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Scope
Scope
This research focuses on developing control algorithms for mobile robots to navigate towards a reference target using different on-board sensor measurements, combined through a hybrid dynamical systems framework to ensure stability and robustness of the control algorithms against external perturbations and measurement noises. Additionally, it explores improving robot reliability and efficiency in human-robot interactions, particularly when cooperating with people. One approach considered involves using potential fields with limit cycles and nonlinear opinion dynamics to simulate human non-verbal communication protocols for negotiating space usage.
Expected Outcomes
Expected Outcomes
The expected outcomes of this research include demonstrating the effectiveness of the proposed control strategy in achieving stabilization, even in the presence of significant measurement noise, making it suitable for low-cost sensors. Additionally, the research aims to advance robot navigation in shared spaces by combining reactive behaviors and social rules for distributed robotic systems, while also focusing on controlling robot-human interactions using social opinion dynamics to enhance cooperation in these environments.
Publications and Patents
Publications and Patents
G. Notomista, G. P. T. Choi, and M. Saveriano, "Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions," IEEE Transactions on Control Systems Technology, 2024 (accepted)
R. Ballaben, P. Braun and L. Zaccarian, "Lyapunov-Based Avoidance Controllers With Stabilizing Feedback," in IEEE Control Systems Letters, vol. 8, pp. 862-867, 2024, doi: 10.1109/LCSYS.2024.3404770.
G. D’Addato, P. Falqueto, L. Palopoli, and D. Fontanelli, "Socially-Aware Opinion-Based Navigation with Oval Limit Cycles," Submitted to 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025.
G. d’Addato, L. Palopoli, and D. Fontanelli. Shaping Opinion Dynamics for Driving Navigation in Shared Human- Robot Spaces. In Proc. IEEE Int. Conf. on Decision and Control (CDC), Rio de Janeiro, Brasil, Dec. 2025. IEEE.
R. Ballaben, A. Astolfi, P. Braun, and L. Zaccarian. Towards global stabilization of a hovercraft model using hybrid systems and discontinuous feedback laws. In IEEE Conference on Decision and Control, Rio de Janeiro, Brazil, December 2025.
R. Ballaben, A. Astolfi, P. Braun, and L. Zaccarian. Orchestrating on-board sensors for global hybrid robust stabilization of unicycles. Automatica, 183:112502, 2026.
Personnel
Personnel
Reference person: Daniele Fontanelli
DII members: Giulia d'Addato (PhD student), Luca Zaccarian, Matteo Saveriano
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