
INTERMECH Centro Interd. per la Ricerca Applicata e i Servizi nel settore della Meccanica Avanzata e della Motoristica
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Pubblicazioni
2024
- Coverage Control for Exploration of Unknown Non-convex Environments with Limited Range Multi-robot Systems
[Relazione in Atti di Convegno]
Catellani, Mattia; Pratissoli, Federico; Bertoncelli, Filippo; Sabattini, Lorenzo
abstract
2024
- On Limited-Range Coverage Control for Large-Scale Teams of Aerial Drones: Deployment and Study
[Relazione in Atti di Convegno]
Bertoncelli, Filippo; Belal, Mehdi; Albani, Dario; Pratissoli, Federico; Sabattini, Lorenzo
abstract
2023
- Distributed Control for Human-Swarm Interaction In Non-Convex Environments using Gaussian Mixture Models
[Articolo su rivista]
Catellani, Mattia; Mazzocco, Eloisa; Bertoncelli, Filippo; Sabattini, Lorenzo
abstract
2022
- Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots
[Relazione in Atti di Convegno]
Bertoncelli, F.; Selvaggio, M.; Ruggiero, F.; Sabattini, L.
abstract
This work addresses the problem of transporting an object along a desired planar trajectory by pushing with mobile robots. More specifically, we concentrate on establishing optimal contacts between the object and the robots to execute the given task with minimum effort. We present a task-oriented contact placement optimization strategy for object pushing that allows calculating optimal contact points minimizing the amplitude of forces required to execute the task. Exploiting the optimized contact configuration, a motion controller uses the computed contact forces in feed-forward and position error feedback terms to realize the desired trajectory tracking task. Simulations and real experiments results confirm the validity of our approach.
2021
- Characterization of Grasp Configurations for Multi-Robot Object Pushing
[Relazione in Atti di Convegno]
Bertoncelli, Filippo; Ruggiero, Fabio; Sabattini, Lorenzo
abstract
2021
- Planar Pushing Manipulation with a Group of Mobile Robots
[Relazione in Atti di Convegno]
Bertoncelli, F.; Sabattini, L.
abstract
This paper addresses the problem of collaborative manipulation of an object performed by a group of robots. In particular, the objective is achieved by means of pushing, implemented by a group of small wheeled mobile robots. The proposed method exploits the well known Voronoi-based coverage control method to deploy the robots in the environment according to a given probability density function. The shape of such a density function is defined, in a time varying manner, by a pushing policy function to enable planar manipulations, considering only the footprint of the manipulated object. The proposed method is validated by means of extensive simulations and real world scenario experiments with different sized robot groups and different manipulated objects.
2020
- Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot
[Relazione in Atti di Convegno]
Bertoncelli, F.; Ruggiero, F.; Sabattini, L.
abstract
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction between the robot and the manipulated object. Violating this constraint produces the slippage of the object during the manipulation, preventing the correct achievement of the task. A linear time-varying model predictive control is designed to include the unilateral constraint within the control action properly. The approach is verified in a dynamic simulation environment through a Pioneer 3-DX wheeled robot executing the pushing manipulation of a package.
2019
- Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot
[Relazione in Atti di Convegno]
Bertoncelli, Filippo; Ruggiero, Fabio; Sabattini, Lorenzo
abstract
Wheel slip may cause a significative worsening of control performance during the movement of a mobile robot. A method to avoid wheel slip is proposed in this paper through a nonlinear model predictive control. The constraints included within the optimization problem limit the force exchanged between each wheel and the ground. The approach is validated in a dynamic simulation environment through a Pioneer 3-DX wheeled mobile robot performing a pushing manipulation of a box. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.